Motor control method, device, vehicle and storage medium

Abstract

The present invention provides a method, device, vehicle and storage medium for controlling a motor, and relates to the field of vehicle technology. The method comprises: determining a target sound pattern of a motor; controlling the motor to emit a sound corresponding to the target sound pattern, thereby controlling the motor to emit sound. On the one hand, there is no need to configure additional sound-emitting equipment on the vehicle, which effectively reduces costs. On the other hand, by controlling the motor to emit sound based on the target sound pattern, the diversity of the motor sound content is enriched.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a motor control method and a motor control device, a vehicle and a computer-readable storage medium. Background Art

[0002] With the continuous development of society, the popularity of vehicles is getting higher and higher, and vehicles have become one of the main means of transportation for people's daily travel. At the same time, electric vehicles have also developed rapidly in recent years. Both pure electric vehicles and hybrid vehicles are becoming more and more popular among consumers. Among the components of electric vehicles, the motor can not only drive the vehicle, but also has other functions, such as making the sound people want. Compared with traditional fuel vehicles, the driving experience of electric vehicles is very different. Generally speaking, electric vehicles of the same level drive more smoothly, with less vibration and less noise, which is also the advantage of electric vehicles compared to traditional fuel vehicles.

[0003] However, in some scenarios, being too quiet can easily cause some troubles and become a disadvantage. For example, electric vehicles are too quiet to tell whether there are other cars around; in addition, for users who like the sound of the engine, electric vehicles that are too quiet also lose a lot of driving pleasure. In response to this, it has become a user's need to control the vehicle to make corresponding sounds. In the process of controlling the vehicle to make sounds, there are problems such as the need to add additional sound devices, the sound produced is not realistic enough, and the types of sounds are too limited. Summary of the invention

[0004] Embodiments of the present invention provide a motor control method, device, vehicle, and storage mechanism to solve or partially solve the problem of needing to add an additional sound-generating device when controlling a vehicle to generate sound.

[0005] In order to solve the above problems, an embodiment of the present invention discloses a method for controlling a motor, including:

[0006] Determine target vocalization patterns for motor vocalizations;

[0007] The motor is controlled to emit a sound corresponding to the target sound emission pattern.

[0008] In some optional embodiments, the target sound emission mode includes at least a first sound emission mode and a second sound emission mode, and the sound emission triggering conditions of the first sound emission mode and the second sound emission mode are different.

[0009] In some optional embodiments, determining a target sounding mode of the motor includes:

[0010] A target instruction for the motor is obtained, and a target sounding mode of the motor is determined according to the target instruction.

[0011] In some optional embodiments, acquiring a target instruction for the motor and determining a target sounding mode of the motor according to the target instruction includes:

[0012] If the driving speed of the vehicle is less than or equal to a preset speed threshold, a target command for the motor is generated, and a first sounding mode or a second sounding mode of the motor is determined according to the target command.

[0013] In some optional embodiments, the target instruction includes at least a sound trigger instruction and a sound control instruction, the target sound mode corresponds to a target audio, and the step of obtaining the target instruction for the motor and determining the target sound mode of the motor according to the target instruction includes:

[0014] Get the voice trigger command;

[0015] Determine a corresponding sounding mode type based on the sounding trigger instruction;

[0016] Acquire a sound control instruction for the sound mode type, and determine a target audio corresponding to the sound control instruction.

[0017] In some optional embodiments, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction, and the acquiring of the sound control instruction for the sound mode type and determining the target audio corresponding to the sound control instruction includes:

[0018] Acquire a first sound mode selection instruction for the sound mode type;

[0019] Determining a first type of audio corresponding to the first sound emission mode selection instruction, where the first type of audio is audio played according to fixed acoustic features;

[0020] A first audio selection instruction for the first type of audio is obtained, and a first target audio corresponding to the first audio selection instruction is determined.

[0021] In some optional embodiments, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction, and the acquiring of the sound control instruction for the sound mode type and determining the target audio corresponding to the sound control instruction includes:

[0022] Obtaining a second sound mode selection instruction for the sound mode type;

[0023] Outputting a second type of audio corresponding to the second sound mode selection instruction, where the second type of audio is audio played according to a driving state parameter of the vehicle;

[0024] A second audio selection instruction for the second type of audio is obtained, and a second target audio corresponding to the second audio selection instruction is determined.

[0025] In some optional embodiments, the target instruction further includes a play mode selection instruction, and the controlling the motor to emit a sound corresponding to the target sound emission mode includes:

[0026] Determine a playback mode type for the target audio;

[0027] Obtaining a play mode selection instruction for the play mode type;

[0028] Determining a target playback mode corresponding to the playback mode selection instruction;

[0029] According to the target playback mode, the motor is controlled to emit a sound corresponding to the target audio.

[0030] In some optional embodiments, the target playback mode includes at least a reminder playback mode, and controlling the motor to emit a sound corresponding to the target audio according to the target playback mode includes:

[0031] According to the reminder play mode, the motor is controlled to emit a sound corresponding to the target audio.

[0032] In some optional embodiments, controlling the motor to emit a sound corresponding to the target audio in accordance with the reminder playback mode includes:

[0033] When the target playback mode is the reminder playback mode, in response to the presence of environmental objects around the vehicle, the motor is controlled to simulate the emission of a sound corresponding to the target audio, and the environmental object is an object determined by identifying environmental parameters collected by sensors of the vehicle.

[0034] In some optional embodiments, the environmental objects include at least moving objects and stationary objects, the moving objects include at least one of pedestrians, animals and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, isolation belts, curbs, traffic signs and traffic lights.

[0035] In some optional embodiments, the target playback mode includes at least a continuous playback mode, and controlling the motor to emit a sound corresponding to the target audio according to the reminder playback mode includes:

[0036] When the target playback mode is the continuous playback mode, the motor is controlled to continuously simulate the sound corresponding to the target audio.

[0037] In some optional embodiments, controlling the motor to emit a sound corresponding to the target sound emission pattern includes:

[0038] Obtaining driving state parameters of the vehicle during driving;

[0039] The motor is controlled to simulate emitting a sound corresponding to the second target audio frequency according to the driving state parameters.

[0040] In some optional embodiments, the driving status parameter includes at least one of vehicle speed, acceleration, vehicle body posture, motor speed, torque, power information, accelerator pedal status information and brake pedal status information.

[0041] In some optional embodiments, the target instruction is generated based on any of the following:

[0042] A user's pressing operation and / or touching operation on a mechanical key;

[0043] User touch operation on the interactive interface;

[0044] Voice operation of user input;

[0045] The gesture action performed by the user.

[0046] The embodiment of the present invention further discloses a control device for a motor, comprising:

[0047] A mode determination module, used to determine a target sounding mode of the motor;

[0048] The sound control module is used to control the motor to emit a sound corresponding to the target sound pattern.

[0049] In some optional embodiments, the target sound emission mode includes at least a first sound emission mode and a second sound emission mode, and the sound emission triggering conditions of the first sound emission mode and the second sound emission mode are different.

[0050] In some optional embodiments, the mode determination module is specifically used to:

[0051] A target instruction for the motor is obtained, and a target sounding mode of the motor is determined according to the target instruction.

[0052] In some optional embodiments, the mode determination module is specifically used to:

[0053] If the driving speed of the vehicle is less than or equal to a preset speed threshold, a target command for the motor is generated, and a first sounding mode or a second sounding mode of the motor is determined according to the target command.

[0054] In some optional embodiments, the target instruction includes at least a sound trigger instruction and a sound control instruction, the target sound mode corresponds to a target audio, and the mode determination module is specifically used to:

[0055] Get the voice trigger command;

[0056] Determine a corresponding sounding mode type based on the sounding trigger instruction;

[0057] Acquire a sound control instruction for the sound mode type, and determine a target audio corresponding to the sound control instruction.

[0058] In some optional embodiments, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction, and the mode determination module is specifically used to:

[0059] Acquire a first sound mode selection instruction for the sound mode type;

[0060] Determining a first type of audio corresponding to the first sound emission mode selection instruction, where the first type of audio is audio played according to fixed acoustic features;

[0061] A first audio selection instruction for the first type of audio is obtained, and a first target audio corresponding to the first audio selection instruction is determined.

[0062] In some optional embodiments, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction, and the mode determination module is specifically used to:

[0063] Obtaining a second sound mode selection instruction for the sound mode type;

[0064] Outputting a second type of audio corresponding to the second sound mode selection instruction, where the second type of audio is audio played according to a driving state parameter of the vehicle;

[0065] A second audio selection instruction for the second type of audio is obtained, and a second target audio corresponding to the second audio selection instruction is determined.

[0066] In some optional embodiments, the target instruction further includes a play mode selection instruction, and the sound control module is specifically used to:

[0067] Determine a playback mode type for the target audio;

[0068] Obtaining a play mode selection instruction for the play mode type;

[0069] Determining a target playback mode corresponding to the playback mode selection instruction;

[0070] According to the target playback mode, the motor is controlled to emit a sound corresponding to the target audio.

[0071] In some optional embodiments, the target playback mode includes at least a reminder playback mode, and the sound control module is specifically used to:

[0072] According to the reminder play mode, the motor is controlled to emit a sound corresponding to the target audio.

[0073] In some optional embodiments, the sound control module is specifically used to:

[0074] When the target playback mode is the reminder playback mode, in response to the presence of environmental objects around the vehicle, the motor is controlled to simulate the emission of a sound corresponding to the target audio, and the environmental object is an object determined by identifying environmental parameters collected by sensors of the vehicle.

[0075] In some optional embodiments, the environmental objects include at least moving objects and stationary objects, the moving objects include at least one of pedestrians, animals and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, isolation belts, curbs, traffic signs and traffic lights.

