Vehicle control method and device, electronic equipment, and vehicle

Abstract

An embodiment of the present invention provides a vehicle control method and device, an electronic device, and a vehicle. The method includes: obtaining target object information, and then determining a motor sound control strategy based on the target object information, so that the motor sound of the vehicle can be controlled based on the motor sound control strategy, thereby achieving different motor sound control strategies according to different target objects to control the motor sound, which can be applicable to motor sound control in different scenarios and enrich the motor sound effect.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method and device, electronic equipment, and a vehicle. Background Art

[0002] At present, the sound content of the motor used in the process of human-vehicle interaction is single, and the human-vehicle interaction effect is single, which makes it difficult to meet the needs of human-vehicle interaction in different scenarios. Summary of the invention

[0003] In view of the above problems, a vehicle control method and device, electronic device, and vehicle are proposed to overcome the above problems or at least partially solve the above problems, including:

[0004] A vehicle control method, the method comprising:

[0005] Get target object information;

[0006] Determining a motor sound control strategy according to the target object information;

[0007] The motor sound of the vehicle is controlled based on the motor sound control strategy.

[0008] Optionally, the target object information includes a target object type, and determining a motor sound control strategy according to the target object information includes:

[0009] When the target object type is a car owner, determining the motor sound control strategy to be a first sound control strategy;

[0010] When the target object type is non-car owner, the motor sound control strategy is determined to be the second sound control strategy.

[0011] Optionally, controlling the vehicle motor sound based on the motor sound control strategy includes:

[0012] When the motor sound control strategy is the first sound control strategy, the motor is controlled to emit a first audio message for welcoming the vehicle owner.

[0013] Optionally, controlling the vehicle motor sound based on the motor sound control strategy includes:

[0014] When the motor sound control strategy is the first sound control strategy, the motor is controlled to emit second audio information for guiding the vehicle owner to perform voice control of the vehicle.

[0015] Optionally, controlling the vehicle motor sound based on the motor sound control strategy includes:

[0016] When the motor sound control strategy is the second sound control strategy, the motor is controlled to emit a third audio message for inquiring the target object about the communication intention.

[0017] Optionally, it also includes:

[0018] When the target object receives audio information indicating the presence of communication intention in response to the third audio information, the motor is controlled to emit fourth audio information for introducing the vehicle information.

[0019] Optionally, it also includes:

[0020] Acquiring voice information collected from the target object;

[0021] Determining whether the voice information contains a vehicle control instruction;

[0022] When it is determined that the voice information includes a vehicle control command, the vehicle control command is executed.

[0023] Optionally, the target object type of the target object is determined by the following steps:

[0024] Acquire initial image data acquired by an image acquisition device;

[0025] Preprocessing the initial image data to obtain target image data;

[0026] Extracting image features from the target image data to obtain a candidate area to be identified;

[0027] Determine whether the candidate area to be identified contains a target object;

[0028] When the candidate area to be identified contains a target object, a target object type of the target object is determined.

[0029] Optionally, the target object information includes a first target distance between the motor and the target object, and determining the motor sound control strategy according to the target object information includes:

[0030] The sound intensity of the motor is adjusted according to the first target distance.

[0031] Optionally, the first target distance between the motor and the target object is determined by the following steps:

[0032] Acquire first position information of the target object collected by a target collection device of the vehicle;

[0033] Determining second position information of the motor;

[0034] A first target distance between the motor and a target object is calculated according to the first position information and the second position information.

[0035] Optionally, the first position information includes a second target distance between the vehicle and the target object, and the step of acquiring the first position information of the target object acquired by a target acquisition device of the vehicle includes:

[0036] Controlling the target signal emitted by the vehicle to the surroundings and determining the emission time of the target signal;

[0037] When receiving a bounce signal of the target signal after contacting the target object, determining a reception time of the bounce signal;

[0038] A second target distance between the vehicle and the target object is determined according to the transmission time and the reception time.

[0039] Optionally, controlling the motor sound of the vehicle based on the motor sound control strategy includes:

[0040] Acquiring motor information of the vehicle, wherein the motor information includes motor quantity information of the vehicle and / or motor position information of the vehicle;

[0041] Determine the audio channel information corresponding to each motor according to the motor information;

[0042] The motor sound of the vehicle is controlled according to the motor sound control strategy and the audio channel information.

[0043] Optionally, controlling the motor sound of the vehicle according to the motor sound control strategy and the audio channel information includes:

[0044] Determining the audio information to be played according to the motor sound control strategy;

[0045] The vehicle motor is controlled to play the audio information according to the audio channel information.

[0046] Optionally, determining the audio channel information corresponding to each motor according to the motor information includes:

[0047] If the position information of the target motor matches the first preset position information, determining that the audio channel information of the target motor is dual-channel;

[0048] If the position information of the target motor matches the second preset position information, it is determined that the audio channel information of the target motor is mono, and the first preset position and the second preset position are different positions of the motor in the vehicle.

[0049] Optionally, it also includes:

[0050] Determining whether a second target distance between the vehicle and the target object is less than a preset distance;

[0051] When it is determined whether the target distance is less than a preset distance, obtaining motor information of the vehicle is performed.

[0052] Optionally, it also includes:

[0053] When detecting that the display screen of the vehicle is displaying target display information, determining a display type of the target display information;

[0054] The motor is controlled to play the target display information according to the display type.

