Vehicle control method, device, vehicle and computer readable storage medium

Abstract

The present application relates to a vehicle control method, device, vehicle and computer-readable storage medium, the method comprising: responding to electronic pet interaction information; controlling the motor of the vehicle to make a sound, and controlling the vehicle to perform an interactive action corresponding to the motor sound. The vehicle controls the motor of the vehicle to make a sound according to the electronic pet interaction information, and controls the vehicle to perform an interactive action corresponding to the motor sound. The motor sound can produce a more natural and realistic sound effect, and the electronic pet of the vehicle can interact with the user in sound and action, thereby improving the interactive experience between the user and the electronic pet of the vehicle.

Description

Technical Field

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

[0002] With the rapid development of automobile technology, people's requirements for driving experience are getting higher and higher. The realization of electronic pets in vehicles can make the interaction between vehicles and users richer.

[0003] Currently, electronic pets in vehicles generally interact with users through a loudspeaker controlled by a microprocessor by means of language, prompt sounds, music or emotional sounds; however, the sound generated by the current electronic pets in vehicles interacting with users through the loudspeaker is easily distorted and unnatural, and the electronic pets in previous vehicles cannot interact with users in other forms, which results in a poor interaction experience between users and the electronic pets in the vehicle. Summary of the invention

[0004] The embodiment of the present application provides a vehicle control method, which can improve the interaction experience between the user and the electronic pet of the vehicle.

[0005] In order to achieve the above object, according to a first aspect of the present application, a vehicle control method is provided, the method comprising:

[0006] responding to electronic pet interaction information;

[0007] Control the motor of the vehicle to make a sound, and control the vehicle to perform an interactive action corresponding to the motor sound.

[0008] Optionally, controlling a motor of the vehicle to make a sound, and controlling the vehicle to perform an interactive action corresponding to the motor making a sound, includes:

[0009] Extracting the sound interaction information from the electronic pet interaction information, and determining the action interaction information associated with the sound interaction information;

[0010] Controlling the motor to make sound according to the sound interaction information and preset electronic pet information;

[0011] According to the action interaction information, the vehicle is controlled to execute an interaction action corresponding to the motor sound.

[0012] Optionally, the determining the action interaction information associated with the sound interaction information includes:

[0013] Analyzing the sound interaction information to determine semantic information corresponding to the sound interaction information;

[0014] Acquire a facial image corresponding to a user, and determine emotional information of the user based on the facial image;

[0015] According to the semantic information and the emotion information, action interaction information associated with the sound interaction information is determined.

[0016] Optionally, controlling the motor to make a sound according to the sound interaction information and preset electronic pet information includes:

[0017] Determine the sound frequency and the sound amplitude according to the sound interaction information and the preset electronic pet information, and determine the target current according to the sound frequency and the sound amplitude;

[0018] Converting the target current to obtain sound control information, wherein the sound control information includes a sound-generating quadrature-axis current and a sound-generating direct-axis current of a rotor of a motor of the vehicle;

[0019] The vehicle motion state information is acquired, and based on the sound-generating quadrature-axis current, the sound-generating direct-axis current and the vehicle motion state information, the motor is controlled to generate sound.

[0020] Optionally, controlling the motor to generate sound based on the sound-generating quadrature-axis current, the sound-generating direct-axis current and the vehicle motion state information includes:

[0021] If it is determined based on the vehicle motion state information that the vehicle is in a driving state, then obtaining a target driving torque and a rotor angular velocity corresponding to the vehicle motor, and determining a target driving quadrature-axis current and a target driving direct-axis current of a rotor of the vehicle motor based on the target driving torque and the rotor angular velocity;

[0022] determining a sounding control voltage based on the target driving quadrature-axis current, the target driving direct-axis current, the sounding quadrature-axis current and the sounding direct-axis current;

[0023] Based on the sound generation control voltage, the motor is controlled to generate sound.

[0024] Optionally, controlling the motor to make a sound based on the sound control voltage includes:

[0025] Get the user's location information;

[0026] If the user's location information is inside the vehicle, controlling the motor to make a sound based on the sound control voltage and a preset motor vibration control signal;

[0027] If the user's location information is outside the vehicle, a target motor vibration control signal is generated according to the orientation and distance of the user in the location information, and the motor sound is controlled based on the sound control voltage and the target motor vibration control signal.

[0028] Optionally, controlling the vehicle to perform an interactive action corresponding to the motor sound according to the action interaction information includes:

[0029] Determining an action execution component corresponding to the vehicle according to the action interaction information;

[0030] Determining the movement frequency and movement amplitude based on the emotion information of the user;

[0031] According to the action frequency and the action amplitude, the action execution component corresponding to the vehicle is controlled to execute an interactive action corresponding to the sound of the motor.

[0032] Optionally, before determining the action execution component corresponding to the vehicle according to the action interaction information, the method further comprises:

[0033] Acquiring vehicle motion state information corresponding to the vehicle;

[0034] If it is determined based on the vehicle motion state information that the vehicle is in a driving state, then when it is determined that the action interaction information meets the action rules in the driving state, the steps of: controlling the vehicle to perform an interaction action corresponding to the motor sound according to the action interaction information;

[0035] If it is determined based on the vehicle motion state information that the vehicle is in a stationary state, the step of controlling the vehicle to perform an interactive action corresponding to the motor sound according to the action interaction information is executed.

[0036] Optionally, before responding to the electronic pet interaction information, the method includes:

[0037] Obtaining the user's facial information, and comparing the facial information with the preset vehicle owner's facial information;

[0038] If it is determined that the face information is the same as the preset face information of the vehicle owner, receiving the user's interaction instruction for the electronic pet, and determining the electronic pet interaction information based on the interaction instruction;

[0039] If it is determined that the facial information is different from the preset facial information of the vehicle owner, after receiving the authorization information of the vehicle owner, the user's interaction instruction for the electronic pet is received, and the electronic pet interaction information is determined based on the interaction instruction.