[0076] In some optional embodiments, the target playback mode includes at least a continuous playback mode, and the sound control module is specifically configured to:

[0077] When the target playback mode is the continuous playback mode, the motor is controlled to continuously simulate the sound corresponding to the target audio.

[0078] In some optional embodiments, the sound control module is specifically used to:

[0079] Obtaining driving state parameters of the vehicle during driving;

[0080] The motor is controlled to simulate emitting a sound corresponding to the second target audio frequency according to the driving state parameters.

[0081] In some optional embodiments, the driving status parameter includes at least one of vehicle speed, acceleration, vehicle body posture, motor speed, torque, power information, accelerator pedal status information and brake pedal status information.

[0082] In some optional embodiments, the target instruction is generated based on any of the following:

[0083] A user's pressing operation and / or touching operation on a mechanical key;

[0084] User touch operation on the interactive interface;

[0085] Voice operation of user input;

[0086] The gesture action performed by the user.

[0087] The embodiment of the present invention further discloses a vehicle, comprising:

[0088] one or more processors; and

[0089] One or more machine-readable media having instructions stored thereon, when executed by the one or more processors, cause the vehicle to perform the method according to the embodiment of the present invention.

[0090] The embodiment of the present invention further discloses a computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, enables the processors to execute the method described in the embodiment of the present invention.

[0091] The embodiments of the present invention include the following advantages:

[0092] In an embodiment of the present invention, the vehicle can determine the target sound pattern of the motor sound, and then control the motor of the vehicle to emit a sound corresponding to the target sound pattern, so that by controlling the motor to make a sound, on the one hand, there is no need to configure additional sound-making equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make a sound based on the target sound pattern, the diversity of the motor sound content is enriched. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] Figure 1 is a flowchart of a method for controlling a motor provided by an embodiment of the present invention;

[0094] Figure 2 is a flowchart of a method for controlling a motor provided by an embodiment of the present invention;

[0095] Figure 3 is a flowchart of a method for controlling a motor provided by an embodiment of the present invention;

[0096] Figure 4 is a schematic structural diagram of a vehicle control system provided in an embodiment of the present invention;

[0097] Figure 5 is a schematic diagram of a flow chart of a motor simulating sound generation provided in an embodiment of the present invention;

[0098] Figure 6 is a flowchart of a method for controlling a motor provided by an embodiment of the present invention;

[0099] Figure 7 is a structural block diagram of a motor control device provided by an embodiment of the present invention;

[0100] Figure 8 is a structural block diagram of a motor control device provided by an embodiment of the present invention;

[0101] Fig. 9 is a structural block diagram of a motor control device provided by an embodiment of the present invention;

[0102] Fig.10 It is a structural block diagram of a motor control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0103] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0104] As an example, when simulating sound waves or prompt sounds, vehicles often need to be equipped with corresponding sound-generating devices. The additional configuration of corresponding sound-generating devices will not only increase the manufacturing cost of the vehicle, but also need to consider various factors, such as spatial structure, signal line layout, etc. In addition, when using sound-generating devices to simulate corresponding sounds, they often make sounds outside or inside the vehicle, and cannot effectively simulate the sound waves of the vehicle, and the authenticity is poor. In addition, the range of choices for sound waves or prompt sounds is often relatively single, which cannot meet the actual needs of users.

[0105] In this regard, in the present invention, the vehicle can determine the target sound pattern of the motor sound, and then control the vehicle's motor to emit a sound corresponding to the target sound pattern, so that by controlling the motor to make a sound, on the one hand, there is no need to configure additional sound-making equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make a sound based on the target sound pattern, the diversity of the motor sound content is enriched.

[0106] Reference Figure 1 , shows a flow chart of a method for controlling a motor provided by an embodiment of the present invention, which may specifically include the following steps:

[0107] Step 101, determining a target sounding mode of a motor;

[0108] In an embodiment of the present invention, the motor of the vehicle can perform corresponding sound operations according to the corresponding sound mode, so that by controlling the motor to make sound, on the one hand, there is no need to configure additional sound equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make sound based on the target sound mode, not only the sound simulated by the motor is made more realistic, but also the type of sound can be flexibly adjusted according to the actual needs of the user, enriching the diversity of the motor sound content.

[0109] Among them, different sound modes can be configured in the vehicle, and the user can select the corresponding target sound mode according to his own needs, so that the vehicle controls the motor of the vehicle to simulate the corresponding sound based on the target sound mode selected by the user. Optionally, the target sound mode may include at least a first sound mode and a second sound mode, etc., and the sound triggering conditions between the first sound mode and the second sound mode are different. The sound triggering conditions may include target instructions, and the target instructions contain different information. For example, the target instruction can be an instruction automatically generated when the vehicle meets the preset conditions, or it can be an instruction generated according to the operation input by the user, that is, the first sound mode and the second sound mode can be sound modes automatically triggered by the vehicle, or they can be sound modes determined according to the user's operation.

[0110] Furthermore, in the case of automatic vehicle triggering or active triggering based on user operation, the target instructions corresponding to the first sound mode and the second sound mode may contain the same or different information. For example, in the case of automatic vehicle triggering, the parameters used for triggering the first sound mode and the second sound mode may be different. The first sound mode may be triggered based on the vehicle speed, and the second sound mode may be triggered based on driving status parameters including the vehicle speed, which may include vehicle speed, acceleration, vehicle posture, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information, etc.; in the case of active triggering based on user operation, the user may input a first user operation for triggering the first sound mode, and may input a second user operation for triggering the second sound mode. The operation types of the first user operation and the second user operation may be the same or different, so that the sound mode may be determined according to different sound triggering conditions, which is not limited by the present invention.

[0111] In addition, it should be noted that in the above example, the target sound mode includes the first sound mode and the second sound mode. It can be understood that it also includes the third sound mode, the fourth sound mode, etc., and the present invention does not limit this.

[0112] In some feasible implementations, the vehicle can obtain a target instruction for the motor, and determine the target sound mode of the motor according to the target instruction. The target instruction can be an instruction generated according to the interactive operation between the user and the vehicle-mounted interactive system, or an instruction generated according to the interactive operation between the user and the user terminal, etc. The interactive operation includes at least one of touch operation, mechanical button control operation, voice input, and gesture action; the target instruction can also be an instruction automatically generated by the vehicle when the vehicle detects parameters related to the driving state and the driving state parameters meet the conditions, and the present invention does not limit this.

[0113] In some feasible implementations, during the process of the vehicle automatically triggering the control motor to make a sound, the vehicle can obtain the vehicle's driving speed. If the vehicle's driving speed is less than or equal to a preset speed threshold, a target instruction for the motor is generated, and the target sound mode of the motor sound is determined according to the target instruction. For example, assuming that the target sound mode is a "prompt sound mode" and the preset speed threshold is 20km / h, the vehicle can obtain the driving speed in real time during driving, and determine whether the driving speed is less than or equal to 20km / h. If it is satisfied, a target instruction is generated, and the "prompt sound mode" is activated based on the target instruction, so that the vehicle controls the motor to simulate the corresponding prompt sound, such as "beep", "beep", "beep", etc., so that by detecting the driving state of the vehicle, the simulated sound of the motor is automatically triggered, so that the user can intuitively feel the driving state of the vehicle, so as to adjust the control strategy of the vehicle in time.

[0114] Optionally, during the simulated sound process of the above-mentioned automatic triggering motor, when the vehicle detects that there is a fault in the audio equipment inside the vehicle, resulting in the vehicle being unable to emit a corresponding prompt sound through the audio equipment inside the vehicle, the motor can be automatically triggered to simulate the corresponding prompt sound. Thus, when the driving status of the vehicle meets the corresponding conditions, the vehicle can automatically control the motor to simulate the corresponding prompt sound to remind the user to pay attention to the driving status of the vehicle and ensure the driving safety of the vehicle.

[0115] In another feasible implementation, in the process of controlling the simulated sound of the motor according to the user operation, for the in-vehicle interactive system, the user can realize the human-computer interaction with the in-vehicle interactive system through touch, mechanical buttons, voice input, gestures, etc., and the in-vehicle interactive system can generate corresponding instructions based on the user's input operation; and for the user terminal, the user can also realize the human-computer interaction with the user terminal through touch, mechanical buttons, voice input, gestures, etc. The difference is that after the user terminal generates the corresponding instructions according to the user's input operation, it can send the corresponding instructions to the vehicle so that the vehicle controls the motor to make sounds based on the received instructions. In the actual process, the user can choose the interaction method according to his own needs to meet the actual needs of the user.

[0116] In specific implementations, depending on the differences in interaction methods, the vehicle can generate target instructions based on any of the following: user pressing and / or touching of mechanical buttons; user touching of the interaction interface; user input voice operation; user gesture action. Among them, the mechanical button can be a physical button provided by the vehicle or user terminal, and the user can operate the mechanical button by pressing or touching; the interaction interface can be the vehicle's onboard central control screen or the touch screen of the user terminal, so that the user can control the vehicle's motor to simulate sound through a variety of different interaction methods, meeting the different interaction needs of users.

[0117] The target instruction includes at least a sound trigger instruction and a sound control instruction, the target sound mode corresponds to a target audio, the sound trigger instruction can be an instruction for triggering the sound control of the motor, the sound control instruction can be an instruction for determining how to make a sound for the motor, and the target audio can be the basis for the motor to simulate the sound, and the vehicle can control the motor to simulate the sound corresponding to the target audio. Optionally, the vehicle can first obtain the sound trigger instruction, and determine the corresponding sound mode type based on the sound trigger instruction, and then obtain the sound control instruction for the sound mode type, and determine the target audio corresponding to the sound control instruction.

