A vehicle control method and device, an electronic device, a vehicle, and a storage medium

Abstract

An embodiment of the present invention provides a vehicle control method, an apparatus, an electronic device, a vehicle, and a storage medium. The method includes: after the first vehicle and the second vehicle are successfully matched, controlling the second vehicle to emit sound according to target audio data, realizing that the host vehicle controls the slave vehicle to emit sound, and enriching the vehicle entertainment mode.

Description

Technical Field

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

[0002] With the development of vehicle technology, more and more entertainment functions can be realized in vehicles. However, the current vehicle entertainment functions still have limitations, and the leisure and entertainment functions that can be brought to users are relatively monotonous. For example, audio playback functions are usually configured in vehicles, but the actual audio playback method is only for the vehicle to play music alone. This entertainment method is single and cannot meet people's needs for diversified entertainment. Summary of the Invention

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

[0004] A vehicle control method is applied to a first vehicle, and the method includes:

[0005] After the first vehicle and the second vehicle are successfully matched, controlling the second vehicle to emit sound according to target audio data.

[0006] Optionally, the controlling the second vehicle to emit sound according to target audio data includes:

[0007] Controlling the second vehicle to jointly emit sound with the first vehicle according to target audio data.

[0008] Optionally, the controlling the second vehicle to jointly emit sound with the first vehicle according to target audio data includes:

[0009] Sending the target audio data to the second vehicle so that the second vehicle jointly emits sound with the first vehicle according to the target audio data.

[0010] Optionally, the controlling the second vehicle to emit sound according to target audio data includes:

[0011] Sending the target audio data to the second vehicle so that the second vehicle emits sound according to the target audio data.

[0012] Optionally, the controlling the second vehicle to emit sound according to target audio data includes:

[0013] The first vehicle sends a play instruction to the second vehicle to control the second vehicle to obtain target audio data to be played based on the play instruction and emit sound according to the target audio data.

[0014] Optionally, the first vehicle sending the target audio data to the second vehicle includes:

[0015] Sending the target audio data corresponding to the second vehicle to the second vehicle;

[0016] Generating a play instruction when receiving the second vehicle;

[0017] Sending the play instruction to the second vehicle.

[0018] Optionally, the generating a play instruction when receiving the first feedback signal returned by the second vehicle after receiving the target audio data includes:

[0019] When there are multiple second vehicles, receiving the first feedback signals returned by the multiple second vehicles after receiving the target audio data;

[0020] Generating a play instruction when the number of the first feedback signals is consistent with the number of the second vehicles.

[0021] Optionally, the sending the play instruction to the second vehicle includes:

[0022] Determining the first delay information of each second vehicle according to the first timestamp of the first feedback signal;

[0023] Determining the first instruction sending time corresponding to each second vehicle according to the first delay information;

[0024] Sending the play instruction to each second vehicle respectively according to the first instruction sending time.

[0025] Optionally, the first vehicle sending the target audio data to the second vehicle respectively includes:

[0026] The first vehicle sending the target audio data corresponding to the second vehicle to the corresponding second vehicle;

[0027] Generating a play instruction when receiving the second feedback signal sent by the second vehicle when the received data volume is greater than the preset data volume;

[0028] Sending the play instruction to the second vehicle.

[0029] Optionally, the generating a play instruction when receiving the second feedback signal sent by the second vehicle when the received data volume is greater than the preset data volume includes:

[0030] When there are multiple second vehicles, receiving the second feedback signals sent by the multiple second vehicles when the received data volume is greater than the preset data volume;

[0031] Generate a playback instruction when the number of the second feedback signals is consistent with the number of the second vehicles.

[0032] Optionally, the sending the playback instruction to the second vehicle includes:

[0033] Determine the second delay information of each second vehicle according to the second timestamp of the second feedback signal;

[0034] Determine the second instruction sending time corresponding to each second vehicle according to the second delay information;

[0035] Send the playback instruction to each second vehicle respectively according to the second instruction sending time.

[0036] Optionally, the sending the playback instruction to the second vehicle includes:

[0037] Send the playback instruction carrying a preset playback time to the second vehicle to control the second vehicle to make a sound at the preset playback time at the current time.

[0038] Optionally, the first vehicle sends the target audio data to the second vehicle so that the second vehicle makes a joint sound with the first vehicle according to the target audio data, including:

[0039] In response to the audio playback instruction received by the first vehicle, obtain the initial audio data for controlling the second vehicle to make a sound;

[0040] Generate the first audio data corresponding to the first vehicle based on the initial audio data, and generate the target audio data corresponding to the second vehicle based on the initial audio data;

[0041] Send the target audio data to the second vehicle so that the first vehicle makes a joint sound according to the first audio data and the second vehicle makes a joint sound according to the target audio data.

[0042] Optionally, the generating the first audio data corresponding to the first vehicle based on the initial audio data, and generating the target audio data corresponding to the second vehicle based on the initial audio data includes:

[0043] Determine the first position information of the second vehicle relative to the first vehicle;

[0044] Generate the first joint sound generation strategy of the first vehicle and the second vehicle based on the position information;

[0045] Performing audio processing on the initial audio data according to the first linkage sound generation strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

[0046] Optionally, the first position information includes direction information and / or distance information.

[0047] Optionally, generating first audio data corresponding to the first vehicle based on the initial audio data, and generating target audio data corresponding to the second vehicle based on the initial audio data, includes:

[0048] Taking the initial audio data as the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0049] Optionally, performing audio processing on the initial audio data according to the first linkage sound generation strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle, includes:

[0050] Splitting the initial audio data according to the first linkage sound generation strategy to obtain first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

[0051] Optionally, performing audio processing on the initial audio data according to the first linkage sound generation strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle, includes:

[0052] Splitting the initial audio data according to the first linkage sound generation strategy to obtain split audio data;

[0053] Determining the correspondence between the split audio data and the initial audio data with the first vehicle and the second vehicle according to the first linkage sound generation strategy;

[0054] Taking the audio data in the split audio data and / or the initial audio data that has a correspondence with the first vehicle as the first audio data of the first vehicle;

[0055] Taking the audio data in the split audio data and / or the initial audio data that has a correspondence with the second vehicle as the target audio data of the second vehicle.

[0056] Optionally, splitting the initial audio data according to the first linkage sound generation strategy, includes:

[0057] Splitting the initial audio data according to the channel information according to the first linkage sound generation strategy.

[0058] Optionally, the splitting of the initial audio data according to the first linked sound generation strategy includes:

[0059] Splitting the initial audio data according to note information according to the first linked sound generation strategy.

[0060] Optionally, the audio processing of the initial audio data according to the first linked sound generation strategy to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle includes:

[0061] Generating the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle from the initial audio data according to a preset instrument type according to the first linked sound generation strategy.

[0062] Optionally, the generating the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle from the initial audio data according to a preset instrument type according to the first linked sound generation strategy includes:

[0063] After audio-converting the initial audio data according to a preset instrument type according to the first linked sound generation strategy, splitting the converted initial audio data to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0064] Optionally, the first vehicle sending the target audio data to the second vehicle so that the second vehicle makes a sound according to the target audio data includes:

[0065] In response to an audio playback instruction received by the first vehicle, obtaining initial audio data for controlling the second vehicle to make a sound;

[0066] Generating the target audio data corresponding to the second vehicle based on the initial audio data;

[0067] Sending the target audio data to the second vehicle so that the second vehicle makes a sound according to the target audio data.