[0055] Optionally, controlling the motor to play the target display information according to the display type includes:

[0056] When the display type is a dynamic display type, determining real-time progress information of the target display information;

[0057] Determining the sound effect information and / or tone information of the target display information according to the real-time progress information;

[0058] The motor is controlled to play the target display information according to the sound effect information and / or tone information.

[0059] A vehicle control device, comprising:

[0060] A target object information determination module, used to obtain target object information;

[0061] A motor sound control strategy determination module, used to determine the motor sound control strategy according to the target object information;

[0062] A motor control module is used to control the motor sound of the vehicle based on the motor sound control strategy.

[0063] An electronic device comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the vehicle control method as described above when executed by the processor.

[0064] A vehicle comprises the electronic device as described above and a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0065] The embodiments of the present invention have the following advantages:

[0066] In an embodiment of the present invention, by acquiring target object information, the motor sound control strategy can be determined according to the target object information, so that the motor sound of the vehicle can be controlled based on the motor sound control strategy. This enables different motor sound control strategies to be set according to different target objects to control the motor sound. This can be applicable to motor sound control in different scenarios and enrich the motor sound effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0068] Figure 1 is a flow chart of steps of a vehicle motor control method provided by one embodiment of the present invention;

[0069] Figure 2 is a flowchart of another vehicle motor control method provided by an embodiment of the present invention;

[0070] Figure 3 is a flowchart of another vehicle motor control method provided by an embodiment of the present invention;

[0071] Figure 4 is a flowchart of another vehicle motor control method provided by an embodiment of the present invention;

[0072] Figure 5a is a flowchart of another vehicle motor control method provided by an embodiment of the present invention;

[0073] Figure 5b This is a schematic diagram of the structure of a screen linkage motor sounding provided by an embodiment of the present invention;

[0074] Figure 6a is a structural diagram of a human-vehicle interaction system provided by an embodiment of the present invention;

[0075] Figure 6b This is a schematic diagram of a human-vehicle interaction process provided by an embodiment of the present invention;

[0076] Figure 6c This is a schematic diagram of a motor sound control process provided by an embodiment of the present invention;

[0077] Figure 7 It is a schematic structural diagram of a vehicle motor control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0078] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0079] Reference Figure 1 , shows a flow chart of a vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0080] Step S101, obtaining target object information;

[0081] The target object information may include but is not limited to any one or more of the target object type and the first target distance between the motor and the target object. The target object type may be a vehicle owner type or a non-vehicle owner type.

[0082] In practical applications, target object information can be obtained through the vehicle's sensor equipment. For example, an image sensor can be used to collect images near the vehicle and perform image recognition processing to determine the type of the target object; and a first target distance between the motor and the target object can be calculated through data collected by a distance-measuring sensor.

[0083] Step S102, determining a motor sound control strategy according to target object information;

[0084] In practical applications, various motor sound control strategies can be pre-set in the vehicle according to different scenarios. Specifically, motor sound control strategies can be set for different scenarios composed of different target object information, and then after the vehicle obtains the target object information, the motor sound strategy matching the target object information can be determined. Among them, the motor sound control strategy is used to control the strategy of vehicle motor sound, which may include a triggering scene and the corresponding audio information under the triggering scene, that is, the motor sound control strategy is used to control the vehicle motor to emit the corresponding audio information under the triggering scene when the vehicle scene meets the triggering scene.

[0085] Step S103, controlling the motor sound of the vehicle based on the motor sound control strategy.

[0086] After the motor sound control strategy is determined, the motor sound control strategy can be executed to make the motor emit a corresponding sound in the scene.

[0087] In one embodiment of the present invention, one or more motors may be provided in a vehicle, and the multiple motors may cooperate to produce motor sounds, thereby achieving different motor sound effects and improving the human-vehicle interaction experience.

[0088] Specifically, the principle of motor sound control in the vehicle is as follows: the motor control system obtains the target current through harmonic injection of the frequency and amplitude data of the corresponding audio, and then obtains the quadrature-axis current and direct-axis current in the synchronous rotating coordinate system based on the orientation of the motor rotor magnetic field according to the target AC current command, and coordinates the quadrature-axis current and direct-axis current with the quadrature-axis current and direct-axis current originally in the driving state to calculate the output voltage of each phase, and obtain the PWM duty cycle of each phase, so that the motor makes sound.

[0089] Therefore, when different audio frequency and amplitude data are injected, the PWM duty cycle of each phase is different, thus emitting different sounds.

[0090] In an embodiment of the present invention, by acquiring target object information, the motor sound control strategy can be determined according to the target object information, so that the motor sound of the vehicle can be controlled based on the motor sound control strategy. This enables different motor sound control strategies to be set according to different target objects to control the motor sound. This can be applicable to motor sound control in different scenarios and enrich the motor sound effect.

[0091] Reference Figure 2 , shows a flowchart of another vehicle motor control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0092] Step S201, obtaining target object information;

[0093] Step S202 , when the target object type is the car owner, the motor sound control strategy is determined to be the first sound control strategy; when the target object type is not the car owner, the motor sound control strategy is determined to be the second sound control strategy.

[0094] In practical applications, the target object type can be divided into the vehicle owner type and the non-vehicle owner type. Different motor sound control strategies are set corresponding to different target object types. Specifically, the motor sound control strategy corresponding to the vehicle owner type is the first sound control strategy. The motor sound strategy corresponding to the non-vehicle owner type is the second sound control strategy. Different control strategies for the vehicle motor sound can be set in the first sound control strategy and the second sound control strategy. There is a difference in the interaction between the person and the vehicle in the first sound control strategy and the second sound control strategy. Specifically, the difference in the interaction between the person and the vehicle can be reflected in the motor sound content of the vehicle.