[0118] In one example, taking the touch interaction between the user and the in-vehicle interactive system as an example, when the user inputs an operation for triggering the sound control of the motor in the vehicle's in-vehicle central control screen (such as touch, mechanical buttons, voice input, gesture actions, etc.), the vehicle can generate a corresponding sound trigger instruction, and respond to the sound trigger instruction, output at least two different sound mode types in the vehicle's in-vehicle central control screen, and then the user can select one of the sound mode types from at least two different sound mode types. Based on the user's input operation, the vehicle determines the target sound mode and determines the target audio corresponding to the target sound mode, so as to simulate the emission of a sound corresponding to the target audio based on the control motor. For example, the sound mode types may include "sound mode" and "prompt sound mode". When the user selects "prompt sound mode", the vehicle may determine the first target audio corresponding to the "prompt sound mode"; when the user selects "sound mode", the vehicle may determine the second target audio corresponding to the "sound mode" so as to control the motor to make sound based on the determined target audio. By controlling the motor to make sound, on the one hand, there is no need to configure additional sound equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make sound based on the target sound mode, not only the sound simulated by the motor is made more realistic, but also the type of sound can be flexibly adjusted according to the actual needs of the user, thereby enriching the diversity of the motor sound content.

[0119] Furthermore, in the above example, after the user selects the sound mode, the vehicle can directly determine the corresponding audio. In this process, more sound control methods can also be provided to the user so that the user can personalize the sound mode of the motor.

[0120] Optionally, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction. The sound mode selection instruction may be an instruction generated based on an input operation of a user selecting a sound mode, and the audio selection instruction may be an instruction generated based on an input operation of a user selecting an audio.

[0121] In an optional example, the vehicle can obtain a first sound mode selection instruction for a sound mode type, and determine the corresponding first type of audio based on the first sound mode selection instruction, and then obtain a first audio selection instruction for the first type of audio, and determine the first target audio corresponding to the first audio selection instruction, so that in the process of controlling the motor to make a sound, the user can select the corresponding first target audio, so that the vehicle controls the motor to simulate the corresponding sound according to the first target audio selected by the user. The first type of audio is audio that is played according to fixed acoustic characteristics, so that the vehicle can control the motor to simulate sound according to the fixed acoustic characteristics.

[0122] For example, assuming that the first sound mode is the "prompt sound mode", after the user selects the "prompt sound mode", the vehicle can output several first-category audios related to the "prompt sound mode" on the vehicle's central control screen. Then, when the user selects the first target audio from the first-category audio, the vehicle can control the sound of the motor based on the first target audio. During the sound process, the motor can simulate the sound according to the fixed acoustic characteristics corresponding to the first target audio.

[0123] In another optional example, the vehicle can obtain a second sound mode selection instruction for the sound mode type, and determine the corresponding second type of audio based on the second sound mode selection instruction, and then obtain a second audio selection instruction for the second type of audio, and determine the second target audio corresponding to the second audio selection instruction, so that in the process of controlling the motor to make a sound, the user can select the corresponding second target audio, so that the vehicle controls the motor to simulate the corresponding sound according to the second target audio selected by the user. Among them, the second type of audio is the audio played according to the driving state parameters of the vehicle, so that the vehicle can control the motor to simulate the sound according to the driving state parameters.

[0124] For example, assuming that the second sound mode is the "sound wave mode", after the user selects the "sound wave mode", the vehicle can display several second-category audio related to the "sound wave mode" on the vehicle's central control screen. Then, when the user selects the second target audio from the second category of audio, the vehicle can control the sound of the motor based on the second target audio. During the sound process, the motor can adjust the acoustic characteristics of the second target audio according to the vehicle's driving status parameters, and control the motor to simulate sound based on the adjusted acoustic characteristics.

[0125] It should be noted that the first sound emission mode and the second sound emission mode include but are not limited to the above examples. The specific type of the sound emission mode can be adjusted according to the actual needs of the user, and the present invention is not limited to this.

[0126] Optionally, for the above-mentioned sound mode and target audio selection process, the user can select a sound mode and the corresponding target audio according to his or her own needs to achieve the sound control of the motor, thereby providing the user with a variety of sound mode choices. On the one hand, it enriches the sound control method of the vehicle motor and the diversity of the motor sound content, and on the other hand, it can effectively meet the needs of users.

[0127] Step 102: Control the motor to emit a sound corresponding to the target sound pattern.

[0128] When the target sound mode is determined, the vehicle can control the vehicle's motor to simulate the corresponding sound according to the target sound mode determined by the user, thereby controlling the motor to make sound. On the one hand, there is no need to configure additional sound equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make sound based on the target sound mode, not only the sound simulated by the motor is made more realistic, but also the type of sound can be flexibly adjusted according to the actual needs of the user, enriching the diversity of the motor sound content.

[0129] It should be noted that for the first target audio, the vehicle can control the motor to simulate the sound according to the acoustic characteristics corresponding to the first target audio, and for the second target audio, since it is an audio played after adjusting the acoustic characteristics according to the driving state parameters, when the vehicle controls the motor to simulate the sound corresponding to the second target audio, the vehicle can first obtain the driving state parameters of the vehicle during driving, and then control the motor to simulate the sound corresponding to the second target audio according to the driving state parameters. Among them, the driving state parameters include at least one of vehicle speed, acceleration, vehicle body posture, motor speed, torque, power information, accelerator pedal state information, and brake pedal state information.

[0130] For example, when the user selects the sound of a sports car, the vehicle can control the motor to simulate the sound of a sports car. When an increase in vehicle speed is detected, the vehicle can increase the pitch of the sound and / or enhance the sound of the sound. Alternatively, when the vehicle is in an accelerating state (i.e., the acceleration is a positive value), the vehicle can control the motor to enhance the sound to simulate the acceleration sound. When the vehicle is in a decelerating state (i.e., the acceleration is a negative value), the vehicle can control the motor to reduce the sound to simulate the corresponding sound when the vehicle decelerates, etc. The present invention is not limited to this.

[0131] In some feasible implementations, when the user selects the first sound mode and selects the first target audio from the first category of audio, the vehicle can control the motor to simulate the sound corresponding to the first target audio; when the user selects the second sound mode and selects the second target audio from the second category of audio, the vehicle can control the motor to simulate the sound corresponding to the second target audio, thereby controlling the motor to make sounds. On the one hand, there is no need to configure additional sound-making equipment on the vehicle, which effectively reduces costs. On the other hand, by controlling the motor to make sounds based on the target sound mode, not only the simulated sound emitted by the motor is made more realistic, but also the type of sound can be flexibly adjusted according to the actual needs of the user, thereby enriching the diversity of the motor sound content.

[0132] For example, assuming that the first sound emission mode is "prompt sound mode", after the user selects "prompt sound mode", the vehicle can display several first-category audios related to the "prompt sound mode" on the large in-vehicle central control screen. Then, when the user selects the first target audio from the first-category audio, the vehicle controls the motor to simulate the sound according to the fixed acoustic characteristics corresponding to the first target audio. Among them, the first-category audio can include traditional prompt sounds such as "ding ding", "beep", "bobo", "du du", "tick", etc., or it can be music with a certain melody, etc. After the user selects any one of them as the first target audio, the vehicle can control the motor to emit the corresponding sound according to the acoustic characteristics corresponding to the first target audio.

[0133] For another example, assuming that the second sound emission mode is the "sound wave mode", after the user selects the "sound wave mode", the vehicle can display several second-category audios related to the "sound wave mode" on the vehicle's central control screen. Then, when the user selects the second target audio from the second-category audio, the vehicle can control the motor to adjust the acoustic characteristics of the second target audio according to the vehicle's driving state parameters, and control the motor to simulate sound based on the adjusted acoustic characteristics. Among them, the second-category audio can be the sound of different vehicle engines running, such as different types of sounds such as trucks, off-road vehicles, and sports cars. After the user selects any one of them as the second target audio, the vehicle controls the motor to emit the corresponding sound according to the acoustic characteristics corresponding to the second target audio.

[0134] In some feasible implementations, in the process of controlling the sound emission mode of the motor, the target instruction may also include a playback mode selection instruction. The playback mode selection instruction may be an instruction determined according to the selection operation for the playback mode input by the user. Specifically, after the user selects the corresponding target audio, the vehicle may further output a playback mode type for the target audio, obtain a playback mode selection instruction for the playback mode type, and determine a target playback mode corresponding to the playback mode selection instruction. Then, the motor may be controlled according to the target playback mode to emit a sound corresponding to the target audio, thereby further enriching the control method for the motor sound and the sound content of the motor.

[0135] In one example, the target playback mode may be a reminder playback mode, and in the process of the motor simulating sound, the vehicle may control the motor to emit a sound corresponding to the target audio in accordance with the reminder playback mode. For example, when the target playback mode is the reminder playback mode, the vehicle may control the motor to simulate the sound corresponding to the target audio in response to the presence of an environmental object around the vehicle, where the environmental object is an object determined by identifying environmental parameters collected by the vehicle's sensors.

[0136] Optionally, the environmental objects include at least moving objects and stationary objects, the moving objects include at least one of pedestrians, animals and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, isolation belts, curbs, traffic signs and signal lights.