[0040] According to a second aspect of the present application, an embodiment of the present application further provides a vehicle control device, the vehicle control device comprising:

[0041] A response unit, used for responding to electronic pet interaction information;

[0042] The control unit is used to control the motor sound of the vehicle and control the vehicle to perform interactive actions corresponding to the motor sound.

[0043] According to the third aspect of the present application, an embodiment of the present application also provides a vehicle, including a processor and a memory, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor executes the steps of any one of the vehicle control methods provided in the embodiments of the present application.

[0044] According to the fourth aspect of the present application, an embodiment of the present application also provides a computer-readable storage medium, which stores multiple computer programs. The computer programs are suitable for loading by a processor to execute the steps of any vehicle control method provided in the embodiment of the present application.

[0045] According to the fifth aspect of the present application, an embodiment of the present application also provides a computer program product, including a computer program or a computer program, which implements the steps of any vehicle control method provided in the embodiment of the present application when the computer program or the computer program is executed by a processor.

[0046] The vehicle control method, device, vehicle and computer-readable storage medium of the embodiment of the present application respond to the electronic pet interaction information; control the motor of the vehicle to make a sound, and control the vehicle to perform the interaction action corresponding to the motor sound. The vehicle controls the motor of the vehicle to make a sound according to the electronic pet interaction information, and controls the vehicle to perform the interaction action corresponding to the motor sound. The motor sound can produce a more natural and realistic sound effect, and the electronic pet of the vehicle can interact with the user in sound and action, thereby improving the user's interaction experience with the electronic pet of the vehicle.

[0047] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0049] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings.

[0050] Figure 1 It is a schematic flow chart of a first embodiment of a vehicle control method provided by the present application;

[0051] Figure 2 It is a flow chart of a second embodiment of the vehicle control method provided by the present application;

[0052] Figure 3It is a schematic flow chart of a third embodiment of the vehicle control method provided by the present application;

[0053] Figure 4 It is a structural schematic diagram of a vehicle provided by the present application;

[0054] Figure 5 is another structural schematic diagram of the vehicle provided by the present application;

[0055] Figure 6 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0056] Figure 7 It is a schematic diagram of the structure of the vehicle provided in the embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0058] Embodiments of the present application provide a vehicle control method, device, vehicle, and computer-readable storage medium.

[0059] Specifically, this embodiment will be described from the perspective of a vehicle, that is, the embodiment of the present application can be executed by a vehicle, and the vehicle can be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., and the present disclosure does not make specific limitations on this.

[0060] The vehicle control method provided in the embodiment of the present application can be applied to a vehicle, which is the vehicle provided in the present application.

[0061] The following is a detailed description in conjunction with the accompanying drawings. In this embodiment, the execution subject is a vehicle as an example. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments. Although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that shown in the accompanying drawings.

[0062] Please refer to Figure 1 , a first embodiment of the vehicle control method is proposed, and the first embodiment includes the following steps:

[0063] Step 101, responding to electronic pet interaction information;

[0064] In this step, if the vehicle user sends a command to start the electronic pet when the vehicle is powered on, the vehicle starts the electronic pet mode; when the user sends an interaction command to the electronic pet, the vehicle receives and processes the interaction command, obtains the electronic pet interaction information, and then responds to the electronic pet interaction information.

[0065] Step 102, controlling a motor of the vehicle to make a sound, and controlling the vehicle to perform an interactive action corresponding to the motor making a sound.

[0066] In this step, the vehicle controls the motor of the vehicle to make a sound in response to the electronic pet interaction information, and controls the vehicle to perform the interaction action corresponding to the motor sound. It can be understood that when the electronic pet interaction information requires the electronic pet to make a sound and make a corresponding action, the vehicle will control the motor of the vehicle to make a sound, and at the same time control the vehicle to perform the interaction action corresponding to the motor sound; when the electronic pet interaction information only requires the electronic pet to make a sound, the vehicle only controls the motor of the vehicle to make a sound; when the electronic pet interaction information only requires the electronic pet to make a corresponding action, the vehicle only controls the vehicle to perform the corresponding interaction action.

[0067] Exemplarily, the vehicle can determine the sound interaction information according to the electronic pet interaction information, and the sound interaction information is used to indicate what kind of sound the vehicle needs to control the motor to emit; the vehicle determines the action interaction information associated with the sound interaction information according to the association between the sound interaction information and the preset sound interaction information and action interaction information; the vehicle controls the motor of the vehicle to emit sound according to the sound interaction information, and controls the vehicle to perform the interaction action corresponding to the motor sound according to the action interaction information. For example, when the user issues an interaction instruction "Say hello to the electronic pet" to the electronic pet, the vehicle can determine the electronic pet interaction information according to the interaction instruction, wherein the electronic pet interaction information includes the sound interaction information "Say hello to the user", and the vehicle determines the action interaction information associated with the sound interaction information as "Flashing lights" according to the association between the sound interaction information and the preset sound interaction information and action interaction information. At this time, the vehicle controls the motor to emit a sound of "hello", controls the lights to switch on and off regularly, and realizes the effect of flashing lights, thereby making the electronic pet interact with the user in sound and action.

[0068] The vehicle of this embodiment responds to the electronic pet interaction information; controls the motor of the vehicle to make a sound, and controls the vehicle to perform an interactive action corresponding to the motor sound. The vehicle controls the motor of the vehicle to make a sound according to the electronic pet interaction information, and controls the vehicle to perform an interactive action corresponding to the motor sound. The motor sound can produce a more natural and realistic sound effect, and the electronic pet of the vehicle can interact with the user through sound and action, thereby improving the interactive experience between the user and the electronic pet of the vehicle.

[0069] In one embodiment, step 102 includes:

[0070] Step 1021, extracting the sound interaction information in the electronic pet interaction information, and determining the action interaction information associated with the sound interaction information;

[0071] In this step, the vehicle extracts the sound interaction information from the electronic pet interaction information, and determines the action interaction information associated with the sound interaction information; optionally, some sound interaction information is associated with corresponding action interaction information, and the association between the sound interaction information and the corresponding action interaction information is set in advance. When the vehicle control system extracts the sound interaction information from the electronic pet interaction information, it can determine the action interaction information associated with the sound interaction information based on the pre-set association between the sound interaction information and the corresponding action interaction information.