[0095] In one example of the present invention, the target object information includes a target object type, and the target object type of the target object is determined by the following steps: acquiring initial image data acquired by an image acquisition device; preprocessing the initial image data to obtain target image data; extracting image features from the target image data to obtain a candidate area to be identified; determining whether the candidate area to be identified contains the target object; and determining the target object type of the target object when the candidate area to be identified contains the target object.

[0096] The image acquisition device may be a vehicle camera device or other acquisition device. The preprocessing process may include denoising, scaling, normalization and other processing processes to facilitate accurate recognition.

[0097] After preprocessing, convolutional neural networks (CNNs) are used to extract features from the image and generate candidate regions to be identified that may contain the target person. Each candidate region to be identified is classified to determine whether the candidate region to be identified contains the target object. The classification results are merged, duplicate or misdetected regions are removed, and the bounding box is adjusted to output the final target detection result. The target detection result is the result of whether the candidate region to be identified contains the target object. When it is determined that the candidate region to be identified contains the target object, the target object type of the target object can be further determined.

[0098] Specifically, the target object may be matched with the vehicle owner image, and if the match is successful, the target object type of the target object is determined to be the vehicle owner type; if the match fails, the target object type of the target object is determined to be the non-vehicle owner type.

[0099] In one example, in addition to camera visual recognition, lidar can also be used to emit laser pulses, measure the time it takes for the light beam to reflect back, and generate a three-dimensional point cloud map for accurate environmental perception and object recognition. Millimeter-wave radar and camera fusion can also be used to combine camera and radar data to provide more accurate and real-time environmental perception, and deep learning algorithms can be used to improve the recognition of pedestrians and vehicles, etc.

[0100] Step S203 , controlling the motor sound of the vehicle based on the first motor sound control strategy or the second motor sound control strategy.

[0101] Specifically, the motor sound control may include but is not limited to the following scenarios:

[0102] (1) When the motor sound control strategy is the first sound control strategy, the motor is controlled to emit a first audio message for welcoming the vehicle owner.

[0103] For example, when it is determined that the target object is the car owner, the motor can emit a first audio message, for example, controlling the motor to emit a welcoming sound, such as "Welcome, Master", "Hello, Master", etc.

[0104] (2) When the motor sound control strategy is the first sound control strategy, the motor is controlled to emit a second audio message for guiding the vehicle owner to perform voice control of the vehicle.

[0105] When it is determined that the target object is the car owner, the motor can make a sound to communicate with the car owner to guide the car owner to perform voice control, wherein the second audio information made by the motor can be an audio message asking the car owner whether to turn on or off the voice control function, and the voice control function is used to realize any voice control of opening the car door, setting the destination, and adjusting the air conditioner according to the user's voice. For example, the second audio information can be "Do you need to open the car door for you?", "Do you need to set the destination for you?", "Do you need to adjust the air conditioner temperature or mode for you?"

[0106] The second audio information emitted by the motor can also be an audio used to feedback the voice control results after the vehicle executes the owner's voice control command. For example, after the vehicle opens the door according to the owner's voice control command, the second audio information emitted by the motor may be "The door has been opened for you"; after the vehicle turns on the air conditioner according to the owner's voice control command and sets the temperature to 24°C, the second audio information emitted by the motor may be "The air conditioner has been turned on for you, and the current set temperature is 24°C."

[0107] (3) When the motor sound control strategy is the second sound control strategy, the motor is controlled to emit a third audio message for inquiring the target object about the communication intention.

[0108] When it is determined that the target object is not the vehicle owner, the motor may emit a third audio message, for example, the motor emits a sound to inquire whether the non-vehicle owner needs to communicate, that is, inquiring the target object's communication intention through the motor.

[0109] In one embodiment of the present invention, a show car mode can be preset in the vehicle, and the user can set whether to turn on the show car mode. In the show car mode, the vehicle can introduce the vehicle through the sound of the motor, wherein the audio of the motor sound is the fourth audio information used to introduce the vehicle.

[0110] When the vehicle is in show car mode, when a non-owner approaches the vehicle, the motor makes a sound to introduce the vehicle, thereby achieving self-promotion. This not only reduces costs and has a wide range of application models, but also attracts the attention of visitors in show car mode, enriches the fun of the vehicle, and improves the user's driving satisfaction.

[0111] (4) When receiving the audio information indicating the existence of the communication intention fed back by the target object in response to the third audio information, the motor is controlled to emit the fourth audio information for introducing the vehicle information.

[0112] In one embodiment of the present invention, voice information collected from a target object is acquired; it is determined whether the voice information contains a vehicle control instruction; and when it is determined that the voice information contains a vehicle control instruction, the vehicle control instruction is executed.

[0113] The vehicle control command may include but is not limited to any one of a door control command, a window control command, and an air conditioning control command.

[0114] In actual applications, during the human-vehicle interaction process, the target object can send voice control commands to the vehicle so that the vehicle can perform vehicle control according to the voice control commands. For example, when the voice control command is a door opening control command, the vehicle closes the door after receiving the voice control command.

[0115] In an embodiment of the present invention, different motor sound control strategies can be set for target objects of car owner type and non-car owner type, and then the motor sound is performed according to the motor sound control strategy. This can be applicable to motor sound control in different scenarios and enrich the motor sound effect.