[0137] It should be noted that the sensors may include cameras, radar sensors, infrared sensors, laser sensors, ultrasonic sensors, etc. deployed on the vehicle. The vehicle can perceive objects in the environment through the sensors to determine whether there are corresponding environmental objects around the vehicle. When the vehicle detects the presence of environmental objects around it through sensors, it can trigger the control motor to simulate the corresponding sound. For example, when the user has selected the corresponding first target audio, the vehicle can control the motor to simulate the corresponding sound for the corresponding environmental object, including: if the environmental object is a pedestrian or a bicycle, the motor can simulate the sound of "ding ding" or "beep beep"; if the environmental object is other vehicles, the motor can simulate the sound of "du du"; if the environmental object is a stationary obstacle, the motor can simulate intermittent sounds, such as "beep-beep-beep"; if the environmental object is a traffic sign or a signal light, the motor can simulate the sound of "ding" or "bo". By controlling the motor to make sounds, on the one hand, there is no need to configure additional sound-making equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make sounds based on the target sound mode, not only the sound simulated by the motor is more realistic, but also the type of sound can be flexibly adjusted according to the actual needs of the user, enriching the diversity of the motor sound content.

[0138] In another example, the target playback mode may be a continuous playback mode. When the target playback mode is the continuous playback mode, the motor is controlled to continuously simulate the sound corresponding to the target audio.

[0139] It should be noted that for the sound control method of the motor, the user can set the sound mode so that the motor simulates sound according to the sound mode; the user can also set the sound mode and select the target audio, so that the motor can simulate the sound corresponding to the target audio according to the sound mode set by the user; the user can also set the sound mode, select the target audio and set the playback mode of the target audio, so that the motor can simulate the sound corresponding to the target audio according to the sound mode and playback mode set by the user, etc. The present invention does not impose any restrictions on this.

[0140] It should be noted that the embodiments of the present invention include but are not limited to the above examples. It is understandable that those skilled in the art can also make settings according to actual needs under the guidance of the ideas of the embodiments of the present invention, and the present invention is not limited to this.

[0141] In an embodiment of the present invention, the vehicle can determine the target sound pattern of the motor sound, and then control the motor of the vehicle to emit a sound corresponding to the target sound pattern, so that by controlling the motor to make a sound, on the one hand, there is no need to configure additional sound-making equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make a sound based on the target sound pattern, the diversity of the motor sound content is enriched.

[0142] Reference Figure 2 , shows a flow chart of a method for controlling a motor provided by an embodiment of the present invention, which is applied to a vehicle controller of a vehicle and may specifically include the following steps:

[0143] Step 201, determining a target sound pattern for a vehicle motor;

[0144] Step 202 : Sending a sound control instruction corresponding to the target sound pattern to a motor controller, wherein the sound control instruction is used to instruct the motor controller to control the vehicle motor to simulate sound according to the target sound pattern.

[0145] In some feasible implementations, the target instruction includes at least a sound trigger instruction and a sound control instruction, the target sound mode corresponds to a target audio, and determining the target sound mode for the vehicle motor includes:

[0146] Get the voice trigger command;

[0147] Outputting the type of sound mode corresponding to the sound trigger instruction;

[0148] Acquire a sound control instruction for the sound mode type, and determine a target audio corresponding to the sound control instruction.

[0149] In some feasible implementations, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction, and the acquiring of the sound control instruction for the sound mode type and determining the target audio corresponding to the sound control instruction includes:

[0150] Acquire a first sound mode selection instruction for the sound mode type;

[0151] Outputting a first type of audio corresponding to the first sound mode selection instruction, where the first type of audio is audio played according to fixed acoustic characteristics;

[0152] A first audio selection instruction for the first type of audio is obtained, and a first target audio corresponding to the first audio selection instruction is determined.

[0153] In some feasible implementations, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction, and the acquiring of the sound control instruction for the sound mode type and determining the target audio corresponding to the sound control instruction includes:

[0154] Obtaining a second sound mode selection instruction for the sound mode type;

[0155] Outputting a second type of audio corresponding to the second sound mode selection instruction, where the second type of audio is audio played according to a driving state parameter of the vehicle;

[0156] A second audio selection instruction for the second type of audio is obtained, and a second target audio corresponding to the second audio selection instruction is determined.

[0157] In some feasible implementations, the target instruction further includes a playback mode selection instruction, and the determining of the target sound emission mode for the vehicle motor further includes:

[0158] Outputting the playback mode type for the target audio;

[0159] Obtaining a play mode selection instruction for the play mode type;

[0160] A target playback mode corresponding to the playback mode selection instruction is determined.

[0161] In some feasible implementations, sending the sound control instruction corresponding to the target sound mode to the motor controller includes:

[0162] Performing signal recognition on the target audio to obtain a corresponding audio signal;

[0163] Extracting features from the audio signal to obtain audio features corresponding to the target audio;

[0164] A sound control instruction for the vehicle motor is sent to a motor controller, wherein the sound control instruction at least includes the audio feature and a target sound mode.

[0165] In some feasible implementations, the audio feature includes at least one of a frequency and an amplitude of the audio signal.

[0166] In an embodiment of the present invention, the vehicle can determine the target sound pattern of the motor sound, and then control the motor of the vehicle to emit a sound corresponding to the target sound pattern, so that by controlling the motor to make a sound, on the one hand, there is no need to configure additional sound-making equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make a sound based on the target sound pattern, the diversity of the motor sound content is enriched.

[0167] Reference Figure 3 , shows a flow chart of a method for controlling a motor provided by an embodiment of the present invention, which is applied to a motor controller of a vehicle and may specifically include the following steps:

[0168] Step 301, obtaining a sound control instruction for a vehicle motor, wherein the sound control instruction at least includes an audio feature corresponding to a target audio;

[0169] Step 302: Control a motor of the vehicle to simulate emitting a sound corresponding to the target audio according to the audio feature.

[0170] In some feasible implementations, controlling the vehicle motor to simulate emitting a sound corresponding to the target audio according to the audio feature includes:

[0171] Recognizing the audio feature to obtain a control signal for the vehicle motor;

[0172] The vehicle motor is controlled according to the control signal to simulate a sound corresponding to the target audio frequency.

[0173] In some feasible implementations, the target audio includes a first target audio, the sound control instruction also includes a target playback mode corresponding to the first target audio, and controlling the vehicle motor to simulate a sound corresponding to the target audio according to the control signal includes:

[0174] According to the control signal and the target playback mode, the vehicle motor is controlled to simulate a sound corresponding to the first target audio.

[0175] In some feasible implementations, controlling the vehicle motor to simulate a sound corresponding to the first target audio according to the control signal and the target playback mode includes:

[0176] When the target playback mode is the reminder playback mode, in response to the presence of environmental objects around the vehicle, the motor is controlled to simulate the emission of a sound corresponding to the target audio, and the environmental object is an object determined by identifying environmental parameters collected by sensors of the vehicle.

[0177] In some feasible implementations, the environmental objects include at least moving objects and stationary objects, the moving objects include at least one of pedestrians, animals and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, isolation belts, curbs, traffic signs and traffic lights.

[0178] In some feasible implementations, controlling the vehicle motor to simulate a sound corresponding to the first target audio according to the control signal and the target playback mode includes:

[0179] When the target playback mode is the continuous playback mode, the motor is controlled to continuously simulate the sound corresponding to the target audio.

[0180] In some feasible implementations, the target audio includes a second target audio, and controlling the vehicle motor to simulate a sound corresponding to the target audio according to the control signal includes:

[0181] Obtaining driving state parameters of the vehicle during driving;

[0182] The motor is controlled to simulate emitting a sound corresponding to the second target audio frequency according to the driving state parameters.

[0183] In some feasible implementations, controlling the motor to simulate emitting a sound corresponding to the second target audio frequency according to the driving state parameter includes:

[0184] Adjusting the control signal according to the driving state parameter to obtain a target control signal for the motor;

[0185] The vehicle motor is controlled according to the target control signal to simulate a sound corresponding to the second target audio frequency.

[0186] In some feasible implementations, the driving state parameter includes at least one of vehicle speed, acceleration, vehicle body posture, motor speed, torque, power information, accelerator pedal state information, and brake pedal state information.

[0187] In an embodiment of the present invention, the vehicle can determine the target sound pattern of the motor sound, and then control the motor of the vehicle to emit a sound corresponding to the target sound pattern, so that by controlling the motor to make a sound, on the one hand, there is no need to configure additional sound-making equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make a sound based on the target sound pattern, the diversity of the motor sound content is enriched.

[0188] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the following is an exemplary description of the process of the above-mentioned vehicle controller and the motor controller cooperating with each other to realize the simulated sound generation through corresponding examples:

[0189] In an embodiment of the present invention, the vehicle may be configured with main modules such as sensors, vehicle controller, vehicle interactive system, motor controller and motor, as well as power supply, external circuit and wiring harness, etc. Through the above modules and devices, the motor can be controlled to control the vehicle's motor to simulate sound.

[0190] Among them, the sensor may include a first type of sensor for identifying whether there are corresponding environmental objects near the vehicle, such as radar equipment such as millimeter waves and ultrasonic waves, visual equipment such as cameras, and temperature sensing equipment such as infrared temperature sensors, etc.; it may also include sensors for obtaining information such as motor state parameters and driving state parameters, including but not limited to sensors for measuring parameters such as motor speed, wheel speed, vehicle driving speed, vehicle driving acceleration, body posture, torque, power information, etc. For example, speed measurement can use a rotary transformer, eddy current sensor, etc., acceleration measurement can use an accelerometer, etc., body posture measurement can use an accelerometer, gyroscope, etc., torque and power can also be achieved using corresponding measuring equipment, sensors, etc., and the present invention does not limit this.

[0191] The vehicle controller may include a microprocessor, a communication module, a power supply, and a protection circuit module. In an embodiment of the present invention, the vehicle controller may process control signals such as turning on or off various functions, and transmit the signals required for the motor to make sounds to the motor controller for processing.

[0192] The in-vehicle interactive system may include devices and components such as the vehicle computer and external physical buttons that can perform human-computer interaction with the user.