[0072] Optionally, after extracting the sound interaction information from the electronic pet interaction information, the vehicle may determine the semantic information corresponding to the sound interaction information, and simultaneously obtain the user's emotional information, and determine the action interaction information associated with the sound interaction information based on the semantic information and the emotional information.

[0073] Step 1022, controlling the motor to make a sound according to the sound interaction information and the information of the electronic pet;

[0074] In this step, the vehicle controls the motor to make sound according to the sound interaction information and the information of the electronic pet, so as to realize the sound interaction between the electronic pet and the user. The information of the electronic pet includes the sound information of the electronic pet, which is set in advance by the user and can be the voice of a real person or the voice of a virtual character.

[0075] Step 1023: Control the vehicle to perform an interactive action corresponding to the motor sound according to the action interaction information.

[0076] In this step, the vehicle controls the vehicle body according to the action interaction information, and controls the vehicle to execute the interaction action corresponding to the motor sound. It can be understood that the vehicle can execute the interaction action corresponding to the motor sound and the motor sound at the same time, or the interaction action can be executed first and then the motor sound, or the motor sound can be executed first and then the interaction action; the specific execution order is set in advance.

[0077] Furthermore, the vehicle also includes a display device, which can be a display screen inside the vehicle or a pixel screen of a body grille; when the vehicle starts the electronic pet mode, the display device will display the image of the electronic pet, which is set in advance by the user; when the vehicle controls the body according to the action interaction information and executes the interactive action corresponding to the motor sound, the vehicle controls the image of the electronic pet displayed in the display device to perform an action interaction response according to the mapping relationship between the interactive action and the pre-set interactive action and the electronic pet action; through the coordination of the electronic pet image displayed on the display device to perform an action interaction response, controlling the vehicle to perform an interactive action corresponding to the motor sound, and controlling the motor sound to perform a sound interaction response, the user's interaction experience with the vehicle's electronic pet is further enhanced. For example: the display device will display the image of the electronic pet as a kitten, and when the vehicle controls the body to perform the action of "opening the door", the kitten displayed in the display device makes a "come in" action, and at the same time controls the motor to make a "welcome aboard" sound.

[0078] The vehicle of this embodiment extracts the sound interaction information in the electronic pet interaction information, and determines the action interaction information associated with the sound interaction information; controls the motor to make a sound according to the sound interaction information and the preset electronic pet information; and controls the vehicle to perform the interaction action corresponding to the motor sound according to the action interaction information. This allows the electronic pet of the vehicle to interact with the user through sound and action, thereby improving the interaction experience between the user and the electronic pet of the vehicle.

[0079] In one embodiment, determining the action interaction information associated with the sound interaction information includes:

[0080] Step 10211, analyzing the sound interaction information to determine semantic information corresponding to the sound interaction information;

[0081] In this step, the vehicle analyzes the voice interaction information to determine the semantic information corresponding to the voice interaction information; it can be understood that the voice interaction information is actually a string of codes, and the vehicle can analyze the codes of the voice interaction information to further determine the semantic information corresponding to the voice interaction information. The semantic information may be "say hello to the user", "answer the user's question", "reply to the user's instruction", etc.

[0082] Step 10212, obtaining a facial image corresponding to the user, and determining the emotion information of the user according to the facial image;

[0083] In this step, the vehicle obtains the facial image corresponding to the user and determines the user's emotional information based on the facial image; the vehicle is provided with cameras both outside and inside, and when the vehicle receives the user's interactive instructions for the electronic pet, it can determine whether the user is outside or inside the vehicle, and then call the corresponding camera device to obtain the user's facial image, and then analyze the facial image to determine the user's emotional information, which may include: happy, depressed, calm, sad, etc.

[0084] Step 10213: Determine action interaction information associated with the sound interaction information based on the semantic information and the emotion information.

[0085] In this step, the vehicle determines the action interaction information associated with the sound interaction information based on the semantic information and the emotional information. Specifically, the vehicle first determines the interaction action based on the semantic information and the association between the preset semantic information and the interaction action. Usually, each semantic information corresponds to multiple interaction actions. The vehicle then determines a target interaction action from the multiple interaction actions based on the emotional information, and then obtains the action interaction information associated with the sound interaction information.

[0086] For example, the vehicle analyzes the sound interaction information and obtains semantic information such as "say hello to the user". The vehicle determines the user's emotional information as "happy" based on the face image. At this time, the vehicle can determine that the interactive actions include "flashing lights", "swinging the car body", and "opening and closing the door" based on the semantic information. The vehicle can select one of the three interactive actions of "flashing lights", "swinging the car body", and "opening and closing the door" based on the user's emotional information.

[0087] Exemplarily, the vehicle analyzes the sound interaction information and obtains semantic information such as "say hello to the user". The vehicle determines that the user's emotional information is "frustrated" based on the facial image. At this time, the vehicle can determine that the interactive actions include "flashing lights", "swinging body", and "opening and closing doors" based on the semantic information. The vehicle selects "opening and closing doors" as the interactive action from the three interactive actions of "flashing lights", "swinging body", and "opening and closing doors" based on the user's emotional information to express the meaning of "giving the user a hug to comfort the user".

[0088] The vehicle of this embodiment analyzes the sound interaction information to determine the semantic information corresponding to the sound interaction information; obtains the face image corresponding to the user, and determines the user's emotional information based on the face image; and determines the action interaction information associated with the sound interaction information based on the semantic information and the emotional information. The action interaction information associated with the sound interaction information can be determined based on the semantic information corresponding to the sound interaction information and the user's emotional information, so that the action interaction information better meets the user's current needs, further improving the user's experience of interacting with the electronic pet.