[0116] Reference Figure 3 , shows a flowchart of another vehicle motor control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0117] Step S301, obtaining target object information; the target object information includes a first target distance between the motor and the target object;

[0118] In one embodiment of the present invention, the first target distance between the motor and the target object is determined by the following steps:

[0119] Step S11, obtaining first position information of a target object collected by a target collection device of the vehicle;

[0120] In practical applications, the first position information may include the second target distance between the vehicle and the target object. Specifically, obtaining the first position information of the target object collected by the target collection device of the vehicle includes: controlling the target signal emitted by the vehicle to all directions and determining the emission time of the target signal; when receiving the rebound signal of the target signal after contacting the target object, determining the reception time of the rebound signal; and determining the second target distance between the vehicle and the target object according to the emission time and the reception time.

[0121] Among them, the target acquisition device can be a device that can emit signals, such as a reversing radar, an ultrasonic sensor, an infrared sensor, etc., and the emitted signal will bounce back when encountering an obstacle.

[0122] Specifically, the reversing radar or other ultrasonic sensors can be used to emit sound waves, which will bounce back when they encounter the human body. Electromagnetic waves can also be used to send out and receive the reflected signals. By calculating the round-trip time of the signals, the position, speed and direction of the object can be determined. Infrared sensors can also be used to identify infrared radiation, especially at night or in low-light environments, to sense the heat signals of the human body. The system calculates the second target distance between the vehicle and the target object based on the received echo time. The second target distance is the distance between the sensor and the target object.

[0123] Step S12, determining second position information of the motor;

[0124] The second position information of the motor is the installation position of the motor, and specifically may be the coordinate position of the motor installation.

[0125] Step S13: calculating a first target distance between the motor and the target object according to the first position information and the second position information.

[0126] After the first position information and the second position information are obtained, the distance between each motor and the target object may be determined by combining the first position information and the second position information.

[0127] In practical applications, the target acquisition device used to detect the first position information is fixed in the vehicle, and the second position information of the motor is fixed. After determining the first position information, the position between the target object and the motor can be calculated based on the positional relationship between the target acquisition device and the target object (i.e., the first position information), and the positional relationship between the target acquisition device and the motor.

[0128] Specifically, the coordinates of the target object (with the center of the vehicle as the origin) can be determined based on the first position information and the coordinates of the target acquisition device (with the center of the vehicle as the origin), and then the first target distance between each motor and the target object can be determined according to the second position of the motor (the coordinates with the center of the vehicle as the origin).

[0129] Step S302: adjusting the sound intensity of the motor according to the first target distance.

[0130] In actual applications, one or more motors in a vehicle can adjust the sound amplitude data according to the distance between the motor and the person. For example, when the distance is farther, the sound amplitude is larger, and when the distance is closer, the sound amplitude is smaller, so that the target object can clearly hear the sound emitted by the motor.

[0131] Step S303, controlling the motor sound of the vehicle based on the sound intensity.

[0132] In the embodiment of the present invention, the sound intensity of the motor sound can be determined according to the distance between the target object and the motor, so that the target objects at different distances can clearly hear the sound of the motor.

[0133] Reference Figure 4 , shows a flowchart of another vehicle motor control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0134] Step S401, obtaining target object information;

[0135] Step S402, determining a motor sound control strategy according to target object information;

[0136] Step S403, obtaining motor information of the vehicle, where the motor information includes the number of motors of the vehicle and / or the position of motors of the vehicle;

[0137] Among them, the number of motors is the data of motors that can be used for sound control in the vehicle. In the embodiment of the present invention, the number of motors can be one or more, and the motor position information is the position where the motor is installed. Motors at different positions control different positions to emit sound, so that when multiple motors are combined, surround sound can be emitted. Compared with a single motor, the human-computer interaction experience can be improved and the sound effect can be enriched. In the embodiment of the present invention, the sound control of multiple motors in the vehicle is independent of each other.

[0138] For example, the motor position in a vehicle can be set to four positions, such as left front drive, left rear drive, right front drive, and right rear drive.

[0139] When the vehicle has only one motor for sound control, its motor position can be any of the above four positions.

[0140] When the vehicle has two motors for sound control, the motor positions can be any two combinations of the above four positions, such as: left front drive + left rear drive, right front drive + right rear drive, left front drive + right front drive, left rear drive + right rear drive, left front drive + right rear drive, right front drive + left rear drive.

[0141] When the vehicle has three motors for sound control, the motor positions can be any two combinations of the above four positions, such as: left front drive + left rear drive + right front drive, left front drive + left rear drive + right front drive, right rear drive + left front drive + right front drive, left rear drive + right front drive + right rear drive.

[0142] When a vehicle has four motors for sound control, the motor positions are left front drive, left rear drive, right front drive, and right rear drive.

[0143] Step S404, determining audio channel information corresponding to each motor according to the motor information;

[0144] The audio channel information includes mono or dual channels.

[0145] After the audio channel information is determined, the current and voltage of the motor can be controlled according to the audio channel information, thereby controlling the sound of the motor.

[0146] Specifically, the motor control principle in the vehicle is as follows: the motor control system obtains the target current through harmonic injection of the frequency and amplitude data of the corresponding audio, and then obtains the quadrature-axis current and direct-axis current in the synchronous rotating coordinate system based on the orientation of the motor rotor magnetic field according to the target AC current command, and coordinates the quadrature-axis current and direct-axis current with the quadrature-axis current and direct-axis current originally in the driving state to calculate the output voltage of each phase, and obtain the PWM duty cycle of each phase, so that the motor makes sound.