[0068] Optionally, the generating the target audio data corresponding to the second vehicle based on the initial audio data includes:

[0069] When there are multiple second vehicles, determining the second position information of each second vehicle;

[0070] Generating second linked sound generation strategies for multiple second vehicles based on the position information;

[0071] Performing audio processing on the initial audio data according to the second linked sound generation strategy to generate target audio data corresponding to the second vehicle.

[0072] Optionally, the second position information includes direction information and / or distance information.

[0073] Optionally, generating the target audio data corresponding to the second vehicle based on the initial audio data includes:

[0074] Using the initial audio data as the target audio data corresponding to the second vehicle.

[0075] Optionally, performing audio processing on the initial audio data according to the second linked sound generation strategy to generate target audio data corresponding to the second vehicle includes:

[0076] Splitting the initial audio data according to the second linked sound generation strategy to obtain target audio data corresponding to the second vehicle.

[0077] Optionally, splitting the initial audio data according to the second linked sound generation strategy to obtain target audio data corresponding to the second vehicle includes:

[0078] For some of the multiple second vehicles, splitting the initial audio data according to the second linked sound generation strategy to obtain target audio data corresponding to the some second vehicles;

[0079] Using the initial audio data as the target audio data for the remaining second vehicles among the multiple second vehicles other than the some second vehicles.

[0080] Optionally, splitting the initial audio data according to the second linked sound generation strategy includes:

[0081] Splitting the initial audio data according to the second linked sound generation strategy according to channel information.

[0082] Optionally, splitting the initial audio data according to the second linked sound generation strategy includes:

[0083] Splitting the initial audio data according to the second linked sound generation strategy according to note information.

[0084] Optionally, performing audio processing on the initial audio data according to the second linked sound generation strategy to generate target audio data corresponding to the second vehicle includes:

[0085] Generating target audio data corresponding to the second vehicle from the initial audio data according to a preset musical instrument type according to the second linked sound generation strategy.

[0086] Optionally, generating the target audio data corresponding to the second vehicle from the initial audio data according to the preset instrument type according to the second linked sound generation strategy includes:

[0087] After converting the initial audio data according to the preset instrument type according to the second linked sound generation strategy, perform audio splitting on the converted initial audio data.

[0088] Optionally, obtaining the initial audio data for the first vehicle in response to an audio playback instruction received by the first vehicle includes:

[0089] In response to the audio playback instruction received by the first vehicle, determine whether the initial audio data corresponding to the audio playback instruction is in the memory of the first vehicle;

[0090] When the initial audio data is in the memory of the first vehicle, obtain the initial audio data from the memory;

[0091] When the initial audio data is not in the memory of the first vehicle, obtain the initial audio data through a preset network interface.

[0092] Optionally, obtaining the initial audio data through a preset network interface includes:

[0093] Obtain the initial audio data from the application program carrying the audio data in the first vehicle through a preset network interface;

[0094] Or, obtain the initial audio data from the audio data sent by the target mobile terminal through a preset network interface.

[0095] Optionally, the first vehicle sending the target audio data of the second vehicle to the second vehicle includes:

[0096] When the first vehicle is in a driving state, send the target audio data to the cloud server for the cloud server to forward to the second vehicle.

[0097] Optionally, the steps of determining that the first vehicle and the second vehicle are successfully matched include:

[0098] Obtain the distance information between the first vehicle and a second vehicle in the surrounding environment, where the second vehicle is a vehicle that the first vehicle can match;

[0099] When the distance information is less than or equal to a preset distance, generate a vehicle matching request and send the vehicle matching request to the second vehicle;

[0100] When receiving the response data indicating consent to matching feedback by the second vehicle based on the vehicle matching request, it is determined that the second vehicle and the first vehicle are successfully matched.

[0101] Optionally, the obtaining of the distance information between the first vehicle and a second vehicle in the surrounding environment, where the second vehicle is a vehicle that can be matched with the first vehicle, includes:

[0102] In response to the matching instruction received by the first vehicle, activate the function of the first vehicle for searching for surrounding vehicles, and determine the distance information between the first vehicle and the second vehicle.

[0103] A vehicle control method, applied to a second vehicle, the method includes:

[0104] After the second vehicle and the first vehicle are successfully matched, make a sound according to the target audio data based on the play instruction of the first vehicle.

[0105] Optionally, the making a sound according to the target audio data based on the play instruction of the first vehicle includes:

[0106] Make a combined sound with the first vehicle according to the target audio data based on the play instruction of the first vehicle.

[0107] Optionally, the making a sound according to the target audio data based on the play instruction of the first vehicle includes:

[0108] The second vehicle receives the target audio data sent by the first vehicle;

[0109] The second vehicle generates a feedback signal of the target audio data and sends the feedback signal to the first vehicle;

[0110] The second vehicle receives the play instruction sent by the first vehicle, and the play instruction is generated by the first vehicle based on the feedback signal;

[0111] The second vehicle makes a sound according to the target audio data based on the play instruction of the first vehicle.

[0112] Optionally, the making a sound according to the target audio data based on the play instruction of the first vehicle includes:

[0113] The second vehicle receives the play instruction of the first vehicle and obtains the target audio data to be played based on the play instruction;

[0114] The second vehicle makes a sound according to the target audio data.

[0115] A vehicle control device for performing the vehicle control method as described above.

[0116] An electronic device includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the vehicle control method as described above is implemented.

[0117] A vehicle that executes the vehicle control method as described above, or the vehicle includes the device as described above, or the vehicle includes the electronic device as described above.

[0118] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0119] The embodiments of the present invention have the following advantages:

[0120] In the embodiments of the present invention, after the first vehicle and the second vehicle are successfully matched, the first vehicle controls the second vehicle to emit sound according to the target audio data, realizing that the host vehicle controls the slave vehicle to emit sound and enriching the vehicle entertainment methods. Description of the Drawings

[0121] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for the description of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0122] Figure 1 is a flowchart of the steps of a vehicle control method provided by an embodiment of the present invention;

[0123] Figure 2 is a flowchart of the steps of another vehicle control method provided by an embodiment of the present invention;

[0124] Figure 3 is a flowchart of the steps of another vehicle control method provided by an embodiment of the present invention;

[0125] Figure 4 is a flowchart of the steps of another vehicle control method provided by an embodiment of the present invention;

[0126] Figure 5 is a flowchart of the steps of another vehicle control method provided by an embodiment of the present invention;

[0127] Figure 6a is a vehicle motor sound generation control structure provided by an embodiment of the present invention;

[0128] Figure 6b It is a schematic diagram of the sound generation control process of a single vehicle provided by an embodiment of the present invention;

[0129] Figure 6c It is a multi-vehicle linkage sound generation method in a parking state provided by an embodiment of the present invention;

[0130] Figure 6d It is a multi-vehicle linkage sound generation method in a parking state provided by an embodiment of the present invention;

[0131] Figure 6e It is a schematic diagram of the vehicle working conditions provided by an embodiment of the present invention;

[0132] Figure 6f It is a step flowchart of a multi-vehicle linkage sound generation method in a driving state provided by an embodiment of the present invention. Specific Embodiments

[0133] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0134] Refer to Figure 1 , which shows a step flowchart of a vehicle control method provided by an embodiment of the present invention, applied to the first vehicle, that is, the master vehicle in a multi-vehicle, and specifically may include the following steps:

[0135] Step S101, after the first vehicle and the second vehicle are successfully matched, control the second vehicle to generate sound according to the target audio data.