[0089] In one embodiment, step 1022 includes:

[0090] Step 10221, determining a sound frequency and a sound amplitude according to the sound interaction information and the information of the electronic pet, and determining a target current according to the sound frequency and the sound amplitude;

[0091] In this step, the vehicle determines the sound frequency and sound amplitude according to the sound interaction information and the information of the electronic pet, and determines the target current according to the sound frequency and sound amplitude; specifically, the sound interaction information is the audio information that the electronic pet needs to reply to the user, and the information of the electronic pet is the sound information of the electronic pet. The vehicle extracts the audio characteristics of the sound interaction information and the sound characteristics of the sound information of the electronic pet, and then determines the sound frequency and sound amplitude according to the audio characteristics and the sound characteristics, and determines the target current that can make the motor emit a sound with the corresponding sound frequency and sound amplitude when controlling the motor to emit sound based on the sound frequency and sound amplitude, combined with the preset mapping relationship between current, sound frequency and sound amplitude.

[0092] Step 10222, converting the target current to obtain sound control information, wherein the sound control information includes a sound-generating quadrature-axis current and a sound-generating direct-axis current of a rotor of a vehicle motor;

[0093] In this step, after determining the target current, the vehicle converts the target current through the coordinate clark and park transformations to obtain sound control information. The sound control information includes the sound-generating cross-axis current and the sound-generating direct-axis current of the rotor of the vehicle motor. The sound-generating cross-axis current and the sound-generating direct-axis current are currents in a synchronous rotating coordinate system oriented by the magnetic field of the motor rotor.

[0094] Step 10223, obtaining vehicle motion state information, and controlling the motor to generate sound based on the sound-generating quadrature-axis current, the sound-generating direct-axis current and the vehicle motion state information.

[0095] In this step, the vehicle obtains vehicle motion state information, and controls the motor sound for sound interactive response based on the sounding cross-axis current, the sounding direct-axis current and the vehicle motion state information; specifically, when the vehicle is in a driving state, the vehicle obtains the target driving quadrature-axis current and the target driving direct-axis current of the rotor of the vehicle motor, and controls the motor sound for sound interactive response based on the target driving quadrature-axis current, the target driving direct-axis current, the sounding quadrature-axis current and the sounding direct-axis current; when the vehicle is at a stationary state, the vehicle controls the motor sound for sound interactive response based on the sounding quadrature-axis current and the sounding direct-axis current.

[0096] Further, step 10223 includes:

[0097] Step 102231, if it is determined based on the vehicle motion state information that the vehicle is in a driving state, then obtaining a target driving torque and a rotor angular velocity corresponding to the vehicle motor, and determining a target driving quadrature-axis current and a target driving direct-axis current of the rotor of the vehicle motor based on the target driving torque and the rotor angular velocity;

[0098] In this step, if the vehicle is determined to be in a driving state based on the vehicle motion state information, the target driving torque and rotor angular velocity corresponding to the vehicle motor are obtained, and the target driving quadrature-axis current and target driving direct-axis current of the rotor of the vehicle motor are determined based on the target driving torque and rotor angular velocity. Specifically, the target driving quadrature-axis current and target driving direct-axis current of the rotor of the vehicle motor are determined on the MTPA curve and the MTPV curve or the constant torque curve through the target driving torque and the rotor angular velocity, by table lookup, or a combination of table lookup and interpolation, or a piecewise linear fitting method, wherein the MTPA curve, the MTPV curve and the constant torque curve are calculated and calibrated in advance.

[0099] Furthermore, the vehicle superimposes the target driving quadrature-axis current, the target driving direct-axis current, the sounding quadrature-axis current and the sounding direct-axis current, and then based on the formula: The actual driving torque of the motor is calculated so that the motor can drive the vehicle based on the actual driving torque and make the motor sound at the same time. e is the output torque of the motor shaft end, m is the number of phases of the motor coil, P n is the number of motor pole pairs, ψ f Indicates the permanent magnet flux of the motor, L d is the direct-axis inductance, L q is the quadrature-axis inductance, i d is the direct axis current after the target driving direct axis current and the sounding direct axis current are superimposed, i q It is the quadrature-axis current resulting from the superposition of the target driving quadrature-axis current and the sounding quadrature-axis current.

[0100] Step 102232, determining a sounding control voltage based on the target driving quadrature-axis current, the target driving direct-axis current, the sounding quadrature-axis current and the sounding direct-axis current;

[0101] In this step, the vehicle makes a difference between the target driving quadrature current and the sounding quadrature current to obtain the sounding control quadrature current, makes a difference between the target driving direct current and the sounding direct current to obtain the sounding control direct current; respectively inputs the sounding control quadrature current and the sounding control direct current into the feedback controller to obtain the sounding control quadrature voltage and the sounding control direct voltage; and determines the sounding control voltage based on the sounding control quadrature voltage and the sounding control direct voltage. The feedback controller is PID.

[0102] Step 102233, based on the sound control voltage, control the motor to make sound.

[0103] In this step, the sound control cross-axis voltage and the sound control direct-axis voltage determined by the vehicle are voltages in a synchronous rotating coordinate system oriented by the motor rotor magnetic field. The vehicle performs an inverse Park transform on the sound control cross-axis voltage through the motor control system to obtain a first target sound voltage, and performs an inverse Park transform on the sound control direct-axis voltage to obtain a second target sound voltage. The first target sound voltage is the α-axis voltage in the αβ coordinate system, and the second target sound voltage is the β-axis voltage in the αβ coordinate system. The vehicle uses SVPWM modulation on the first target sound voltage and the second target sound voltage to obtain the duty cycle of each phase bridge arm of the motor, and finally controls the motor sound based on the duty cycle of each phase bridge arm to perform sound interactive response.

[0104] Specifically, step 102233 includes:

[0105] Step 1022331, obtaining the user's location information;

[0106] Step 1022332, if the user's location information is inside the vehicle, control the motor to make a sound based on the sound control voltage and a preset motor vibration control signal;

[0107] Step 1022333, if the user's location information is outside the vehicle, generate a target motor vibration control signal according to the direction and distance of the user in the location information, and control the motor to sound based on the sound control voltage and the target motor vibration control signal.