[0193] The motor controller may include control chips, connection circuits, power devices and other modules. By receiving instructions sent by the vehicle controller, it generates corresponding drive signals and high-voltage signals, etc., and drives the motor to operate according to the expected operating state, so as to simulate the corresponding sound without affecting the normal driving of the vehicle.

[0194] In some examples, reference Figure 4, shows a schematic diagram of the structure of a vehicle control system provided in an embodiment of the present invention, involving an in-vehicle interactive system 410, a vehicle controller 420, a motor controller 430, a sensor 450 and a corresponding motor 440. In the process of controlling the motor 440 to simulate sound generation, the user can input a corresponding sound generation control operation through the in-vehicle interactive system 410. The vehicle controller 420 generates a corresponding control signal based on the sound generation control operation and transmits the control signal to the motor controller 430. While the motor controller 430 drives the motor 440 to simulate the corresponding sound generation according to the control signal, it can obtain corresponding state parameters of the vehicle, such as environmental parameters and driving state parameters, through the sensor 450, so as to control the sound generation of the motor 440 according to the obtained state parameters, thereby driving the motor 440 to generate sound. On the one hand, there is no need to configure an additional sound generation device on the vehicle, which effectively reduces the cost. On the other hand, by obtaining the corresponding audio and then driving the motor to generate sound based on the audio, not only the sound generated by the motor simulation is made more realistic, but also the type of sound can be flexibly adjusted according to the actual needs of the user, thereby enriching the diversity of the motor sound generation content.

[0195] When the user selects the corresponding target audio, the vehicle controller 420 can perform signal recognition on the target audio to determine the corresponding current signal. For the audio recognition process, it can be a real-time recognition method through a corresponding algorithm, or it can be a mapping method. For the former, the vehicle can first perform signal recognition on the target audio to obtain the corresponding audio signal, then extract the audio signal to obtain the audio feature corresponding to the target audio, and the audio feature includes at least one of the frequency and amplitude of the audio signal, and then use at least one of the frequency and amplitude to perform signal conversion to obtain the current signal corresponding to the target audio; for the latter, after the former completes the conversion, a mapping relationship between the audio and the corresponding current signal is established, and the mapping relationship and the corresponding current signal are stored in the storage medium of the vehicle, so that when the vehicle needs to control the motor 440 to simulate the sound corresponding to the corresponding audio, it can be directly reused (after determining the target audio, find out whether there is a corresponding current signal according to the mapping relationship, if there is, directly obtain the corresponding current signal without identifying the target audio through the recognition method of the former), reducing the data processing process of the vehicle and improving the efficiency and convenience of the vehicle sound control.

[0196] Optionally, the storage medium of the vehicle may include a vehicle computer, a storage unit in the vehicle controller 420, a storage unit of the motor controller 430, an on-board memory card, and other media with storage functions, and the present invention does not impose any limitation on this.

[0197] In some feasible examples, the vehicle controller 420 can pre-process the audio signal of the target audio, including filtering, amplification, denoising and other processing processes, to ensure signal quality and adapt to subsequent signal processing processes. Then, relevant features can be extracted from the pre-processed audio signal, including frequency features, amplitude features and time domain features. For frequency features, the spectrum information of the audio signal, that is, the frequency components of the sound, can be obtained through Fourier transform or other spectrum analysis methods; for amplitude features, the amplitude information of the sound signal can be obtained, and the amplitude information reflects the intensity or energy of the sound; for time domain features, the waveform features of the audio signal can be analyzed, such as waveform shape, duration, etc. After obtaining the audio features corresponding to the target audio, machine learning algorithms or pattern recognition technologies can be used to analyze and classify the extracted audio features to identify the specific state or behavior corresponding to the sound emitted by the motor 440 represented by the target audio, such as the sound features at different speeds and different loads. Then, according to the state or behavior of the motor 440 represented by the identified audio signal, a corresponding current signal can be generated to control the motor 440 to make a corresponding sound. Specifically, according to a preset control strategy or feedback control algorithm, the characteristics of the audio signal can be converted into a current control instruction, and then the amplitude and frequency of the current signal can be adjusted to ensure that it completely matches the sound emitted by the motor 440 or achieves the desired sound effect, so that based on the corresponding processing process, a current signal corresponding to the target audio is obtained, so that the motor 440 can be controlled by the current signal to simulate the sound corresponding to the target audio, so that by obtaining the corresponding audio and then driving the motor 440 to make a sound based on the audio, not only the sound simulated by the motor is made more realistic, but also the type of sound can be flexibly adjusted according to the actual needs of the user, thereby enriching the diversity of the motor sound content.

[0198] It should be noted that the motor 440 can generate a magnetic field through the current, and the magnetic field interacts with the permanent magnet or electromagnet inside the motor 440 to generate a torque, thereby causing the motor 440 to rotate or vibrate. In the process of controlling the motor 440 to simulate sound, the motor controller 430 can use a vibration motor and control the vibration frequency and intensity through the change of the current. Thus, the motor controller 430 controls the change of the current signal to control the motor 440 to vibrate at a specific frequency through a specific current waveform, thereby generating a specific sound, thereby achieving the effect of controlling the motor 440 of the vehicle to make a sound, without the need to configure additional sound-generating equipment on the vehicle, and effectively reducing costs.

[0199] In some feasible implementations, assuming that the audio selected by the user is the first type of audio, if the user selects the corresponding playback mode, the vehicle can first detect which playback mode the user has selected. If the playback mode is a reminder playback mode, the vehicle's environmental parameters are obtained through sensor 450, and then the environment in which the vehicle is located is detected based on the environmental parameters. If the environmental parameters indicate that there are no environmental objects around the vehicle, the motor controller 430 may not control the motor to simulate sound. If the environmental parameters indicate that there are environmental objects around the vehicle, the motor controller 430 injects a current signal into the motor 440 to drive the motor 440 to simulate a sound corresponding to the target audio. In the reminder mode, the vehicle can detect the environment in which the vehicle is located through the corresponding sensor 450, and when the corresponding conditions are met, the motor controller 430 injects a sound signal into the motor 440 to drive the motor 440 to simulate sound, so that the vehicle can simulate sound according to the environment in which it is located. For users in the vehicle, the vehicle can effectively provide prompts to ensure safe driving. For users outside the vehicle, it can effectively remind them to pay attention to the vehicle and ensure personal safety. If the playback mode is a continuous playback mode, the motor controller 430 can continuously inject a current signal into the motor 440 to drive the motor 440 to simulate a sound corresponding to the target audio. In this case, the user can select the corresponding audio control motor 440 to simulate the sound according to their own needs, thereby satisfying the user's driving pleasure and improving the driving experience.

[0200] Optionally, the vehicle's sensor 450 detects the environment around the vehicle, and can effectively identify changes in the environment around the vehicle, so that when the user sets the reminder mode, the motor 440 can be accurately controlled to simulate sound. For example, the user can select a corresponding prompt sound through the vehicle-mounted interactive system 410, and the prompt sound can remind the driver of the possible moving objects and / or stationary objects around the vehicle to ensure driving safety. When the vehicle detects the existence of corresponding environmental objects around the vehicle through the sensor 450, the motor controller 430 can inject a corresponding current signal into the motor 440 to control the motor 440 to simulate the sound corresponding to the prompt sound, and remind the driver to avoid it.

[0201] It should be noted that corresponding conditions can be set for the detection of environmental objects. After the environmental objects are detected, the relative distance between the vehicle and the environmental objects can be further obtained through sensor 450. When the relative distance is less than or equal to the preset distance threshold, the current signal is triggered to be injected into the motor 440, and the motor 440 is controlled to simulate the corresponding sound to prompt the driver to pay attention to avoid it.

[0202] In other feasible implementations, when the user selects the second type of audio, the vehicle can obtain the vehicle's driving state parameters, and then adjust the current signal corresponding to the second type of audio according to the driving state parameters to obtain a target current signal for motor 440, and then inject the target current signal into motor 440 to drive motor 440 to simulate the sound corresponding to the target audio. The current signal corresponding to the second type of audio can be used as a basic current signal. After the vehicle obtains the driving state parameters through the corresponding sensor 450, it can be adjusted on the basis of the basic current signal according to the driving state parameters, such as changing the frequency and amplitude of the current signal, to obtain a target current signal corresponding to the vehicle's driving state, and then inject the target current signal into motor 440 to control motor 440 to simulate the sound corresponding to the target audio.

[0203] For example, as the vehicle speed increases, the motor controller 430 increases the frequency of the current signal so that the motor 440 produces a higher-pitched sound, thereby simulating the effect of a traditional internal combustion engine vehicle where the engine sound becomes higher as the speed increases; if the vehicle is accelerating, the motor controller 430 adjusts the amplitude of the current signal according to the magnitude of the acceleration so that the motor 440 produces a stronger sound, thereby enhancing the driving experience and allowing the driver to feel the power during acceleration; when the vehicle turns or tilts, the motor controller 430 adjusts the current signal according to the body posture so that the motor 440 produces a sound that matches the vehicle dynamics. For example, when making a sharp turn, the motor controller 430 sends a rapidly changing current signal to produce a tense or exciting sound effect; an increase in motor speed is usually related to the power output of the vehicle, and the motor controller 430 adjusts the current signal according to the motor speed. frequency to simulate the sound change when the engine speed increases; torque is an important parameter to measure the power output of the vehicle, and the amplitude of the current signal can be adjusted according to the torque so that the motor 440 produces a sound that matches the power output of the vehicle; the motor controller 430 adjusts the current signal according to the change in power to produce a sound that matches the performance of the vehicle; when the driver steps on the accelerator pedal, the system can adjust the current signal according to the depth and speed of the pedal so that the motor 440 produces a sound that matches the driver's intention. For example, quickly stepping on the accelerator pedal may result in a stronger sound; when the driver steps on the brake pedal, the system can adjust the current signal according to the depth and speed of the brake pedal so that the motor 440 produces a sound that matches the braking action. For example, emergency braking may result in a sharper or more rapid sound, etc. The present invention is not limited to this.