[0136] Among them, the target audio data can be audio data stored locally in the second vehicle or received from the network. In the embodiments of the present invention, the first vehicle is the master vehicle, and the second vehicle is the slave vehicle. During the vehicle sound generation control process, the number of master vehicles is one, and the number of slave vehicles can be one or more.

[0137] In practical applications, the first vehicle can be matched with the vehicles in its surrounding environment. The vehicle in the surrounding environment of the first vehicle that is successfully matched with the first vehicle is the second vehicle. When the first vehicle and the second vehicle are successfully matched, the first vehicle can control the second vehicle to generate sound.

[0138] In the embodiments of the present invention, the sound generation methods of the first vehicle and the second vehicle can include motor sound generation. Furthermore, the first vehicle can control the second vehicle to generate motor sound according to the target audio data.

[0139] In an embodiment of the present invention, the steps of determining that the first vehicle and the second vehicle are successfully matched include: obtaining distance information between the first vehicle and the second vehicle in the surrounding environment, where the second vehicle is a vehicle that can be matched by the first vehicle; when the distance information is less than or equal to a preset distance, generating a vehicle matching request and sending the vehicle matching request to the second vehicle; when receiving response data from the second vehicle based on the vehicle matching request indicating consent to the match, determining that the second vehicle and the first vehicle are successfully matched.

[0140] Among them, the preset distance in the embodiments of the present invention can be set according to the actual scenario, and no excessive restrictions are imposed on this in the embodiments of the invention.

[0141] In practical applications, the user can send a matching instruction to the first vehicle through a mobile terminal or directly operate on the control screen of the vehicle to generate a matching instruction. This matching instruction is used to achieve the matching between the first vehicle and the second vehicle. In the case of successful matching, data transmission can be carried out between the first vehicle and the second vehicle, and then the voice control of the vehicle can be realized.

[0142] In an embodiment of the present invention, by responding to the matching instruction received by the first vehicle, the function of the first vehicle for searching for surrounding vehicles can be started to determine the distance information between the first vehicle and the second vehicle.

[0143] Among them, the function of the first vehicle for searching for surrounding vehicles may include: a wireless Bluetooth search function or a wireless WIFI search function.

[0144] In an embodiment of the present invention, after the first vehicle and the second vehicle are successfully matched, the first vehicle can control the second vehicle to make a sound according to the target audio data, realizing that the master vehicle controls the slave vehicle to make a sound, and enriching the entertainment methods in the vehicle.

[0145] Refer to Figure 2 , which shows a step flowchart of a vehicle control method provided by an embodiment of the present invention, applied to the first vehicle, that is, the master vehicle in multiple vehicles, and specifically may include the following steps:

[0146] Step S201, after the first vehicle and the second vehicle are successfully matched, control the second vehicle to make a joint sound with the first vehicle according to the target audio data.

[0147] In practical applications, after the first vehicle and the second vehicle are successfully matched, the first vehicle and the second vehicle can make a linked sound. Specifically, the second vehicle can make a joint sound with the first vehicle according to the target audio data stored locally or received by it, and the audio data for making a sound in the first vehicle can be audio data stored locally or received, which can be specifically set according to actual needs.

[0148] In an embodiment of the present invention, a first vehicle sends target audio data to a second vehicle, including: the first vehicle sends the target audio data corresponding to the second vehicle to the second vehicle; when receiving a first feedback signal returned by the second vehicle after receiving the target audio data, generating a play instruction; and sending the play instruction to the second vehicle.

[0149] Wherein, the first feedback information is used to inform the first vehicle that the second vehicle has received the target audio data completely. The play instruction can be an instruction for controlling the second vehicle to play the target audio data.

[0150] In an embodiment of the present invention, when there are multiple second vehicles, receiving first feedback signals returned by the multiple second vehicles after receiving the target audio data completely; when the number of the first feedback signals is consistent with the number of the second vehicles, generating a play instruction.

[0151] In practical applications, when there are multiple second vehicles, the first vehicle can send the corresponding target audio information to the multiple second vehicles respectively. After receiving the target audio data completely, the second vehicles can generate first feedback information and send the first feedback signals to the first vehicle. In the first vehicle, the number of received first feedback information can be counted, and it can be judged whether the number of the first feedback signals is consistent with the number of the second vehicles. When the number of the first feedback signals is consistent with the number of the second vehicles, a play instruction is generated. The play instruction can be used to control the multiple second vehicles to play the target audio data. When the number of the first feedback signals is inconsistent with the number of the second vehicles, an alarm message can be generated to notify the first vehicle that the current number of the first feedback signals is inconsistent with the number of the second vehicles.

[0152] Wherein, sending the play instruction to the second vehicle includes: determining the first delay information of each second vehicle according to the first timestamp of the first feedback signal; determining the first instruction sending time corresponding to each second vehicle according to the first delay information; and sending the play instruction to each second vehicle respectively according to the first instruction sending time.

[0153] Wherein, the first timestamp can be the time when the second vehicle receives the target audio data, which can reflect the delays of different slave vehicles (second vehicles). Specifically, when receiving the target audio data of the first vehicle, the second vehicle can obtain the current time of the second vehicle as the first timestamp. Then, when generating the first feedback information, the first timestamp can be added to the first feedback information, so that the first feedback information generated by the second vehicle carries the first timestamp.

[0154] The first vehicle can send the target audio data corresponding to multiple second vehicles to the multiple second vehicles respectively. Then, after each second vehicle finishes receiving the target audio data, it can generate a first feedback signal, which contains a first timestamp. The multiple second vehicles return the first feedback signals each carrying the first timestamp to the first vehicle. The first vehicle can determine the time delay inconsistency of each second vehicle according to the first timestamp, and calibrate and calculate the first time delay information of each second vehicle. Specifically, when the first vehicle sends the target audio data, it can record the sending time. The first vehicle can also analyze the received first feedback information to obtain the first timestamp. Thus, according to the sending time and the first timestamp, the transmission duration of each target audio data can be determined. Furthermore, according to the transmission duration, the first time delay information of each second vehicle in the actual data transmission process can be determined.

[0155] Furthermore, according to the first time delay information, determine the first instruction sending time corresponding to each second vehicle. The first instruction sending time can enable each second vehicle to receive the play instruction sent by the first vehicle at the same time, so as to control the multiple second vehicles to play the audio according to the target audio data.

[0156] In an embodiment of the present invention, the first vehicle can send the target audio data to the second vehicle respectively, including: the first vehicle can send the target audio data corresponding to the second vehicle to the corresponding second vehicle; when receiving the second feedback signal sent by the second vehicle when the received data volume is greater than the preset data volume, generate a play instruction; and send the play instruction to the second vehicle.

[0157] In practical applications, the first vehicle can send the target audio data that the second vehicle needs to play to the second vehicle. The second vehicle can receive the target audio data, determine the received data volume of the target audio data, and then generate a second feedback message when the received data volume is greater than the preset data volume. Furthermore, the second vehicle can send the second feedback message to the first vehicle. After receiving the second feedback message, the first vehicle can generate a play instruction, and the play instruction can be used to control the multiple second vehicles to play the target audio data.