[0108] In step 1022331 to step 1022333, the vehicle obtains the user's location information; if the user's location information is inside the vehicle, the motor is controlled to make a sound based on the sound control voltage and the preset motor vibration control signal; if the user's location information is outside the vehicle, a target motor vibration control signal is generated according to the user's orientation and distance in the location information, and the motor is controlled to make a sound based on the sound control voltage and the target motor vibration control signal. Specifically, a preset motor vibration control signal is set in advance in the vehicle, and the preset motor vibration control signal is used to control the low-frequency sound of the motor. If the user's location information is inside the vehicle, the vehicle controls the motor to make a sound based on the sound control voltage and the preset motor vibration control signal, so that the motor sound is more likely to resonate inside the vehicle, making the sound easier for the user to hear. If the user's location information is outside the vehicle, at this time, according to the user's direction and distance in the location information, the mapping relationship between the preset location information and the motor vibration control signal is found, and then determined, and the target motor vibration control signal is generated, and based on the sound control voltage and the target motor vibration control signal, the motor is controlled to sound, and the sound generated by the motor is transmitted to the user's position outside the vehicle, making the sound easier to be heard by the user outside the vehicle.

[0109] The vehicle of this embodiment determines the sound control voltage according to the sound interaction information, and can determine the motor vibration control signal according to the user's position information, and then controls the motor sound according to the sound control voltage and the motor vibration control signal. This can not only make the motor sound produce a more natural and realistic sound effect to interact with the user, but also allow the user to clearly hear the sound at different positions, further improving the user's experience of interacting with the electronic pet.

[0110] In one embodiment, step 1023 includes:

[0111] Step 10231, determining the action execution component corresponding to the vehicle according to the action interaction information;

[0112] In this step, the vehicle determines the action execution component corresponding to the vehicle based on the action interaction information; for example, if the action interaction information is "headlights flashing", the vehicle can determine that the action execution component is the headlight control component; if the action interaction information is "body swinging", the vehicle can determine that the action execution component is the body control component; if the action interaction information is "door opening and closing", the vehicle can determine that the action execution component is the door control component.

[0113] Step 10232, determining the action frequency and action amplitude based on the emotion information of the user;

[0114] In this step, the vehicle determines the action frequency and action amplitude based on the user's emotional information; it can be understood that different emotional information corresponds to different action frequencies and action amplitudes, and the mapping relationship between emotional information and action frequency, as well as the mapping relationship between emotional information and action amplitude are set in advance. For example: the action interaction information is "body swinging", and the user's emotional information is "happy", at this time, the action frequency can be set to the maximum body swing frequency, and the action amplitude can be set to the maximum body swing amplitude; the action interaction information is "door opening and closing", and the user's emotional information is "calm", at this time, the action frequency can be set to half of the maximum door swing frequency, and the action amplitude can be set to half of the maximum door swing amplitude.

[0115] Step 10233, according to the action frequency and the action amplitude, control the action execution component corresponding to the vehicle to execute the interactive action corresponding to the motor sound.

[0116] In this step, after determining the action frequency and action amplitude, the vehicle controls the action execution component corresponding to the vehicle to execute the interactive action of the action interaction information corresponding to the sound of the motor according to the action frequency and action amplitude.

[0117] The vehicle in this embodiment determines the corresponding action execution component of the vehicle according to the action interaction information; determines the action frequency and action amplitude based on the user's emotional information; and controls the corresponding action execution component of the vehicle to perform the interactive action corresponding to the motor sound according to the action frequency and action amplitude. The vehicle can be controlled to perform the corresponding interactive action in combination with the user's emotional information, so that the interactive action can be more in line with the user's emotions, further improving the user's experience of interacting with the electronic pet.

[0118] refer to Figure 2 , a second embodiment of the present application is proposed. The difference between the second embodiment and the first embodiment is that before determining the action execution component corresponding to the vehicle according to the action interaction information, the second embodiment includes:

[0119] Step a, obtaining vehicle motion state information;

[0120] In this step, the vehicle obtains vehicle motion state information; specifically, the vehicle includes a vehicle motion sensor, and the vehicle analyzes the data obtained by the vehicle motion sensor through the body control system to determine the vehicle motion state information corresponding to the vehicle.

[0121] Step b, if it is determined based on the vehicle motion state information that the vehicle is in a driving state, then when it is determined that the action interaction information meets the action rules in the driving state, the step of: controlling the vehicle to perform an interaction action corresponding to the motor sound according to the action interaction information;

[0122] In this step, if the vehicle determines that the vehicle is in a driving state based on the vehicle motion state information, it determines whether the action interaction information complies with the action rules in the driving state; it is understandable that when the vehicle is in a driving state, many actions cannot be performed, such as: opening the door, removing the seat belt, opening the trunk, etc.; therefore, before responding to the action interaction information, it is first determined whether the action interaction information complies with the action rules in the driving state to avoid the vehicle from performing prohibited actions in the driving state, which can improve the safety of the user's interaction with the electronic pet in the driving state of the vehicle. If the vehicle determines that the action interaction information complies with the action rules in the driving state, it determines the action control information based on the action interaction information, and controls the vehicle to perform the interaction action corresponding to the motor sound based on the action control information; it is understandable that if the vehicle determines that the action interaction information does not comply with the action rules in the driving state through the body control system, it refuses to perform the action corresponding to the action interaction information, and prompts the user that it cannot be performed and the reason for the inability to perform.

[0123] Step c: if it is determined based on the vehicle motion state information that the vehicle is in a stationary state, then execute the step: according to the action interaction information, control the vehicle to perform an interactive action corresponding to the motor sound.