[0204] Through the above-mentioned methods based on the audio, sound mode, etc. selected by the user, the vehicle can control the motor to simulate sound. On the one hand, there is no need to configure additional sound equipment on the vehicle, which effectively reduces the cost. On the other hand, by obtaining the corresponding audio and then driving the motor to make sound based on the audio, not only the simulated sound of the motor is more realistic, but also the type of sound can be flexibly adjusted according to the actual needs of the user, enriching the diversity of the motor sound content.

[0205] Through the cooperation between the devices already configured in the above-mentioned vehicle (the on-board interactive system 410, the vehicle controller 420, the motor controller 430, the sensor 450, the motor, etc.), the motor can be effectively controlled to make sounds. On the one hand, there is no need to configure additional sound-making devices on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make sounds based on the target sound mode, the diversity of the motor sound content is enriched.

[0206] In addition, refer to Figure 5 , shows a schematic diagram of the process of simulating sound generation of a motor provided in an embodiment of the present invention, and the specific process may include:

[0207] First, the audio of each function is obtained, and the frequency and amplitude data corresponding to the audio are obtained. The acoustic features obtained include but are not limited to music of different styles, anthropomorphic voices of different timbres and tones, simple prompt sounds of different types (such as "tick-tock"), and engine sounds of different types of vehicles.

[0208] The audio information of each function obtained in the above process is converted into the current signal required for the motor to emit the corresponding sound. The conversion process can obtain the corresponding current signal by identifying and analyzing the frequency, amplitude and other information data of the audio signal.

[0209] The acquired signal is stored for direct use when the motor is required to make a specific sound. The storage medium includes but is not limited to: the vehicle computer, the storage unit in the vehicle controller, the storage unit of the motor controller, the vehicle memory card and other media with storage function. Among them, the system is first divided into two major functions: fixed audio mode and driving feedback audio mode. In the fixed audio mode, different playback audio can be selected, and two playback modes, reminder mode and continuous playback mode, can be selected. In the driving feedback audio mode, different types of sound waves can be selected. The above-mentioned various modes and functions can be controlled by separate systems, peripherals, and human-vehicle interaction modules, and can also be integrated into vehicle computers and other equipment.

[0210] Step S04, determining the selection of fixed audio / driving feedback audio mode, which is set by the user according to needs. If the fixed audio mode is set, proceeding to step S05.

[0211] Step S05: Select the fixed audio to be played.

[0212] Step S06, judging the selection of the two playing modes of reminder mode / continuous play, which is set by the user according to the needs. If the reminder mode is set, proceeding to step S07.

[0213] Step S07, automatically detect and determine whether there are pedestrians or other vehicles nearby through the sensor module. If there are no pedestrians or other vehicles nearby, the motor will not make any sound; if there are pedestrians or other vehicles nearby, enter step S08.

[0214] Step S08, injecting the current signal corresponding to the fixed audio to be played selected in step S05 into the motor.

[0215] Step S09: The motor receives the current signal injected in step S08 and drives the motor to emit the fixed audio selected in step S05 to be played.

[0216] In step S04, the selection of fixed audio / driving feedback audio mode is determined. If the fixed audio mode is set, the process goes to step S05 to select the fixed audio to be played. The process goes to step S06 to determine the selection of reminder mode / continuous playback mode. If the continuous playback mode is set, the process goes to step S10.

[0217] Step S10, injecting the current signal corresponding to the fixed audio to be played selected in step S05 into the motor.

[0218] In step S11 , the motor receives the current signal injected in step S10 and drives the motor to emit the fixed audio selected in step S05 to be played.

[0219] In step S04, the selection of the fixed audio / driving feedback audio mode is determined. If the driving feedback audio mode is set, the process proceeds to step S12.

[0220] Step S12, selecting the type of sound wave to be played.

[0221] Step S13, based on the reference audio or standard audio corresponding to the type of sound wave to be played selected in step S12, the corresponding current signal is appropriately changed according to the driving state feedback, and the changed current signal is injected into the motor.

[0222] In step S14, the motor receives the current signal injected in step S13, and drives the motor to emit the driving feedback sound corresponding to the sound type selected in step S12.

[0223] Through the above process, on the one hand, there is no need to configure additional sound-generating equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make sound based on the target sound mode, the diversity of the motor sound content is enriched.

[0224] Reference Figure 6 , shows a flow chart of a method for controlling a motor provided by an embodiment of the present invention, which may specifically include the following steps:

[0225] Step 601 , in response to a user operation, controlling a motor of a vehicle to simulate emitting a sound corresponding to the user operation.

[0226] In some feasible implementations, in response to a user operation, controlling a motor of the vehicle to simulate emitting a sound corresponding to the user operation includes:

[0227] In response to a user operation, a motor of the vehicle is controlled to simulate emitting a sound corresponding to a target audio, where the target audio is an audio determined according to the user operation.

[0228] In some feasible implementations, the user operation includes at least a first user operation, a second user operation, and a third user operation, and in response to the user operation, controlling the vehicle motor to simulate emitting a sound corresponding to a target audio, wherein the target audio is an audio determined according to the user operation, includes:

[0229] In response to a first user operation on a motor of a vehicle, displaying an audio type corresponding to the first user operation;

[0230] In response to a second user operation on the audio type, if the second user operation indicates that the audio type selected by the user is a first audio type, displaying a first category of audio corresponding to the first audio type;

[0231] In response to a third user operation on the first type of audio, a motor of the vehicle is controlled to simulate emitting a sound corresponding to a first target audio, where the first target audio is an audio determined according to the third user operation.

[0232] In some feasible implementations, in response to a third user operation on the first type of audio, controlling a motor of the vehicle to simulate emitting a sound corresponding to the first target audio includes:

[0233] In response to a first selection operation on the first category of audio, selecting a first target audio from the first category of audio, and displaying a sounding mode for the first target audio;

[0234] In response to a second selection operation for the sound emission mode, the vehicle motor is controlled to simulate and emit a sound corresponding to the first target audio according to a target sound emission model, and the target sound emission mode is a sound emission mode determined according to the second selection operation.

[0235] In some feasible implementations, the sound emission mode includes at least a reminder mode, and the controlling of the vehicle motor to simulate and emit a sound corresponding to the first target audio according to a target sound emission model includes:

[0236] When the target sound mode is the reminder mode, in response to the presence of environmental objects around the vehicle, the vehicle motor is controlled to simulate the emission of a sound corresponding to the first target audio, and the environmental object is an object determined by identifying environmental parameters collected by the vehicle's sensors.

[0237] In some feasible implementations, the environmental objects include at least moving objects and stationary objects, the moving objects include at least one of pedestrians, animals and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, isolation belts, curbs, traffic signs and traffic lights.

[0238] In some feasible implementations, the sound emission mode includes at least a continuous play mode, and the controlling of the vehicle motor to simulate and emit a sound corresponding to the first target audio according to the target sound emission model includes:

[0239] When the target sound emission mode is the continuous play mode, the vehicle motor is controlled to continuously simulate the emission of a sound corresponding to the first target audio.

[0240] In some feasible implementations, the target sound emission mode includes one of a reminder play mode and a continuous play mode.

[0241] In some feasible implementations, the first audio type is an audio type that performs audio playback according to fixed acoustic features.

[0242] In some feasible implementations, in response to the user operation, controlling the vehicle motor to simulate the corresponding sound according to the sound generation method includes:

[0243] If the second user operation indicates that the audio type selected by the user is a second audio type, displaying a second type of audio corresponding to the second audio type;

[0244] In response to a fourth user operation on the second type of audio, a motor of the vehicle is controlled to simulate emitting a sound corresponding to a second target audio, where the second target audio is an audio determined according to the fourth user operation.

[0245] In some feasible implementations, the second audio type is an audio type that adjusts acoustic characteristics according to the driving state parameters of the vehicle during audio playback.

[0246] In some feasible implementations, controlling the vehicle motor to simulate emitting a sound corresponding to the second target audio frequency includes:

[0247] The vehicle motor is controlled to simulate and emit a sound corresponding to the second target audio frequency according to a driving state parameter, wherein the driving state parameter is a state parameter of the vehicle during driving.

[0248] In some feasible implementations, the driving state parameter includes at least one of vehicle speed, acceleration, vehicle body posture, motor speed, torque, power information, accelerator pedal state information, and brake pedal state information.

[0249] Through the cooperation between the above-mentioned devices already configured in the vehicle (on-board interactive system, vehicle controller, motor controller, sensor, motor, etc.), the motor can be effectively controlled to make sounds. On the one hand, there is no need to configure additional sound-making equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make sounds based on the target sound mode, the diversity of the motor sound content is enriched.

[0250] 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.

[0251] Reference Figure 7 , shows a structural block diagram of a motor control device provided by an embodiment of the present invention, which may specifically include the following modules:

[0252] A mode determination module 701 is used to determine a target sounding mode of the motor;

[0253] The sound control module 702 is used to control the motor to emit a sound corresponding to the target sound pattern.

[0254] In some optional embodiments, the target sound emission mode includes at least a first sound emission mode and a second sound emission mode, and the sound emission triggering conditions of the first sound emission mode and the second sound emission mode are different.

[0255] In some optional embodiments, the mode determination module 701 is specifically used to:

[0256] A target instruction for the motor is obtained, and a target sounding mode of the motor is determined according to the target instruction.