[0158] Specifically, when there are multiple second vehicles, receive the second feedback signals sent by the multiple second vehicles when the received data volume is greater than the preset data volume; when the number of the second feedback signals is consistent with the number of the second vehicles, generate a play instruction.

[0159] In practical applications, when the number of the second feedback signals is consistent with the number of the second vehicles, a play instruction is generated. When the number of the second feedback signals is inconsistent with the number of the second vehicles, an alarm message can be generated to notify the first vehicle that the current number of the second feedback signals is inconsistent with the number of the second vehicles.

[0160] Among them, sending the play instruction to the second vehicle includes: determining the second delay information of each second vehicle according to the second timestamp of the second feedback signal; determining the second instruction sending time corresponding to each second vehicle according to the second delay information; and sending the play instruction to each second vehicle respectively according to the second instruction sending time.

[0161] In an embodiment of the present invention, the first vehicle may send a play instruction to the second vehicle. The specific process is: sending a play instruction carrying a preset play time to the second vehicle to control the second vehicle to make a sound when the current time is the preset play time.

[0162] In an embodiment of the present invention, the first vehicle sends target audio data to the second vehicle so that the second vehicle makes a combined sound with the first vehicle according to the target audio data, including the following process:

[0163] In response to the audio play instruction received by the first vehicle, obtaining the initial audio data for controlling the second vehicle to make a sound; generating the first audio data corresponding to the first vehicle based on the initial audio data, and generating the target audio data corresponding to the second vehicle based on the initial audio data; sending the target audio data to the second vehicle so that the first vehicle makes a combined sound according to the first audio data and the second vehicle makes a combined sound according to the target audio data.

[0164] Among them, the audio play instruction may be generated when the user performs an audio play operation. The initial audio data is the original audio data corresponding to the target audio data and the first audio data. In the embodiment of the present invention, the target audio data and the first audio data are obtained by performing audio processing on the initial audio data, so as to realize the combined sound control of the first vehicle and the second vehicle.

[0165] In an embodiment of the present invention, the specific process of generating the first audio data corresponding to the first vehicle based on the initial audio data and generating the target audio data corresponding to the second vehicle based on the initial audio data is: determining the first position information of the second vehicle relative to the first vehicle; generating the first combined sound generation strategy of the first vehicle and the second vehicle based on the position information; and performing audio processing on the initial audio data according to the first combined sound generation strategy to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle. Among them, the first position information includes direction information and / or distance information.

[0166] Among them, the first combined sound generation strategy is a strategy for how the first vehicle and the second vehicle specifically make a sound in practical applications. The first combined sound generation strategy may include audio information, play order, etc. used by the first vehicle and the second vehicle for making a sound.

[0167] For example, the client software processes the audio data according to the distribution of the vehicle motors, decomposes the cached audio information into multiple parts, such as dividing it into left and right channels, into high and low frequencies, into different instrument sounds, into vocals and accompaniment, or making different motors emit sounds at different times according to time periods of the audio, or forming a stereo surround sound, etc. It can also make each motor obtain the same audio information and emit the same sound. The client communicates with the MCU, and transfers the corresponding audio information into the motor controllers of the corresponding front and rear drives through the CAN protocol.

[0168] In an embodiment of the present invention, the initial audio data can be used as the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0169] In another embodiment of the present invention, the initial audio data can also be used to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle according to a preset instrument type according to the first linkage sound generation strategy.

[0170] For example, based on the pitch and notes of the initial audio data, it is converted into audio data of a preset instrument type.

[0171] In an embodiment of the present invention, after the initial audio data is subjected to audio conversion according to a preset instrument type according to the first linkage sound generation strategy, the converted initial audio data is split to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0172] In practical applications, the initial audio data can be first converted into an instrument type, and then the converted audio is split, so as to obtain the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0173] Specifically, the first audio data and the target audio data can be any one or a combination of the initial audio data, the audio data after converting the instrument type, and the split audio data.

[0174] In an embodiment of the present invention, the initial audio data is subjected to audio processing according to the first linkage sound generation strategy to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle, including: splitting the initial audio data according to the first linkage sound generation strategy to obtain the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0175] In practical applications, the initial audio data can be split to obtain the audio data of the first vehicle and the second vehicle during the combined sound generation process.

[0176] In an embodiment of the present invention, audio processing is performed on initial audio data according to a first linkage sound generation strategy to generate first audio data corresponding to a first vehicle and target audio data corresponding to a second vehicle, including: splitting the initial audio data according to the first linkage sound generation strategy to obtain split audio data; determining the correspondence between the split audio data and the initial audio data with the first vehicle and the second vehicle according to the first linkage sound generation strategy; using the audio data corresponding to the first vehicle in the split audio data and / or the initial audio data as the first audio data of the first vehicle; and using the audio data corresponding to the second vehicle in the split audio data and / or the initial audio data as the target audio data of the second vehicle.

[0177] In practical applications, the initial audio data can be split to obtain split audio data, and the splitting method can be set according to the actual scenario, and there are no excessive restrictions on this in the embodiments of the present invention.

[0178] In an embodiment of the present invention, splitting the initial audio data according to the first linkage sound generation strategy includes any one of the following types:

[0179] Channel information splitting: splitting the initial audio data according to the channel information according to the first linkage sound generation strategy. Among them, the channel information can include the left channel, the right channel, and the stereo channel.

[0180] Note information splitting: splitting the initial audio data according to the note information according to the first linkage sound generation strategy. Among them, the audio data is music data, and the music data includes multiple note information.

[0181] In an embodiment of the present invention, the target audio data can also be audio data with different amplitude sizes (such as high or low sound intensity).

[0182] In an embodiment of the present invention, the first vehicle sends the target audio data of the second vehicle to the second vehicle, including: when the first vehicle is in a driving state, sending the target audio data to the cloud server for the cloud server to forward it to the second vehicle.

[0183] In practical applications, the working condition states of the vehicle can include the parking working condition and the driving working condition. In the driving working condition, in order to ensure the stability of the connection state, the cloud synchronization method is adopted to realize the connection between vehicles and the transmission of data.

[0184] When the first vehicle is in a driving state, the first vehicle can send the target audio data to the cloud server, and then the cloud server can forward the target audio data to the second vehicle.

[0185] In an embodiment of the present invention, after the first vehicle and the second vehicle are successfully matched, the first vehicle controls the second vehicle to jointly emit sound with the first vehicle according to the target audio data, realizing the joint sound emission of the slave vehicle and the master vehicle and enriching the entertainment methods in the vehicle.

[0186] Referring to Figure 3 , a flowchart of steps of a vehicle control method provided by an embodiment of the present invention is shown, which is applied to the first vehicle, that is, the master vehicle in multiple vehicles, and specifically may include the following steps:

[0187] Step S301, after the first vehicle and the second vehicle are successfully matched, the first vehicle sends the target audio data to the second vehicle so that the second vehicle emits sound according to the target audio data.

[0188] In an embodiment of the present invention, after the first vehicle and the second vehicle are successfully matched, the first vehicle can send the target audio data to the second vehicle, thereby realizing the control of the second vehicle to emit sound according to the target audio data. Among them, the data of the second vehicle can be one or more.