[0124] In this step, if the vehicle determines that the vehicle is in a stationary state based on the vehicle motion state information, the step can be directly executed: according to the action interaction information, the vehicle is controlled to perform the interaction action corresponding to the motor sound. It can be understood that when the vehicle is in a stationary state, most actions can be performed, and at this time the body control system can directly control the body based on the action interaction information.

[0125] The vehicle of this embodiment determines whether the required interactive action can be performed based on the vehicle motion state information corresponding to the vehicle, which can avoid the vehicle from performing interactive actions that do not comply with the action rules under the driving state during driving, and can improve the safety of the user's action interaction with the electronic pet.

[0126] Further, refer to Figure 3 , a third embodiment of the vehicle control method is proposed. The difference between the third embodiment and the first embodiment and the second embodiment is that before responding to the electronic pet interaction information, it includes:

[0127] Step d, obtaining the user's facial information, and comparing the facial information with the preset vehicle owner's facial information;

[0128] Step e: if it is determined that the facial information is the same as the preset facial information of the vehicle owner, receiving the user's interactive instruction for the electronic pet;

[0129] Step f: if it is determined that the facial information is different from the preset facial information of the car owner, then after receiving the authorization information of the car owner, receiving the user's interactive instructions for the electronic pet.

[0130] In steps d to f, the vehicle also includes a face recognition device; when a user approaches the vehicle, the vehicle obtains the user's face information through the face recognition device in the electronic pet control unit, and compares the face information with the preset face information of the vehicle owner; if it is determined that the face information is the same as the preset face information of the vehicle owner, the user's interaction instructions for the electronic pet are received; if it is determined that the face information is not the same as the preset face information of the vehicle owner, the user's interaction instructions for the electronic pet are received after receiving the vehicle owner's authorization information.

[0131] Before the vehicle of this embodiment receives the user's interaction instruction for the electronic pet through the electronic pet control unit, it determines whether the user is the vehicle owner to avoid other accidents caused by the interaction between the electronic pet by non-owners or other users not authorized by the owner, so as to improve the safety of the interaction between the user and the electronic pet.

[0132] Specifically, Figure 4 As shown, the vehicle includes: a vehicle control system, a body control system, a motor control system and a motor. The vehicle control system is used to respond to the electronic pet interaction information, and send the sound interaction information of the electronic pet interaction information to the motor control system, and send the action interaction information of the electronic pet interaction information to the body control system. The body control system is used to receive the action interaction information, control the vehicle body according to the action interaction information, and execute the interaction action corresponding to the motor sound. The motor control system is used to receive the sound interaction information, and control the motor to make a sound interaction response according to the sound interaction information and the information of the electronic pet.

[0133] It should be noted that the vehicle control system, motor control system, body control system and motor in the vehicle can be connected by wired or wireless communication. The wired communication system can be a vehicle-mounted CAN network, CANFD, Ethernet, universal serial bus, optical fiber and other wired transmission media, and the wireless communication system includes but is not limited to Bluetooth, cellular wireless network, WIFI, NFC and other wireless medium communication systems, which are transmitted to the vehicle control system, and the vehicle control system then communicates with the motor control system and the body control system. The body control system controls the vehicle to make corresponding actions, and the motor control system then makes the motor emit a sound that matches the current real-time electronic pet audio data.

[0134] Further, refer to Figure 5The vehicle also includes: an electronic pet control unit and a voice recognition chip; the electronic pet control unit is used to receive interaction instructions for the electronic pet and send them to the voice recognition chip; the voice recognition chip is used to receive interaction instructions, generate interaction information for the electronic pet based on the interaction instructions and the interaction model in the cloud, and send the interaction information to the vehicle control system.

[0135] It is understandable that the electronic pet control unit includes an intelligent sound sensor, and the user can speak interactive instructions for the electronic pet. The electronic pet control unit receives the interactive instructions for the electronic pet through the intelligent sound sensor; after receiving the interactive instructions for the electronic pet, the electronic pet control unit sends the interactive instructions to the voice recognition chip, and the voice recognition chip generates interactive information for the electronic pet based on the interactive instructions and the interactive model in the cloud, and sends the interactive information to the vehicle control system; the vehicle control system receives the interactive information for the electronic pet and sends it to the body control system and the motor control system; the body control system receives the interactive information and controls the body according to the interactive information; the motor control system receives the interactive information and controls the motor to make a sound interactive response according to the interactive information and the information of the electronic pet. Among them, the interactive model in the cloud includes a pre-trained voice database, user behavior patterns, etc. The interactive model is generated by integrating big data, and can determine the interactive information for the electronic pet based on the interactive instructions for the electronic pet input by the user's voice.

[0136] The following two examples illustrate the interaction process between the user and the electronic pet of the vehicle in specific implementation:

[0137] In a specific implementation process: after the vehicle is powered on, when the user gives a command to enter the electronic pet mode to the vehicle, the vehicle starts the electronic pet mode; the vehicle's display device displays the image of the electronic pet, the pet is equipped with voice recognition, and can also make simple communications with people through the motor; if the user issues a command to turn on the lights or the vehicle detects that it is in overspeed mode during the communication process with the electronic pet, the vehicle simultaneously issues a command to the body control system and the motor control system through the vehicle control system. At this time, under the command to turn on the lights, the lights will remain in the normally on state, and in the overspeed mode, the lights will flash, and at the same time, the motor control system will output the PWM duty cycle, so that the motor will emit a corresponding reminder sound. If the user does not communicate with the electronic pet or the vehicle does not detect that it is in overspeed mode, the motor will play music or maintain the communication state.

[0138] In another specific implementation process: the vehicle is powered on and the electronic pet mode is started; when the user issues an interactive command to open the door, the body control system sends a door unlocking signal to the vehicle control system; the vehicle control system simultaneously issues commands to the body control system and the motor control system. At this time, while the body control system controls the door to open, the motor control system controls the motor to make a sound to alert pedestrians.

[0139] Accordingly, reference Figure 6 The embodiment of the present application further provides a vehicle control device, the vehicle control device comprising:

[0140] A response unit 1001 is used to respond to electronic pet interaction information;

[0141] The control unit 1002 is used to control the motor sound of the vehicle and control the vehicle to perform an interactive action corresponding to the motor sound.