[0147] Therefore, when different audio frequency and amplitude data are injected, the PWM duty cycle of each phase is different, thus emitting different sounds.

[0148] When there are multiple motors, each motor can be assigned corresponding audio frequency and amplitude data, and then each motor controls the sound separately, and finally mixes to form surround sound.

[0149] The core of the embodiment of the present invention is to provide clear feedback to users, while ensuring that key information is effectively conveyed while maintaining the comfort of the interior environment of the vehicle. Through the coordination of screen and sound, the driver's experience of using vehicle functions is improved.

[0150] Step S405 , controlling the motor sound of the vehicle according to the motor sound control strategy and the audio channel information.

[0151] After obtaining the motor sound control strategy and the audio channel information, the motor sound control strategy determines the sound content, and the audio channel information determines the sound channel, so that the two are combined to control the vehicle motor sound.

[0152] In one embodiment of the present invention, controlling the motor sound of a vehicle according to the motor sound control strategy and the audio channel information includes: determining the audio information to be played according to the motor sound control strategy; and controlling the vehicle motor to play the audio information according to the audio channel information.

[0153] The audio information to be played can be any one of the first audio information for welcoming the car owner, the second audio information for guiding the car owner to voice control the vehicle, the third audio information for inquiring about the communication intention of the target object, the fourth audio information for introducing vehicle information, and the audio information corresponding to the target display information being displayed on the vehicle's display screen. The motor can play the audio of the corresponding scene according to the current scene.

[0154] Specifically, if the position information of the target motor matches the first preset position information, the audio channel information of the target motor is determined to be dual-channel; if the position information of the target motor matches the second preset position information, the audio channel information of the target motor is determined to be mono, and the first preset position and the second preset position are different positions of the motor in the vehicle.

[0155] For example, when the number of motors n=1, the motor controller controls the motor to make sound, and the motor control system obtains the target current through harmonic injection of the frequency and amplitude data of the corresponding audio, and then obtains the quadrature-axis current and direct-axis current in the synchronous rotating coordinate system based on the orientation of the motor rotor magnetic field according to the target AC current command, and coordinates the quadrature-axis current and direct-axis current with the quadrature-axis current and direct-axis current originally in the driving state to calculate the output voltage of each phase and obtain the PWM duty cycle of each phase, so that the motor makes sound.

[0156] When n=2, each motor can play different audio signals according to the channel information of the audio signal. For example, the left / front motor can emit analog sound (i.e., dual channel), and the sound emitted by the right / rear motor can be used to create a sense of space and sound image positioning (i.e., dual channel).

[0157] Furthermore, depending on the position of the motor, it can be controlled by two independent motor controllers. The audio signals emitted by the motors have slight phase differences and volume differences. For example, when the sound is transmitted from the left motor to the left ear and the right motor to the right ear, the brain will perceive the front and back and distance of the sound based on this difference.

[0158] When n=3, each motor plays a different audio signal according to the channel information of the audio signal. The front / rear single motors emit analog sounds (i.e., dual channels), and the rear / front dual motors emit sounds to create a sense of space and sound and image positioning (i.e., dual channels).

[0159] When n=4, the front motor emits simulated sound, and the rear motor emits sound to create a sense of space and sound and image positioning. The volume of the sound emitted by the motor can be determined by the amplitude of the sound data. When a pedestrian is identified approaching, the sound amplitude data can be changed according to the distance between the person and the car to adjust the volume of the sound. After confirming the number of motors, the process of motor sound generation is carried out.

[0160] In one embodiment of the present invention, it is determined whether a second target distance between the vehicle and the target object is less than a preset distance; when it is determined whether the target distance is less than the preset distance, the motor information of the vehicle is obtained.

[0161] Reference Figure 5a , shows a flowchart of another vehicle motor control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0162] Step S501, obtaining target object information;

[0163] Step S502, determining a motor sound control strategy according to target object information;

[0164] Step S503, controlling the motor sound of the vehicle based on the motor sound control strategy.

[0165] Step S504, when it is detected that the display screen of the vehicle is displaying the target display information, determining the display type of the target display information;

[0166] In actual applications, when it is detected that the display screen of the vehicle is displaying the target display information, the preset event that triggers the motor to sound can be determined, and then the display type of the target display information can be determined to control the motor sound in combination with the display type.

[0167] The display screen of the vehicle may include a display screen inside the vehicle, a pixel screen of the body grille, and other display screens. The display type may include a dynamic display type and a static display type, wherein the display information of the static display type may include charging information, weather, temperature, petization, drones, camping, etc. The display information of the dynamic display type may include linkage with driving, such as acceleration, etc., or display the driving path of the vehicle, such as turning direction, parking, etc.

[0168] Step S505, controlling the motor to play the target display information according to the display type.

[0169] In the embodiment of the present invention, motor sound display rules for display information of different display types can be preset, and after the display type is determined, the motor is controlled to play the target display information according to the display rules corresponding to the display type.

[0170] In one embodiment of the present invention, controlling the motor to play the target display information according to the display type includes: when the display type is a dynamic display type, determining the real-time progress information of the target display information; determining the sound effect information and / or tone information of the target display information according to the real-time progress information; and controlling the motor to play the target display information according to the sound effect information and / or tone information. When the display type is a static display type, the target display information is played according to the preset sound effect information and / or tone information.