[0189] Among them, step S301 specifically includes the following process: in response to the audio playback instruction received by the first vehicle, obtain the initial audio data for controlling the second vehicle to emit sound; generate the target audio data corresponding to the second vehicle based on the initial audio data; send the target audio data to the second vehicle so that the second vehicle emits sound according to the target audio data.

[0190] In an embodiment of the present invention, when there are multiple second vehicles, the second position information of each second vehicle can be determined, and then multiple second linkage sound emission strategies for the second vehicles can be generated based on the position information; audio processing is performed on the initial audio data according to the second linkage sound emission strategy to generate the target audio data corresponding to the second vehicle. Among them, the second position information includes direction information and / or distance information.

[0191] Among them, the second linkage sound emission strategy is a strategy for how the second vehicle specifically emits sound in actual application. The second linkage sound emission strategy may include audio information for the second vehicle to emit sound, playback order, etc.

[0192] In an embodiment of the present invention, the initial audio data can be used as the target audio data corresponding to the second vehicle.

[0193] In another embodiment of the present invention, the target audio data corresponding to the second vehicle is generated from the initial audio data according to the second linkage sound emission strategy according to a preset musical instrument type.

[0194] In an example, after the initial audio data is audio-converted according to the second linkage sound emission strategy according to a preset musical instrument type, the converted initial audio data is audio-split.

[0195] In the embodiments of the present invention, the second vehicle can be controlled to play the split audio. Specifically, the audio splitting strategy may include:

[0196] (1) Splitting the initial audio data according to the channel information according to the second linkage sound generation strategy.

[0197] Among them, the channel information may include the left channel, the right channel, and the stereo channel.

[0198] (2) Splitting the initial audio data according to the note information according to the second linkage sound generation strategy.

[0199] Among them, the audio data is music data, and the music data includes a plurality of note information.

[0200] In an embodiment of the present invention, in response to an audio playback instruction received by the first vehicle, the initial audio data for the first vehicle is obtained, including: in response to an audio playback instruction received by the first vehicle, determining whether the initial audio data corresponding to the audio playback instruction is in the memory of the first vehicle; when the initial audio data is in the memory of the first vehicle, obtaining the initial audio data from the memory; when the initial audio data is not in the memory of the first vehicle, obtaining the initial audio data through a preset network interface.

[0201] In practical applications, when the user terminal issues an audio playback instruction to play music, the current application scenario and the audio name search information corresponding to the audio playback instruction can be determined, and it is judged whether the initial audio data corresponding to the audio playback instruction is in the memory of the first vehicle according to the application scenario and / or the audio name search information.

[0202] In one example, obtaining the initial audio data through a preset network interface includes: obtaining the initial audio data from an application program carrying audio data in the first vehicle through a preset network interface; among them, the application program carrying audio data may be a music playback application program.

[0203] In another example, the initial audio data is obtained from the audio data sent by the target mobile terminal through a preset network interface. Specifically, the target mobile terminal can send audio data to the vehicle through a Bluetooth transmission method, and then obtain the initial audio data from such audio data.

[0204] In the embodiments of the present invention, the initial audio data is obtained through a preset network interface, so that the first vehicle can realize the function of audio playback without additional speakers outside the vehicle, and at the same time, it can also enhance the entertainment attribute outside the vehicle, strengthen the interaction between the vehicle and the user, and improve the user experience.

[0205] In an embodiment of the present invention, after the first vehicle and the second vehicle are successfully matched, the first vehicle sends target audio data to the second vehicle, so that the second vehicle makes a sound according to the target audio data, realizing that the master vehicle controls the slave vehicle to make a sound and enriching the entertainment methods in the vehicle.

[0206] Referring to Figure 4 , a flowchart of steps of a vehicle control method provided by an embodiment of the present invention is shown. It is applied to the first vehicle, that is, the master vehicle in multiple vehicles, and may specifically include the following steps:

[0207] Step S401, after the first vehicle and the second vehicle are successfully matched, the first vehicle sends a play instruction to the second vehicle to control the second vehicle to obtain target audio data to be played based on the play instruction and make a sound according to the target audio data.

[0208] In practical applications, after the first vehicle and the second vehicle are successfully matched, the first vehicle can send a play instruction to the second vehicle. After receiving the play instruction, the second vehicle obtains the target audio data to be played from the local according to the play instruction, and then makes a sound according to the target audio data.

[0209] Among them, the number of second vehicles can be one or more.

[0210] In one example, the play instruction carries a preset play time, and the preset play time can control the second vehicle to make a sound when the current time is the preset play time.

[0211] In an embodiment of the present invention, it can be realized that the first vehicle controls the second vehicle to make a sound, realizing that the master vehicle controls the slave vehicle to make a sound and enriching the vehicle entertainment methods.

[0212] Referring to Figure 5 , a flowchart of steps of a vehicle control method provided by an embodiment of the present invention is shown. It is applied to the second vehicle, that is, the slave vehicle in multiple vehicles, and may specifically include the following steps:

[0213] Step S501, after the second vehicle and the first vehicle are successfully matched, make a sound according to the target audio data based on the play instruction of the first vehicle.

[0214] Among them, the target audio data can be audio data stored locally or received from the network by the second vehicle.

[0215] In practical applications, when the first vehicle starts to match, the second vehicle responds to the match. After the second vehicle and the first vehicle are successfully matched, the first vehicle can control the second vehicle to make a sound through the play instruction.

[0216] In an embodiment of the present invention, sounding according to target audio data based on a playback instruction of a first vehicle includes: a second vehicle receiving the target audio data sent by the first vehicle; the second vehicle generating a feedback signal of the target audio data and sending the feedback signal to the first vehicle; the second vehicle receiving the playback instruction sent by the first vehicle, where the playback instruction is generated by the first vehicle based on the feedback signal; and the second vehicle sounding according to the target audio data based on the playback instruction of the first vehicle.

[0217] In practical applications, the first vehicle sends target audio data to the second vehicle. After receiving the audio data, the second vehicle can generate feedback information for notifying the first vehicle that the second vehicle has received the target audio data. Then, after receiving the feedback information, the first vehicle confirms that the second vehicle has received the target audio data. Thus, the first vehicle can generate a playback instruction and send the playback instruction to the second vehicle, and the second vehicle sounds according to the playback instruction.

[0218] Wherein, one or more motors can be provided in the second vehicle, and the one or more motors can be used to realize the sounding of the vehicle's motor.

[0219] In an embodiment of the present invention, the sounding according to the target audio data based on the playback instruction of the first vehicle includes: sounding jointly with the first vehicle according to the target audio data based on the playback instruction of the first vehicle.

[0220] In practical applications, the first vehicle can send a playback instruction to the second vehicle. Then, after receiving the playback instruction, the second vehicle performs joint sounding of the first vehicle and the second vehicle according to the playback instruction. Wherein, the target audio data can be audio data stored locally in the second vehicle or audio data sent from the first vehicle to the second vehicle.

[0221] In an example, when the second vehicle has received all the target audio data or the amount of received data is greater than a preset data amount, feedback information is generated.