[0142] Optionally, the control unit is further configured to:

[0143] Extracting the sound interaction information from the electronic pet interaction information, and determining the action interaction information associated with the sound interaction information;

[0144] Controlling the motor to make sound according to the sound interaction information and preset electronic pet information;

[0145] According to the action interaction information, the vehicle is controlled to execute an interaction action corresponding to the motor sound.

[0146] Optionally, the control unit is further configured to:

[0147] Analyzing the sound interaction information to determine semantic information corresponding to the sound interaction information;

[0148] Acquire a facial image corresponding to a user, and determine emotional information of the user based on the facial image;

[0149] According to the semantic information and the emotion information, action interaction information associated with the sound interaction information is determined.

[0150] Optionally, the control unit is further configured to:

[0151] Determine the sound frequency and the sound amplitude according to the sound interaction information and the preset electronic pet information, and determine the target current according to the sound frequency and the sound amplitude;

[0152] Converting the target current to obtain sound control information, wherein the sound control information includes a sound-generating quadrature-axis current and a sound-generating direct-axis current of a rotor of a motor of the vehicle;

[0153] The vehicle motion state information is acquired, and based on the sound-generating quadrature-axis current, the sound-generating direct-axis current and the vehicle motion state information, the motor is controlled to generate sound.

[0154] Optionally, the control unit is further configured to:

[0155] If it is determined based on the vehicle motion state information that the vehicle is in a driving state, then obtaining a target driving torque and a rotor angular velocity corresponding to the vehicle motor, and determining a target driving quadrature-axis current and a target driving direct-axis current of a rotor of the vehicle motor based on the target driving torque and the rotor angular velocity;

[0156] determining a sounding control voltage based on the target driving quadrature-axis current, the target driving direct-axis current, the sounding quadrature-axis current and the sounding direct-axis current;

[0157] Based on the sound generation control voltage, the motor is controlled to generate sound.

[0158] Optionally, the control unit is further configured to:

[0159] Get the user's location information;

[0160] If the user's location information is inside the vehicle, controlling the motor to make a sound based on the sound control voltage and a preset motor vibration control signal;

[0161] If the user's location information is outside the vehicle, a target motor vibration control signal is generated according to the orientation and distance of the user in the location information, and the motor sound is controlled based on the sound control voltage and the target motor vibration control signal.

[0162] Optionally, the control unit is further configured to:

[0163] Determining an action execution component corresponding to the vehicle according to the action interaction information;

[0164] Determining the movement frequency and movement amplitude based on the emotion information of the user;

[0165] According to the action frequency and the action amplitude, the action execution component corresponding to the vehicle is controlled to execute an interactive action corresponding to the sound of the motor.

[0166] Optionally, the control unit is further configured to:

[0167] Acquiring vehicle motion state information corresponding to the vehicle;

[0168] If it is determined based on the vehicle motion state information that the vehicle is in a driving state, then when it is determined that the action interaction information meets the action rules in the driving state, the steps of: controlling the vehicle to perform an interaction action corresponding to the motor sound according to the action interaction information;

[0169] If it is determined based on the vehicle motion state information that the vehicle is in a stationary state, the step of controlling the vehicle to perform an interactive action corresponding to the motor sound according to the action interaction information is executed.

[0170] Optionally, the control unit is further configured to:

[0171] Obtaining the user's facial information, and comparing the facial information with the preset vehicle owner's facial information;

[0172] If it is determined that the face information is the same as the preset face information of the vehicle owner, receiving the user's interaction instruction for the electronic pet, and determining the electronic pet interaction information based on the interaction instruction;

[0173] If it is determined that the facial information is different from the preset facial information of the vehicle owner, after receiving the authorization information of the vehicle owner, the user's interaction instruction for the electronic pet is received, and the electronic pet interaction information is determined based on the interaction instruction.

[0174] This embodiment responds to the electronic pet interaction information; controls the motor of the vehicle to make a sound, and controls the vehicle to perform an interactive action corresponding to the motor sound. The vehicle controls the motor of the vehicle to make a sound according to the electronic pet interaction information, and controls the vehicle to perform an interactive action corresponding to the motor sound. The motor sound can produce a more natural and realistic sound effect, and the electronic pet of the vehicle can interact with the user through sound and action, thereby improving the interactive experience between the user and the electronic pet of the vehicle.

[0175] Accordingly, the embodiment of the present application further provides a vehicle, which is arranged in the vehicle, such as Figure 7 As shown, Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 1100 includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. It will be understood by those skilled in the art that the vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0176] The processor 1101 is the control center of the vehicle 1100, and uses various interfaces and lines to connect various parts of the entire vehicle 1100. By running or loading software programs and / or units stored in the memory 1102, and calling data stored in the memory 1102, it executes various functions of the vehicle 1100 and processes data, thereby monitoring the vehicle 1100 as a whole. The processor 1101 can be a processor CPU, a graphics processor GPU, a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0177] In an embodiment of the present application, the processor 1101 in the vehicle 1100 will load the computer program corresponding to the process of one or more applications into the memory 1102 according to the following steps, and the processor 1101 will run the application stored in the memory 1102 to execute the vehicle control method.

[0178] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0179] Optional, such as Figure 7 As shown, the vehicle 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. Those skilled in the art will appreciate that Figure 7 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0180] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the vehicle, which can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode), etc. The touch panel can be used to collect user touch operations on or near it (such as operations performed by users using fingers, styluses, or any other suitable objects or accessories on or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 1101, and can receive the command sent by the processor 1101 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event, and then the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 1103 can also be used as a part of the input unit 1106 to realize the input function.

[0181] The RF circuit 1104 may be used to send and receive RF signals to establish wireless communication with network devices or other vehicles through wireless communication, and to send and receive signals with network devices or other vehicles.