[0171] When the screen displays static information, you can set the corresponding motor sound voice feedback to inform the user that the operation has been completed or changed. When the screen displays dynamic information, the current progress can be indicated by the changing sound effects or tones of the motor sound (such as increasing or decreasing volume). These sounds can be designed to be easy to understand but not annoying.

[0172] like Figure 5bAs shown, it is a structural schematic diagram of a screen-linked motor sound production in an embodiment of the present invention, wherein the overall control system is connected to the motor control system, the overall control system includes the control of the screen, and the motor control system includes the control of the motor. Through this architecture, the motor can produce sound for the content displayed on the screen.

[0173] In the embodiment of the present invention, it is possible to display the display information corresponding to the display screen by making a sound through a motor, and to assist the display screen in explaining the display information.

[0174] Reference Figure 6a This is a structural diagram of a human-vehicle interaction system in the implementation of the present invention; the human-vehicle interaction system is connected to the vehicle controller, the vehicle controller is connected to the battery pack, multimedia, and multiple motor controllers. The motor controller is connected to the motor, the multimedia is connected to the camera, and the camera is used to collect image data around the vehicle.

[0175] Reference Figure 6b This is a schematic diagram of a human-vehicle interaction process in an embodiment of the present invention, which includes the following steps:

[0176] Step S001, using a camera to identify whether a person is approaching;

[0177] Step S002, when it is determined that there is a person approaching, the shape, color and motion characteristics of the target such as pedestrians captured by the camera are analyzed and identified using a target detection algorithm.

[0178] Step S003: Output the detection results through image processing, feature extraction, region extraction, classification and positioning, and post-processing.

[0179] Step S004, determine whether the person is the owner of the vehicle.

[0180] Step S0051, when it is determined that the target is the car owner, the power domain of the entire vehicle is powered on, that is, N=1.

[0181] Step S0052, when the target is not the owner of the vehicle, the power domain of the vehicle is powered on, and N=0.

[0182] Step S006, sound waves are emitted through the reversing radar or other ultrasonic sensors. When the sound waves hit the human body and bounce back, the system calculates the distance based on the received echo time.

[0183] Step S007, when the distance is less than a specific value s.

[0184] Step S008, determining the number of motors n.

[0185] Step S009, when n=1, the motor controller controls the motor to make a sound; when n=2, it is determined that it is a front and rear dual motor or a left and right dual motor, each motor plays a different audio signal according to the channel information of the audio signal, the left / front motor makes a simulated sound, and the right / rear motor makes a sound to create a sense of space and sound and image positioning; when n=3, it is determined that it is a front single motor or a rear single motor, each motor plays a different audio signal according to the channel information of the audio signal, the front / rear single motor makes a simulated sound, and the rear / front dual motor makes a sound to create a sense of space and sound and image positioning; when n=4, the front motor makes a simulated sound, and the rear motor makes a sound to create a sense of space and sound and image positioning. Wherein, creating a sense of space and sound and image positioning adopts a mono channel, and the simulated sound adopts a binaural channel.

[0186] Among them, audio controls with different numbers of motors correspond to different audio channel information.

[0187] Step S010, controlling the motor to make sound.

[0188] Reference Figure 6c This is a schematic diagram of a motor sound control process in an embodiment of the present invention, which includes the following steps:

[0189] Step S011, determine whether it is the owner of the car; that is, N=1; when the target person is the owner of the car, execute step S012, when the target person is not the owner of the car, execute step S021.

[0190] In step S012, the motor emits a welcome sound (ie, the first audio information), and the owner can give commands to the vehicle through voice recognition and natural language processing.

[0191] Step S013, through voice interaction (ie, the second audio information), the car owner can directly operate the vehicle, such as opening the door, setting the destination, adjusting the air conditioner, etc.

[0192] In step S021 , the motor sends a query whether to communicate (ie, the third audio information).

[0193] Step S022, the motor makes a sound to introduce itself and communicate briefly (ie, the fourth audio information).

[0194] Based on the above solution in the embodiment of the present invention, the human-vehicle interaction scene can be enriched and the human-vehicle interaction experience can be improved.

[0195] 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.

[0196] Reference Figure 7 , shows a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention, which may specifically include the following modules:

[0197] The target object information determination module 701 is used to obtain the target object information;

[0198] A motor sound control strategy determination module 702, used to determine a motor sound control strategy according to the target object information;

[0199] The motor sound control module 703 is used to control the motor sound of the vehicle based on the motor sound control strategy.

[0200] In an embodiment of the present invention, the target object information includes the target object type, and the motor sound control strategy determination module 702 may include:

[0201] A first sound control strategy submodule, used for determining the motor sound control strategy to be the first sound control strategy when the target object type is a car owner;

[0202] The second sound control strategy submodule is used to determine that the motor sound control strategy is the second sound control strategy when the target object type is non-car owner.

[0203] In one embodiment of the present invention, the first sound control strategy submodule may include:

[0204] The first audio information sound emitting unit is used to control the motor to emit a first audio information for welcoming the car owner when the motor sound emission control strategy is the first sound emission control strategy.

[0205] In one embodiment of the present invention, the first sound control strategy submodule may include:

[0206] The second audio information sound emitting unit is used to control the motor to emit the second audio information for guiding the vehicle owner to perform voice control of the vehicle when the motor sound emission control strategy is the first sound emission control strategy.

[0207] In one embodiment of the present invention, the second sound control strategy submodule may include:

[0208] The third audio information sound emitting unit is used to control the motor to emit a third audio information for inquiring the target object about the communication intention when the motor sound emission control strategy is the second sound emission control strategy.