[0222] In an example, when there are multiple second vehicles, when the first vehicle confirms that the number of received feedback information is the same as the number of second vehicles, a playback instruction is generated, and the playback instruction can be a playback instruction for controlling the second vehicle to play the target audio data.

[0223] In another embodiment of the present invention, the sounding according to the target audio data based on the playback instruction of the first vehicle includes: the second vehicle receiving the playback instruction of the first vehicle and obtaining the target audio data to be played based on the playback instruction; and the second vehicle sounding according to the target audio data.

[0224] Refer to Figure 6aAs shown in the figure, it is a vehicle motor sound generation control structure in an embodiment of the present invention, including an in-vehicle multimedia system, a positioning system, a power domain system, and a vehicle sound controller.

[0225] The in-vehicle multimedia system includes vehicle-mounted computers for the driver and passengers in the front and rear seats, an in-vehicle touch screen, etc., and is configured with a client control module. Through this module, the user controls the playback of motor audio and matches the vehicle, and issues operation instructions; the network interface includes WLAN, Bluetooth, 4 / 5G, etc. Through the network interface, multi-vehicle interconnection, online music transmission, and audio synchronization are realized. At the same time, it can be interconnected with the mobile phone through Bluetooth. The user can control or transmit audio through the mobile phone application; the data processing module parses and processes the original audio, such as dividing the audio into left and right channels, dividing it into low, medium, and high frequencies, separating vocals and accompaniments, separating different musical instruments, etc., and converting it into amplitude information and frequency information that enables the motor to play music; the memory can be FLASH, RAM, ROM, etc., which can cache the online-parsed audio information or store the audio information in the memory.

[0226] The positioning system is used to locate the distance between the host vehicle and other vehicles, facilitating the adoption of different connection measures. The positioning system includes navigation positioning, lidar, cameras, etc. First, it searches and locates nearby vehicles through navigation and judges the approximate distance between each vehicle. Then, it identifies the vehicles through lidar, cameras, etc. for more accurate positioning. In addition, it can also directly search for nearby matchable vehicles through Bluetooth and WLAN. When the vehicle distance is relatively close, the WLAN interconnection method is used to achieve vehicle-to-vehicle matching connection and signal transmission. When the vehicle distance is relatively far, or the WLAN and Bluetooth signals are weak, the pre-download and cloud synchronization method is adopted to make the vehicles in the same local area network to ensure the synchronization of music.

[0227] The sound generation object is the drive motor. For electric vehicles, according to the power, it can be divided into front-wheel drive, rear-wheel drive, and four-wheel drive structures. According to the number of motors, it can be divided into single-motor, dual-motor, triple-motor, and four-motor structures, and can be divided into permanent magnet synchronous motors, asynchronous motors, excitation motors, etc. according to the type of drive motor. The in-vehicle multimedia system and the power domain are connected through a bus. The MCU obtains the playback instruction and audio information through the CAN communication protocol, and distributes the complete audio information or partial information that the front-wheel drive motor and the rear-wheel drive motor need to play according to the distribution of the vehicle motors. According to the frequency, amplitude and other information of the audio, it controls the inverter to generate a PWM wave with adjustable duty cycle and frequency, and converts it into three-phase currents corresponding to the three-phase motor stator windings, so that the front-wheel drive motor and the rear-wheel drive motor generate the sound of the target audio. Combining different sound generation strategies, the motor makes a sound alone, or multiple motors combine to emit stereo sound.

[0228] In addition, the electric drive sound system can be combined with other systems installed in the vehicle, such as the ambient light system, the exterior light system, etc., to achieve the rhythm of sound and light. The light controller presets different application scenarios and obtains different responses through music rhythm and music amplitude information, thus forming different beats such as gentle, lively, energetic, and dynamic, bringing a more immersive atmosphere experience. In the welcome mode, when the vehicle recognizes that the owner is approaching or receives an unlock signal, the electric drive system can generate welcome music, the light system emits the preset welcome lights, and the LED pixel screen installed outside the vehicle cooperates to display the welcome image; in the entertainment mode, the electric drive sound is combined with the light system, the intelligent voice system, and the pixel screen to display expression images while having a voice conversation, greatly enhancing the entertainment and immersion during the interaction between the vehicle and the user, and enabling the user to obtain a better experience.

[0229] Referring to Figure 6b As shown, it is a schematic diagram of the sound control process for a single vehicle in an embodiment of the present invention. The specific vehicle control process steps are as follows:

[0230] Step S10, the user terminal issues an instruction to play music.

[0231] Step S11, determine whether it is necessary to read the audio from the memory. If it is not in the memory, it is necessary to obtain the audio through the network interface; if it is in the memory, the audio information can be directly read from the memory.

[0232] In practical applications, the audio may be stored in the memory or in the cloud. In some application scenarios (such as when the vehicle is in a driving state), data transmission may have a delay and it is necessary to obtain it from the cloud. In the embodiment of the present invention, it is possible to search and judge whether the audio is pre-stored in the memory according to the application scenario and name, or judge whether it is necessary to read the preset audio in the memory according to the policy.

[0233] Among them, the name of the audio can be used to determine the audio type, and then determine the audio storage location according to the audio type. In practical applications, for some simple and commonly used audio types, they are generally stored in the memory, while complex and less frequently used audio types can be stored in the cloud to avoid occupying too much local storage.

[0234] In practical applications, the method for the first vehicle (the main vehicle) to obtain the audio is as follows: (1) Obtain the audio through the network interface, obtain it from the music software installed in the vehicle through the network, or be transmitted by the user's mobile phone Bluetooth, and the user terminal software parses the frequency, audio amplitude and other information of the audio in real time. When multiple vehicles are linked, the slave vehicle can obtain the audio information transmitted by the main vehicle through WLAN or other wireless networks and store it in the buffer area; (2) The audio is pre-stored in the memory, and the audio information can be directly read from the memory.

[0235] Step S12, after receiving the music playback instruction, the client software can process the audio data according to the distribution of the vehicle motors.

[0236] The processing of the audio data can include audio data splitting. The splitting process can decompose the cached audio information into multiple parts. For example, it can be split into left and right channels according to the channels, into high and low tones according to the pitch, into different instrument sounds according to the instrument type, into human voice and accompaniment according to the sound source, and make different motors emit sounds at different times according to time periods of the audio.

[0237] In another example, it is also possible to make the sounding motors of each second vehicle obtain the same audio information and make each motor emit the same sound. The client communicates with the MCU, and transfers the corresponding audio information into the motor controllers of the corresponding front and rear drives through the CAN protocol.

[0238] Step S13, the MCU data acquisition module obtains the front and rear drive audio information transmitted from the client through CAN communication, and transmits it to the front and rear drive motor controllers correspondingly. The front and rear drive controllers calculate the target three-phase current to be passed into the motor stator windings according to the acquired audio information, and further obtain the duty cycle of the corresponding PWM waveform.

[0239] Step S14, calculate the switching times of the power switch units of each arm of the inverter according to the target current, and control the on and off of each arm accordingly to form the corresponding current for driving the motor to sound, so that the motor emits the sound corresponding to the target audio.

[0240] Step S15, the front and rear drive motors emit the corresponding partial or all audio, and combine to achieve a rich-level stereo sound.

[0241] Step S16, the on-vehicle lighting system, the external vehicle LED pixel screen and the electric drive system cooperate to create a more immersive sound and light effect.