[0257] In some optional embodiments, the mode determination module 701 is specifically used to:

[0258] If the driving speed of the vehicle is less than or equal to a preset speed threshold, a target command for the motor is generated, and a first sounding mode or a second sounding mode of the motor is determined according to the target command.

[0259] In some optional embodiments, the target instruction includes at least a sound trigger instruction and a sound control instruction, the target sound mode corresponds to a target audio, and the mode determination module 701 is specifically used to:

[0260] Get the voice trigger command;

[0261] Determine a corresponding sounding mode type based on the sounding trigger instruction;

[0262] Acquire a sound control instruction for the sound mode type, and determine a target audio corresponding to the sound control instruction.

[0263] In some optional embodiments, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction, and the mode determination module 701 is specifically used to:

[0264] Acquire a first sound mode selection instruction for the sound mode type;

[0265] Determining a first type of audio corresponding to the first sound emission mode selection instruction, where the first type of audio is audio played according to fixed acoustic features;

[0266] A first audio selection instruction for the first type of audio is obtained, and a first target audio corresponding to the first audio selection instruction is determined.

[0267] In some optional embodiments, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction, and the mode determination module 701 is specifically used to:

[0268] Obtaining a second sound mode selection instruction for the sound mode type;

[0269] Outputting a second type of audio corresponding to the second sound mode selection instruction, where the second type of audio is audio played according to a driving state parameter of the vehicle;

[0270] A second audio selection instruction for the second type of audio is obtained, and a second target audio corresponding to the second audio selection instruction is determined.

[0271] In some optional embodiments, the target instruction further includes a play mode selection instruction, and the sound control module 702 is specifically used to:

[0272] Determine a playback mode type for the target audio;

[0273] Obtaining a play mode selection instruction for the play mode type;

[0274] Determining a target playback mode corresponding to the playback mode selection instruction;

[0275] According to the target playback mode, the motor is controlled to emit a sound corresponding to the target audio.

[0276] In some optional embodiments, the target playback mode includes at least a reminder playback mode, and the sound control module 702 is specifically used to:

[0277] According to the reminder play mode, the motor is controlled to emit a sound corresponding to the target audio.

[0278] In some optional embodiments, the sound control module 702 is specifically used to:

[0279] When the target playback mode is the reminder playback mode, in response to the presence of environmental objects around the vehicle, the motor is controlled to simulate the emission of a sound corresponding to the target audio, and the environmental object is an object determined by identifying environmental parameters collected by sensors of the vehicle.

[0280] In some optional embodiments, the environmental objects include at least moving objects and stationary objects, the moving objects include at least one of pedestrians, animals and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, isolation belts, curbs, traffic signs and traffic lights.

[0281] In some optional embodiments, the target playback mode includes at least a continuous playback mode, and the sound control module 702 is specifically configured to:

[0282] When the target playback mode is the continuous playback mode, the motor is controlled to continuously simulate the sound corresponding to the target audio.

[0283] In some optional embodiments, the sound control module 702 is specifically used to:

[0284] Obtaining driving state parameters of the vehicle during driving;

[0285] The motor is controlled to simulate emitting a sound corresponding to the second target audio frequency according to the driving state parameters.

[0286] In some optional embodiments, the driving status parameter includes at least one of vehicle speed, acceleration, vehicle body posture, motor speed, torque, power information, accelerator pedal status information and brake pedal status information.

[0287] In some optional embodiments, the target instruction is generated based on any of the following:

[0288] A user's pressing operation and / or touching operation on a mechanical key;

[0289] User touch operation on the interactive interface;

[0290] Voice operation of user input;

[0291] The gesture action performed by the user.

[0292] Reference Figure 8 , shows a structural block diagram of a motor control device provided by an embodiment of the present invention, which is applied to a vehicle controller and may specifically include the following modules:

[0293] A mode determination module 801 is used to determine a target sound emission mode for a vehicle motor;

[0294] The instruction transmission module 802 is used to send a sound control instruction corresponding to the target sound pattern to the motor controller, and the sound control instruction is used to instruct the motor controller to control the vehicle motor to simulate sound according to the target sound pattern.

[0295] In some feasible implementations, the target instruction includes at least a sound trigger instruction and a sound control instruction, the target sound mode corresponds to a target audio, and the mode determination module 801 is specifically used to:

[0296] Get the voice trigger command;

[0297] Outputting the type of sound mode corresponding to the sound trigger instruction;

[0298] Acquire a sound control instruction for the sound mode type, and determine a target audio corresponding to the sound control instruction.

[0299] In some feasible implementations, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction, and the mode determination module 801 is specifically used to:

[0300] Acquire a first sound mode selection instruction for the sound mode type;

[0301] Outputting a first type of audio corresponding to the first sound mode selection instruction, where the first type of audio is audio played according to fixed acoustic characteristics;

[0302] A first audio selection instruction for the first type of audio is obtained, and a first target audio corresponding to the first audio selection instruction is determined.

[0303] In some feasible implementations, the sound control instruction includes at least a sound mode selection instruction and an audio selection instruction, and the mode determination module 801 is specifically used to:

[0304] Obtaining a second sound mode selection instruction for the sound mode type;

[0305] Outputting a second type of audio corresponding to the second sound mode selection instruction, where the second type of audio is audio played according to a driving state parameter of the vehicle;

[0306] A second audio selection instruction for the second type of audio is obtained, and a second target audio corresponding to the second audio selection instruction is determined.

[0307] In some feasible implementations, the target instruction further includes a play mode selection instruction, and the mode determination module 801 is specifically used to:

[0308] Outputting the playback mode type for the target audio;

[0309] Obtaining a play mode selection instruction for the play mode type;

[0310] A target playback mode corresponding to the playback mode selection instruction is determined.

[0311] In some feasible implementations, the instruction transmission module 802 is specifically used to:

[0312] Performing signal recognition on the target audio to obtain a corresponding audio signal;

[0313] Extracting features from the audio signal to obtain audio features corresponding to the target audio;

[0314] A sound control instruction for the vehicle motor is sent to a motor controller, wherein the sound control instruction at least includes the audio feature and a target sound mode.

[0315] In some feasible implementations, the audio feature includes at least one of a frequency and an amplitude of the audio signal.

[0316] In an embodiment of the present invention, the vehicle can determine the target sound pattern of the motor sound, and then control the motor of the vehicle to emit a sound corresponding to the target sound pattern, so that by controlling the motor to make a sound, on the one hand, there is no need to configure additional sound equipment on the vehicle, which effectively reduces the cost. On the other hand, by controlling the motor to make a sound based on the target sound pattern, not only the sound simulated by the motor is made more realistic, but also the type of sound can be flexibly adjusted according to the actual needs of the user, thereby enriching the diversity of the motor sound content.

[0317] Reference Fig. 9 , shows a structural block diagram of a motor control device provided by an embodiment of the present invention, which is applied to a motor controller of a vehicle and may specifically include the following modules:

[0318] The instruction acquisition module 901 is used to acquire a sound control instruction for a motor of a vehicle, wherein the sound control instruction at least includes an audio feature corresponding to a target audio;

[0319] The sound control module 902 is used to control the vehicle motor to simulate the sound corresponding to the target audio according to the audio characteristics.

[0320] In some feasible implementations, the sound control module 902 is specifically used to:

[0321] Recognizing the audio feature to obtain a control signal for the vehicle motor;

[0322] The vehicle motor is controlled according to the control signal to simulate a sound corresponding to the target audio frequency.

[0323] In some feasible implementations, the target audio includes a first target audio, the sound control instruction also includes a target playback mode corresponding to the first target audio, and the sound control module 902 is specifically configured to:

[0324] According to the control signal and the target playback mode, the vehicle motor is controlled to simulate a sound corresponding to the first target audio.

[0325] In some feasible implementations, the sound control module 902 is specifically used to:

[0326] When the target playback mode is the reminder playback mode, in response to the presence of environmental objects around the vehicle, the motor is controlled to simulate the emission of a sound corresponding to the target audio, and the environmental object is an object determined by identifying environmental parameters collected by sensors of the vehicle.

[0327] In some feasible implementations, the environmental objects include at least moving objects and stationary objects, the moving objects include at least one of pedestrians, animals and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, isolation belts, curbs, traffic signs and traffic lights.

[0328] In some feasible implementations, the sound control module 902 is specifically used to:

[0329] When the target playback mode is the continuous playback mode, the motor is controlled to continuously simulate the sound corresponding to the target audio.

[0330] In some feasible implementations, the target audio includes a second target audio, and the sound control module 902 is specifically configured to:

[0331] Obtaining driving state parameters of the vehicle during driving;

[0332] The motor is controlled to simulate emitting a sound corresponding to the second target audio frequency according to the driving state parameters.

[0333] In some feasible implementations, the sound control module 902 is specifically used to:

[0334] Adjusting the control signal according to the driving state parameter to obtain a target control signal for the motor;

[0335] The vehicle motor is controlled according to the target control signal to simulate a sound corresponding to the second target audio frequency.

[0336] In some feasible implementations, the driving state parameter includes at least one of vehicle speed, acceleration, vehicle body posture, motor speed, torque, power information, accelerator pedal state information, and brake pedal state information.

[0337] Reference Fig.10 , shows a structural block diagram of a motor control device provided by an embodiment of the present invention, which may specifically include the following modules:

[0338] The sound control module 1001 is used to control the vehicle motor to simulate the sound corresponding to the user operation in response to the user operation.

[0339] In some feasible implementations, the sound control module 1001 is specifically used for:

[0340] In response to a user operation, a motor of the vehicle is controlled to simulate emitting a sound corresponding to a target audio, where the target audio is an audio determined according to the user operation.