[0209] In one embodiment of the present invention, the second sound control strategy submodule may include:

[0210] The fourth audio information sound emitting unit is used to control the motor to emit fourth audio information for introducing vehicle information when receiving audio information for indicating communication intention fed back by the target object in response to the third audio information.

[0211] In one embodiment of the present invention, the device further comprises:

[0212] A voice information acquisition module, used to acquire voice information collected from the target object;

[0213] A vehicle control instruction judging module, used for judging whether the voice information contains a vehicle control instruction;

[0214] The control instruction execution module is used to execute the vehicle control instruction when it is determined that the voice information contains the vehicle control instruction.

[0215] In one embodiment of the present invention, the device further comprises:

[0216] An initial image data acquisition module, used to acquire initial image data acquired by an image acquisition device;

[0217] An image preprocessing module, used for preprocessing the initial image data to obtain target image data;

[0218] A candidate region to be identified determining module, used to extract image features from the target image data to obtain a candidate region to be identified;

[0219] A target object determination module, used to determine whether the candidate area to be identified contains a target object;

[0220] The target object type determination module is used to determine the target object type of the target object when the candidate area to be identified contains the target object.

[0221] In one embodiment of the present invention, the target object information includes a first target distance between the motor and the target object, and the motor sound control strategy determination module 702 includes:

[0222] The sound intensity adjustment submodule is used to adjust the sound intensity of the motor according to the first target distance.

[0223] In one embodiment of the present invention, the device further comprises:

[0224] A first position information acquisition module, used to acquire first position information of the target object acquired by the target acquisition device of the vehicle;

[0225] A second position system determination module, used to determine the second position information of the motor;

[0226] The first target distance determination module is used to calculate a first target distance between the motor and a target object according to the first position information and the second position information.

[0227] In one embodiment of the present invention, the first position information includes a second target distance between the vehicle and the target object, and the first position information acquisition module includes:

[0228] A transmission signal determination submodule, used to control the target signal transmitted by the vehicle to the surroundings and determine the transmission time of the target signal;

[0229] A received signal determination submodule, configured to determine a reception time of the bounce signal when receiving a bounce signal of the target signal after the target signal contacts the target object;

[0230] The second target distance determination submodule is used to determine a second target distance between the vehicle and the target object according to the transmission time and the reception time.

[0231] In one embodiment of the present invention, the motor sound control module 703 may include:

[0232] A motor information determination submodule, used to obtain motor information of the vehicle, wherein the motor information includes motor quantity information of the vehicle and / or motor position information of the vehicle;

[0233] An audio channel information determination submodule, used to determine the audio channel information corresponding to each motor according to the motor information;

[0234] The motor sound control submodule is used to control the motor sound of the vehicle according to the motor sound control strategy and the audio channel information.

[0235] In one embodiment of the present invention, the motor sound control submodule may include:

[0236] An audio information determination unit, used to determine the audio information to be played according to the motor sound control strategy;

[0237] The audio information playing unit is used to control the vehicle motor to play the audio information according to the audio channel information.

[0238] In an embodiment of the present invention, the audio channel information determination submodule may include:

[0239] A dual-channel determination unit, configured to determine that the audio channel information of the target motor is dual-channel if the position information of the target motor matches the first preset position information;

[0240] A mono channel determination unit is used to determine that the audio channel information of the target motor is mono if the position information of the target motor matches the second preset position information, and the first preset position and the second preset position are different positions of the motor in the vehicle.

[0241] In one embodiment of the present invention, the device further comprises:

[0242] A second target distance judgment module, used to judge whether the second target distance between the vehicle and the target object is less than a preset distance;

[0243] The execution module is used to execute the acquisition of the motor information of the vehicle when determining whether the target distance is less than a preset distance.

[0244] In one embodiment of the present invention, the device further comprises:

[0245] a display type determination module, configured to determine the display type of the target display information when detecting that the display screen of the vehicle is displaying the target display information;

[0246] The motor playing module is used to control the motor to play the target display information according to the display type.

[0247] In one embodiment of the present invention, the motor playback module may include:

[0248] A real-time progress information determination submodule, used to determine the real-time progress information of the target display information when the display type is a dynamic display type;

[0249] A sound effect and tone determination submodule, configured to determine the sound effect information and / or tone information of the target display information according to the real-time progress information;

[0250] The target display information playing submodule is used to control the motor to play the target display information according to the sound effect information and / or tone information.

[0251] An embodiment of the present invention further provides an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above vehicle motor control method is implemented.

[0252] An embodiment of the present invention further provides a vehicle, which includes the above-mentioned electronic device and / or computer-readable storage medium, and the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned vehicle control method is implemented.

[0253] 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.

[0254] 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.

[0255] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0256] 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.

[0257] 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.

[0258] 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.

[0259] 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.

[0260] 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", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0261] The above provides a detailed introduction to a vehicle control method and device, an electronic device, and a vehicle. Specific examples are used herein 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 a person skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquire target object information; the target object information includes a first target distance between the motor of the vehicle and the target object; Determine a motor sound control strategy according to the target object information; wherein the motor sound control strategy is pre-set according to different scenarios formed by different target object information, and the motor sound control strategy also includes audio information corresponding to the scenario; controlling the motor sound of the vehicle based on the motor sound control strategy; Wherein, determining the motor sound control strategy according to the target object information includes: adjusting the sound intensity of the motor according to the first target distance; The controlling the motor sound of the vehicle based on the motor sound control strategy includes: Acquiring motor information of the vehicle, wherein the motor information includes motor quantity information of the vehicle and / or motor position information of the vehicle; Determine the audio channel information corresponding to each motor according to the motor information; The motor sound of the vehicle is controlled according to the motor sound control strategy and the audio channel information.