[0242] In practical applications, it is possible to control the lights and pixel screens of one or more second vehicles to rhythm with the sound, or display preset lights and graphics according to different scene modes to create a more immersive atmosphere.

[0243] Refer to Figure 6c , which shows a multi-vehicle linkage sounding method in the parking state in an embodiment of the present invention, including the following process:

[0244] Step S20: The client sends a matching instruction.

[0245] Step S21: Set the current vehicle as the master vehicle V0, and search for nearby slave vehicles V1, V2... that can be used for matching. There are two ways to search for nearby vehicles: ① Through navigation positioning: First, use navigation to locate the current positions of the master vehicle and other vehicles, discover nearby vehicles, and determine whether they meet the matching distance conditions; ② Search and discover nearby connectable and matchable vehicles through Bluetooth, WLAN, etc.

[0246] Step S22: After searching for matchable vehicles, use sensors such as positioning, lidar, and cameras to identify and determine the straight-line distances between the vehicles. If the maximum distance is less than or equal to the preset distance in the parking mode, the master vehicle V0 will send a matching application to each vehicle. After each vehicle agrees to the application, it will connect to the master vehicle V0 via Bluetooth or WLAN, or connect to the cloud server via 4 / 5G network and complete the matching. After the matching is completed, each vehicle will form a local area network, and the slave vehicles will be numbered from smallest to largest according to their straight-line distances from the master vehicle V0.

[0247] Step S23: The user sends an audio playback instruction on the master vehicle user terminal or the user's mobile phone. The master vehicle V0 determines whether the audio is in the memory. If it is not in the memory, the audio needs to be obtained through the network interface. The method of obtaining the audio is to obtain it from the music software installed on the in-vehicle computer via the network, or to transfer it from the user's mobile phone via Bluetooth. For the transferred audio, the user terminal software parses information such as the audio frequency and audio amplitude. If it is in the memory, the audio information can be directly read from the memory.

[0248] Step S24: According to the multi-vehicle linked sound strategy, all slave vehicles can play the same audio, or match with the preset scenario according to the distance and position of the slave vehicle relative to the master vehicle, or provide the user with the option to select a scenario and play the corresponding part of the audio. For example: in the Figure 2 shown parking condition, the slave vehicle V1 is on the right side of the master vehicle V0, and the slave vehicle V2 is on the left side of the master vehicle V0. Then the slave vehicle V1 corresponds to playing the right channel of the audio, and the slave vehicle V2 corresponds to playing the left channel of the audio. In addition, each vehicle can also play different instrument sounds, or play the corresponding main channel and sub-channel, etc. When playing a piano piece, one vehicle can be responsible for playing only one or several notes, thus forming an ensemble. If different parts of the audio need to be played by each slave vehicle, according to the multi-vehicle linked sound strategy, the main vehicle data processing module will process the audio information accordingly, and also number the different parts of the parsed audio information, corresponding to the numbers of the slave vehicles. The master vehicle V0 transmits the audio information to each slave vehicle via wireless according to the numbers of the audio information, or uploads it to the cloud server, and the cloud server distributes it to each slave vehicle. After each slave vehicle receives all its audio information and stores it in the cache, the slave vehicle returns a reception completion signal to the master vehicle and waits for the master vehicle to send a synchronous playback instruction.

[0249] Step S25: After the master vehicle receives the reception completion signals returned by all slave vehicles, that is, when the number of received completion signals is the same as the number of slave vehicles, the master vehicle sends a synchronous playback instruction. The synchronous playback instruction can be used to calibrate and calculate the delay time of each vehicle based on the inconsistent delays of the signals arriving at different slave vehicles and being received. The master vehicle sends playback instructions to each slave vehicle at corresponding different times according to this delay time. After each slave vehicle receives the synchronous instruction, it plays music. Or it can be to calibrate each vehicle connected to the same local area network to the same time, and the master vehicle uniformly sends a synchronous playback signal containing a timestamp, and each vehicle plays music according to the moment described on the timestamp.

[0250] Step S26: After the slave vehicle receives the synchronous playback instruction sent by the master vehicle, it starts to read audio information from the buffer area. After each vehicle receives the audio information, the data processing module carried on each vehicle can distribute and process the audio information according to the distribution of the motors on each vehicle. For example, let the front drive motor emit sound, let the rear drive motor emit sound, or the front and rear drive motors emit sound in combination, etc. The audio information is transmitted from the buffer to the corresponding MCU of each vehicle via the CAN communication protocol. The data acquisition module of the MCU correspondingly acquires the audio data and drives the motor to emit sound. While the slave vehicle reads the buffered audio information and plays the audio, it continues to receive and buffer the corresponding information of the next piece of audio sent by the master vehicle to shorten the buffering time. At the same time, according to the user's request, the master vehicle sends instructions such as increasing the volume, pausing, and playing the next song, and the slave vehicle executes corresponding measures after receiving the instructions.

[0251] Step S27: The on-vehicle lighting system, the external vehicle LED pixel screen, and the electric drive system cooperate to make the lights and the pixel screen rhythm with the sound, or display preset lights and graphics according to different scene modes to create a more immersive atmosphere.

[0252] Refer to Figure 6d , which shows a multi-vehicle linked sound generation method in the parking state in an embodiment of the present invention, including the following process:

[0253] Step S30: The user terminal issues a matching instruction.

[0254] Step S31: Set the current vehicle as the master vehicle V0, and search for nearby slave vehicles V1, V2... that can be used for matching. There are two ways to search for nearby vehicles: ① Through navigation positioning: First, locate the current positions of the master vehicle and other vehicles through navigation, discover nearby vehicles, and determine whether the distance condition for matching is met; ② Search and discover nearby vehicles that can be matched through Bluetooth, WLAN, etc.

[0255] Step S32: After a matchable vehicle is searched, use sensors such as positioning, lidar, and camera to identify and determine the straight-line distance between each vehicle. If the maximum distance is less than or equal to the preset distance in the parking mode, the host vehicle V0 will send a matching request to each vehicle. After each vehicle agrees to the request, it will connect to the host vehicle V0 via Bluetooth or WLAN, or connect to the cloud server via the 4 / 5G network and complete the matching. After the matching is completed, each vehicle will form a local area network, and the slave vehicles will be numbered from smallest to largest according to their straight-line distance from the host vehicle V0.

[0256] Step S33: The user sends an audio playback instruction on the host vehicle user terminal or the user's mobile phone. The host vehicle V0 determines whether the audio is in the memory. If it is not in the memory, the audio needs to be obtained through the network interface. The method of obtaining the audio is to obtain it from the music software installed on the in-vehicle computer via the network, or to be transmitted by the user's mobile phone Bluetooth. For the incoming audio, the user terminal software parses information such as the audio frequency and audio amplitude. If it is in the memory, the audio information can be directly read from the memory.