[0341] In some feasible implementations, the user operation includes at least a first user operation, a second user operation, and a third user operation, and the sound control module 1001 is specifically used to:

[0342] In response to a first user operation on a motor of a vehicle, displaying an audio type corresponding to the first user operation;

[0343] In response to a second user operation on the audio type, if the second user operation indicates that the audio type selected by the user is a first audio type, displaying a first category of audio corresponding to the first audio type;

[0344] In response to a third user operation on the first type of audio, a motor of the vehicle is controlled to simulate emitting a sound corresponding to a first target audio, where the first target audio is an audio determined according to the third user operation.

[0345] In some feasible implementations, the sound control module 1001 is specifically used for:

[0346] In response to a first selection operation on the first category of audio, selecting a first target audio from the first category of audio, and displaying a sounding mode for the first target audio;

[0347] In response to a second selection operation for the sound emission mode, the vehicle motor is controlled to simulate and emit a sound corresponding to the first target audio according to a target sound emission model, and the target sound emission mode is a sound emission mode determined according to the second selection operation.

[0348] In some feasible implementations, the sound emission mode includes at least a reminder mode, and the sound emission control module 1001 is specifically used for:

[0349] When the target sound mode is the reminder mode, in response to the presence of environmental objects around the vehicle, the vehicle motor is controlled to simulate the emission of a sound corresponding to the first target audio, and the environmental object is an object determined by identifying environmental parameters collected by the vehicle's sensors.

[0350] In some feasible implementations, the environmental objects include at least moving objects and stationary objects, the moving objects include at least one of pedestrians, animals and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, isolation belts, curbs, traffic signs and traffic lights.

[0351] In some feasible implementations, the sound emission mode at least includes a continuous play mode, and the sound emission control module 1001 is specifically used for:

[0352] When the target sound emission mode is the continuous play mode, the vehicle motor is controlled to continuously simulate the emission of a sound corresponding to the first target audio.

[0353] In some feasible implementations, the target sound emission mode includes one of a reminder play mode and a continuous play mode.

[0354] In some feasible implementations, the first audio type is an audio type that performs audio playback according to fixed acoustic features.

[0355] In some feasible implementations, the sound control module 1001 is specifically used for:

[0356] If the second user operation indicates that the audio type selected by the user is a second audio type, displaying a second type of audio corresponding to the second audio type;

[0357] In response to a fourth user operation on the second type of audio, a motor of the vehicle is controlled to simulate emitting a sound corresponding to a second target audio, where the second target audio is an audio determined according to the fourth user operation.

[0358] In some feasible implementations, the second audio type is an audio type that adjusts acoustic characteristics according to the driving state parameters of the vehicle during audio playback.

[0359] In some feasible implementations, the sound control module 1001 is specifically used for:

[0360] The vehicle motor is controlled to simulate and emit a sound corresponding to the second target audio frequency according to a driving state parameter, wherein the driving state parameter is a state parameter of the vehicle during driving.

[0361] In some feasible implementations, the driving state parameter includes at least one of vehicle speed, acceleration, vehicle body posture, motor speed, torque, power information, accelerator pedal state information, and brake pedal state information.

[0362] 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.

[0363] An embodiment of the present invention further provides a vehicle, comprising:

[0364] one or more processors; and

[0365] One or more machine-readable media having instructions stored thereon, when executed by the one or more processors, cause the vehicle to perform the method described in the embodiment of the present invention.

[0366] An embodiment of the present invention further provides a computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, enables the processors to execute the method described in the embodiment of the present invention.

[0367] 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.

[0368] It should be understood by those skilled in the art that the embodiments of 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, EEPROM, Flash, and eMMC, etc.) containing computer-usable program codes.

[0369] 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.

[0370] 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.

[0371] 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.

[0372] 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.

[0373] 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 "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0374] The above is a detailed introduction to a motor control method and a motor control device provided by the present invention. 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 methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for controlling a motor, characterized in that: include: Obtaining a target instruction for the motor, and determining a target sounding mode of the motor according to the target instruction; The target instruction is an instruction automatically generated when the vehicle meets a preset condition or an instruction generated according to a user input operation; Controlling the motor to emit a sound corresponding to the target sound pattern; The target sound emission mode corresponds to a target audio frequency, and the step of controlling the motor to emit a sound corresponding to the target sound emission mode includes: Extracting audio features of the target audio; Analyze the audio features to obtain behavior parameters of the motor corresponding to the target audio; the behavior parameters include at least rotation speed and load; A current signal is generated according to the behavior parameter, and the motor is controlled according to the current signal to emit a sound corresponding to the target audio frequency.

2. The method according to claim 1, characterized in that The target utterance pattern includes at least a first utterance pattern and a second utterance pattern, and the first utterance pattern is different from the second utterance pattern.

3. The method according to claim 1, characterized in that The step of obtaining a target instruction for the motor and determining a target sounding mode of the motor according to the target instruction includes: If the driving speed of the vehicle is less than or equal to a preset speed threshold, a target command for the motor is generated, and a first sounding mode or a second sounding mode of the motor is determined according to the target command.

4. The method according to claim 1, characterized in that The target instruction at least includes a sound trigger instruction and a sound control instruction. The step of acquiring the target instruction for the motor and determining the target sound mode of the motor according to the target instruction includes: Get the voice trigger command; Determine a corresponding sounding mode type based on the sounding trigger instruction; Acquire a sound control instruction for the sound mode type, and determine a target audio corresponding to the sound control instruction.

5. The method according to claim 4, characterized in that The sound control instruction at least includes a sound mode selection instruction and an audio selection instruction, and the acquiring of the sound control instruction for the sound mode type and determining the target audio corresponding to the sound control instruction includes: Acquire a first sound mode selection instruction for the sound mode type; Determining a first type of audio corresponding to the first sound emission mode selection instruction, where the first type of audio is audio played according to fixed acoustic features; A first audio selection instruction for the first type of audio is obtained, and a first target audio corresponding to the first audio selection instruction is determined.

6. The method according to claim 4, characterized in that The sound control instruction at least includes a sound mode selection instruction and an audio selection instruction, and the acquiring of the sound control instruction for the sound mode type and determining the target audio corresponding to the sound control instruction includes: Obtaining a second sound mode selection instruction for the sound mode type; Outputting a second type of audio corresponding to the second sound mode selection instruction, where the second type of audio is audio played according to a driving state parameter of the vehicle; A second audio selection instruction for the second type of audio is obtained, and a second target audio corresponding to the second audio selection instruction is determined.

7. The method according to claim 5 or 6, characterized in that: The target instruction also includes a play mode selection instruction, and the controlling the motor to emit a sound corresponding to the target sound emission mode includes: Determine a playback mode type for the target audio; Obtaining a play mode selection instruction for the play mode type; Determining a target playback mode corresponding to the playback mode selection instruction; According to the target playback mode, the motor is controlled to emit a sound corresponding to the target audio.

8. The method according to claim 7, characterized in that The target playback mode at least includes a reminder playback mode, and controlling the motor to emit a sound corresponding to the target audio according to the target playback mode includes: According to the reminder play mode, the motor is controlled to emit a sound corresponding to the target audio.

9. The method according to claim 8, characterized in that The step of controlling the motor to emit a sound corresponding to the target audio in accordance with the reminder playback mode includes: When the target playback mode is the reminder playback mode, in response to the presence of environmental objects around the vehicle, the motor is controlled to simulate the emission of a sound corresponding to the target audio, and the environmental object is an object determined by identifying environmental parameters collected by sensors of the vehicle.

10. The method according to claim 9, characterized in that The environmental objects include at least moving objects and stationary objects, the moving objects include at least one of pedestrians, animals and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, isolation belts, curbs, traffic signs and signal lights.

11. The method according to claim 8, characterized in that The target playback mode at least includes a continuous playback mode, and the step of controlling the motor to emit a sound corresponding to the target audio in accordance with the reminder playback mode includes: When the target playback mode is the continuous playback mode, the motor is controlled to continuously simulate the sound corresponding to the target audio.

12. The method according to claim 6, characterized in that The controlling the motor to emit a sound corresponding to the target sound emission mode includes: Obtaining driving state parameters of the vehicle during driving; The motor is controlled to simulate emitting a sound corresponding to the second target audio frequency according to the driving state parameters.

13. The method according to claim 12, characterized in that The driving state parameter includes at least one of vehicle speed, acceleration, vehicle body posture, motor speed, torque, power information, accelerator pedal state information and brake pedal state information.

14. The method according to claim 1, characterized in that The target instruction is generated based on any of the following: A user's pressing operation and / or touching operation on a mechanical key; User touch operation on the interactive interface; Voice operation of user input; The gesture action performed by the user.

15. A control device for a motor, characterized in that: include: A mode determination module, used to obtain a target instruction for the motor, and determine a target sounding mode of the motor according to the target instruction; The target instruction is an instruction automatically generated when the vehicle meets a preset condition or an instruction generated according to a user input operation; A sound control module, used to control the motor to emit a sound corresponding to the target sound pattern; The target sound emission mode corresponds to a target audio, and the sound emission control module is specifically used to extract the acoustic features of the target audio; The acoustic characteristics are analyzed to obtain behavioral parameters of the motor corresponding to the target audio; the behavioral parameters include at least rotational speed and load; a current signal is generated according to the behavioral parameters, and the motor is controlled to emit a sound corresponding to the target audio according to the current signal.

16. A vehicle, characterized in that: include: one or more processors; and One or more machine-readable media having instructions stored thereon, when executed by the one or more processors, cause the vehicle to perform the method of any one of claims 1-14.

17. A computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method according to any one of claims 1 to 14.

Images