2. The method according to claim 1, characterized in that The target object information includes the target object type, and determining the motor sound control strategy according to the target object information includes: When the target object type is a car owner, determining the motor sound control strategy to be a first sound control strategy; When the target object type is non-car owner, the motor sound control strategy is determined to be the second sound control strategy.

3. The method according to claim 2, characterized in that The controlling the vehicle motor sound based on the motor sound control strategy includes: When the motor sound control strategy is the first sound control strategy, the motor is controlled to emit a first audio message for welcoming the vehicle owner.

4. The method according to claim 3, characterized in that: The controlling the vehicle motor sound based on the motor sound control strategy includes: When the motor sound control strategy is the first sound control strategy, the motor is controlled to emit second audio information for guiding the vehicle owner to perform voice control of the vehicle.

5. The method according to claim 2, characterized in that: The controlling the vehicle motor sound based on the motor sound control strategy includes: When the motor sound control strategy is the second sound control strategy, the motor is controlled to emit a third audio message for inquiring the target object about the communication intention.

6. The method according to claim 5, characterized in that Also includes: When the target object receives audio information indicating the presence of communication intention in response to the third audio information, the motor is controlled to emit fourth audio information for introducing vehicle information.

7. The method according to claim 4, characterized in that Also includes: Acquiring voice information collected from the target object; Determining whether the voice information contains a vehicle control instruction; When it is determined that the voice information includes a vehicle control command, the vehicle control command is executed.

8. The method according to claim 2, characterized in that: The target object type of the target object is determined by the following steps: Acquire initial image data acquired by an image acquisition device; Preprocessing the initial image data to obtain target image data; Extracting image features from the target image data to obtain a candidate area to be identified; Determine whether the candidate area to be identified contains a target object; When the candidate area to be identified contains a target object, a target object type of the target object is determined.

9. The method according to claim 1, characterized in that: The first target distance between the motor and the target object is determined by the following steps: Acquire first position information of the target object collected by a target collection device of the vehicle; Determining second position information of the motor; A first target distance between the motor and a target object is calculated according to the first position information and the second position information.

10. The method according to claim 9, characterized in that The first position information includes a second target distance between the vehicle and the target object, and the step of acquiring the first position information of the target object acquired by the target acquisition device of the vehicle includes: Controlling the target signal emitted by the vehicle to the surroundings and determining the emission time of the target signal; When receiving a bounce signal of the target signal after contacting the target object, determining a reception time of the bounce signal; A second target distance between the vehicle and the target object is determined according to the transmission time and the reception time.

11. The method according to claim 1, characterized in that: The controlling the motor sound of the vehicle according to the motor sound control strategy and the audio channel information includes: Determining the audio information to be played according to the motor sound control strategy; The vehicle motor is controlled to play the audio information according to the audio channel information.

12. The method according to claim 1, characterized in that The step of determining the audio channel information corresponding to each motor according to the motor information includes: If the position information of the target motor matches the first preset position information, determining that the audio channel information of the target motor is dual-channel; If the position information of the target motor matches the second preset position information, it is determined that the audio channel information of the target motor is mono, and the first preset position and the second preset position are different positions of the motor in the vehicle.

13. The method according to claim 1, characterized in that Also includes: Determining whether a second target distance between the vehicle and the target object is less than a preset distance; When it is determined whether the target distance is less than a preset distance, obtaining motor information of the vehicle is performed.

14. The method according to any one of claims 1 to 10, characterized in that Also includes: When detecting that the display screen of the vehicle is displaying target display information, determining a display type of the target display information; The motor is controlled to play the target display information according to the display type.

15. The method according to claim 14, characterized in that The controlling the motor to play the target display information according to the display type includes: When the display type is a dynamic display type, determining real-time progress information of the target display information; Determining the sound effect information and / or tone information of the target display information according to the real-time progress information; The motor is controlled to play the target display information according to the sound effect information and / or tone information.

16. A vehicle control device, characterized in that: The device comprises: A target object information determination module, used to obtain target object information; the target object information includes a first target distance between the motor of the vehicle and the target object; A motor sound control strategy determination module, used to determine the motor sound control strategy according to the target object information; wherein the motor sound control strategy is pre-set according to different scenes formed by different target object information, and the motor sound control strategy also includes audio information corresponding to the scene; A motor sound control module, used to control the motor sound of the vehicle based on the motor sound control strategy; Wherein, the motor sound control strategy determination module includes: A sound intensity adjustment submodule, used for adjusting the sound intensity of the motor according to the first target distance; The motor sound control module comprises: A motor information determination submodule, used to obtain motor information of the vehicle, wherein the motor information includes motor quantity information of the vehicle and / or motor position information of the vehicle; An audio channel information determination submodule, used to determine the audio channel information corresponding to each motor according to the motor information; The motor sound control submodule is used to control the motor sound of the vehicle according to the motor sound control strategy and the audio channel information.

17. An electronic device, characterized in that: The vehicle control method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the vehicle control method according to any one of claims 1 to 15 when executed by the processor.

18. A vehicle, characterized in that: The vehicle includes the electronic device and / or computer-readable storage medium according to claim 17, and the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the vehicle control method according to any one of claims 1 to 15.

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