[0182] The audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and a microphone. The audio circuit 1105 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data, and then the audio data is output to the processor 1101 for processing, and then sent to another vehicle through the radio frequency circuit 1104, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earphone jack to provide communication between an external headset and the vehicle.

[0183] The input unit 1106 may be configured to receive input numbers, character information, or user feature information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.

[0184] The power supply 1107 is used to supply power to various components of the vehicle 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so that the power management device can manage charging, discharging, and power consumption. The power supply 1107 can also include one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0185] although Figure 7 Not shown, the vehicle 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0186] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0187] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0188] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0189] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0190] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0191] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of each embodiment in all the embodiments of the present application have different focuses, for the parts not described in detail in a certain embodiment, reference can be made to the relevant embodiments of other embodiments. However, any modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: responding to electronic pet interaction information; Controlling the motor of the vehicle to make a sound, and controlling the body of the vehicle to perform an interactive action corresponding to the motor sound; The step of controlling the vehicle body to perform an interactive action corresponding to the sound of the motor includes: Extracting the sound interaction information from the electronic pet interaction information, and determining the action interaction information associated with the sound interaction information; Determining an action execution component corresponding to the vehicle according to the action interaction information; Determine the action frequency and action amplitude based on the user's emotional information; According to the action frequency and the action amplitude, the action execution component corresponding to the vehicle body is controlled to execute an interactive action corresponding to the sound of the motor.

2. The vehicle control method according to claim 1, characterized in that: The controlling the motor of the vehicle to make a sound and controlling the body of the vehicle to perform an interactive action corresponding to the motor making a sound includes: Controlling the motor to make sound according to the sound interaction information and preset electronic pet information; According to the action interaction information, the body of the vehicle is controlled to execute an interaction action corresponding to the sound of the motor.

3. The vehicle control method according to claim 2, characterized in that: The determining the action interaction information associated with the sound interaction information includes: Analyzing the sound interaction information to determine semantic information corresponding to the sound interaction information; Acquire a facial image corresponding to a user, and determine emotional information of the user based on the facial image; According to the semantic information and the emotion information, action interaction information associated with the sound interaction information is determined.

4. The vehicle control method according to claim 2, characterized in that: The step of controlling the motor to make sound according to the sound interaction information and the preset electronic pet information comprises: Determine the sound frequency and the sound amplitude according to the sound interaction information and the preset electronic pet information, and determine the target current according to the sound frequency and the sound amplitude; Converting the target current to obtain sound control information, wherein the sound control information includes a sound-generating quadrature-axis current and a sound-generating direct-axis current of a rotor of a motor of the vehicle; The vehicle motion state information is acquired, and based on the sound-generating quadrature-axis current, the sound-generating direct-axis current and the vehicle motion state information, the motor is controlled to generate sound.

5. The vehicle control method according to claim 4, characterized in that: The controlling the motor to generate sound based on the sound generating quadrature axis current, the sound generating direct axis current and the vehicle motion state information comprises: If it is determined based on the vehicle motion state information that the vehicle is in a driving state, then obtaining a target driving torque and a rotor angular velocity corresponding to the vehicle motor, and determining a target driving quadrature-axis current and a target driving direct-axis current of a rotor of the vehicle motor based on the target driving torque and the rotor angular velocity; determining a sounding control voltage based on the target driving quadrature-axis current, the target driving direct-axis current, the sounding quadrature-axis current and the sounding direct-axis current; Based on the sound generation control voltage, the motor is controlled to generate sound.

6. The vehicle control method according to claim 5, characterized in that: The step of controlling the motor to make a sound based on the sound control voltage comprises: Get the user's location information; If the user's location information is inside the vehicle, controlling the motor to make a sound based on the sound control voltage and a preset motor vibration control signal; If the user's location information is outside the vehicle, a target motor vibration control signal is generated according to the orientation and distance of the user in the location information, and the motor sound is controlled based on the sound control voltage and the target motor vibration control signal.

7. The vehicle control method according to claim 2, characterized in that: Before determining the action execution component corresponding to the vehicle body according to the action interaction information, the method includes: Acquiring vehicle motion state information corresponding to the vehicle; If it is determined based on the vehicle motion state information that the vehicle is in a driving state, then when it is determined that the action interaction information meets the action rules in the driving state, the steps of: controlling the vehicle body to perform an interactive action corresponding to the sound of the motor according to the action interaction information; If it is determined based on the vehicle motion state information that the vehicle is in a stationary state, the step of controlling the vehicle body to execute an interactive action corresponding to the motor sound according to the action interaction information is executed.

8. The vehicle control method according to any one of claims 1 to 7, characterized in that: Before responding to the electronic pet interaction information, the method includes: Obtaining the user's facial information, and comparing the facial information with the preset vehicle owner's facial information; If it is determined that the face information is the same as the preset face information of the vehicle owner, receiving the user's interaction instruction for the electronic pet, and determining the electronic pet interaction information based on the interaction instruction; If it is determined that the facial information is different from the preset facial information of the vehicle owner, after receiving the authorization information of the vehicle owner, the user's interaction instruction for the electronic pet is received, and the electronic pet interaction information is determined based on the interaction instruction.

9. A vehicle control device, characterized in that: The vehicle control device comprises: A response unit, used for responding to electronic pet interaction information; A control unit, used to control the motor of the vehicle to make a sound, and to control the body of the vehicle to perform an interactive action corresponding to the motor sound; The control unit is further used to extract the sound interaction information in the electronic pet interaction information, and determine the action interaction information associated with the sound interaction information; Determining an action execution component corresponding to the vehicle according to the action interaction information; Determine the action frequency and action amplitude based on the user's emotional information; According to the action frequency and the action amplitude, the action execution component corresponding to the vehicle body is controlled to execute an interactive action corresponding to the sound of the motor.

10. A vehicle, characterized in that: The invention comprises a processor and a memory, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor executes the steps of any one of the methods of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a plurality of computer programs, and the computer programs are suitable for being loaded by a processor to execute the steps of the method according to any one of claims 1 to 8.

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