[0257] Step S34: According to the multi-vehicle linked sound strategy, all slave vehicles can play the same audio, or it can be matched with a preset scenario according to the distance and position of the slave vehicle relative to the host vehicle, or the user can be provided with the option to select a scenario and play the corresponding part of the audio. For example, in the Figure 2 parking condition shown, the slave vehicle V1 is on the right side of the host vehicle V0, and the slave vehicle V2 is on the left side of the host vehicle V0. Then the slave vehicle V1 corresponds to playing the right channel of the audio, and the slave vehicle V2 corresponds to playing the left channel of the audio. In addition, different vehicle can play different instrument sounds, or play the corresponding main channel and sub-channel, etc. When playing a piano piece, one vehicle can be responsible for playing only one or a few notes, thus forming an ensemble. If different parts of the audio need to be played by each slave vehicle, according to the multi-vehicle linked sound strategy, the host vehicle data processing module will process the audio information accordingly, and also number the different parts of the parsed audio information, corresponding to the numbers of the slave vehicles. The host vehicle V0 transmits the audio information to each slave vehicle via wireless according to the number of the audio information, or uploads it to the cloud server, and the cloud server distributes it to each slave vehicle. The host vehicle does not need to wait for all slave vehicles to receive the complete audio before sending the synchronous playback instruction. Instead, it judges whether the amount of audio data received by each slave vehicle meets the synchronous playback condition. If the received data volume is greater than the data volume required to meet the synchronous playback condition, the slave vehicle returns a waiting-to-play signal to the host vehicle and waits for the host vehicle to send the synchronous playback instruction.

[0258] Step S35: After the master vehicle receives the waiting play signals returned by all the slave vehicles, that is, when the number of received waiting play signals is the same as the number of slave vehicles, the master vehicle sends a synchronous play instruction. The synchronous play instruction can be the delay time of each vehicle calibrated and calculated according to the inconsistency of the signal arrival time at different slave vehicles and the reception delay. The master vehicle sends play instructions to each slave vehicle at corresponding different times according to this delay time. After each slave vehicle receives the synchronous instruction, it plays music. Or it can be to calibrate the vehicles connected to the same local area network to the same time. The master vehicle uniformly sends a synchronous play signal containing a timestamp, and each vehicle plays music according to the moment described on the timestamp.

[0259] Step S36: After the slave vehicle receives the synchronous play instruction sent by the master vehicle, it starts to read the audio information from the buffer area. Without waiting for all the data to be received, the data processing module on each vehicle distributes and processes the audio information according to the distribution of the motors on each vehicle. For example, the front drive motor makes a sound, the rear drive motor makes a sound, or the front and rear drive motors make a sound in combination, etc. The audio information is transmitted from the buffer to the corresponding MCU of each vehicle via the CAN communication protocol. The data acquisition module of the MCU acquires the audio data correspondingly and drives the motor to emit sound. While the slave vehicle reads the audio information in the buffer area, it continues to receive and buffer the audio information sent by the master vehicle to shorten the delay time. Compared with Embodiment 2, it does not need to wait for a complete audio transmission to complete before starting to play. Instead, when the transmitted audio data reaches a certain value, it plays while transmitting, greatly reducing the delay, but has higher requirements for the timing of data transmission. At the same time, according to the user's requirements, the master vehicle sends instructions such as increasing the volume, pausing, and playing the next song. After the slave vehicle receives the instruction, it takes corresponding measures.

[0260] Step S37: The on-vehicle lighting system, the external vehicle LED pixel screen, and the electric drive system cooperate to make the lights and the pixel screen rhythm with the sound, or display preset lights and graphics according to different scene modes to create a more immersive atmosphere.

[0261] In the embodiment of the present invention, after the first vehicle successfully matches with multiple second vehicles, the first vehicle sends the target audio data corresponding to the multiple second vehicles to the corresponding second vehicles; receives the waiting play signals sent by the second vehicles, and the waiting play signals are generated when the data volume received by the second vehicles is greater than the preset data volume; generates a synchronous play instruction when the number of waiting play signals is the same as the number of second vehicles; and sends the synchronous play instruction to the multiple second vehicles so that the second vehicles make the motor emit sound according to the target audio data, realizing the motor linkage sound of multiple vehicles.

[0262] Refer to Figure 6e, which is a schematic diagram of a vehicle working condition in an embodiment of the present invention. The working condition state of the vehicle may include a parking working condition and a driving working condition. In the driving working condition, in order to ensure the stability of the connection state, a cloud synchronization method is adopted to realize the connection of multiple vehicles and the transmission of data.

[0263] Referring to Figure 6f , a method for multi-vehicle linkage sound generation in a driving state in an embodiment of the present invention is shown, including the following processes:

[0264] Step S40: The user terminal sends a matching instruction.

[0265] Step S41: Set the current vehicle as the master vehicle V0, and search for nearby slave vehicles V1, V2,... available for matching. Determine the current positions of the master vehicle and other vehicles through navigation positioning, discover nearby vehicles through positioning, and judge whether the matching distance condition is satisfied;

[0266] After searching for matchable vehicles, determine the straight-line distance between each vehicle through positioning. If the maximum distance is less than or equal to the preset distance in the driving mode, the cloud will push a matching application to each vehicle. After each vehicle agrees to the application, it will connect to the cloud server through the 4 / 5G network and complete the matching. After the matching is completed, each vehicle will form a local area network, and the slave vehicles will be numbered in ascending order according to the straight-line distance from the master vehicle V0.

[0267] Step S43: The user sends an audio playback instruction on the master vehicle user terminal or the user's mobile phone. At the same time, the audio id is sent from the cloud to each vehicle. Judge whether the audio is in the memory. If it is not in the memory, the audio needs to be obtained through the network interface. The method for the master vehicle to obtain the audio is to obtain it from the music software carried by the in-vehicle computer through the network, or to be transmitted by the user's mobile phone Bluetooth. The method for the slave vehicle to obtain the audio is to download it from the cloud network. For the incoming audio, the user terminal software parses information such as the audio frequency and audio amplitude. If it is in the memory, each vehicle sends a waiting playback signal to the cloud and waits to receive the synchronous playback instruction from the cloud.

[0268] Step S44: According to the multi-vehicle linkage sound generation strategy, all slave vehicles can play the same audio, or according to the distance and position of the slave vehicle relative to the master vehicle, match with a preset scenario, or the user can also be provided with the option to select a scenario and play the corresponding part of the audio. The main vehicle data processing module processes the audio information accordingly, and also numbers different parts of the parsed audio information, corresponding to the numbers of the slave vehicles. The master vehicle V0 uploads the audio information to the cloud server via the network according to the numbers of the audio information, and the cloud server sends it to each slave vehicle. Judge whether the amount of audio data received by each slave vehicle meets the synchronous playback condition. If the received data volume is greater than the data volume required to meet the synchronous playback condition, each slave vehicle returns a waiting playback signal to the cloud and waits for the cloud to send the synchronous playback instruction.

[0269] Step S45: When the number of waiting play signals received by the cloud is the same as the number of slave vehicles, the cloud sends a synchronous play instruction to each vehicle. When each vehicle has completed matching and is under the same local area network, it is necessary to calibrate each vehicle to the same time. The synchronous play instruction sent by the cloud is a synchronous play signal containing a timestamp, and each vehicle plays music according to the moment described on the timestamp.

[0270] Step S46: After each vehicle receives the synchronous play instruction sent by the master vehicle, it starts to read audio information from the buffer area. The data processing module installed on each vehicle distributes and processes the audio information according to the distribution of motors on each vehicle. For example, it makes the front drive motor sound, makes the rear drive motor sound, or makes the front and rear drive motors sound in combination, etc. The audio information is transmitted from the buffer to the corresponding MCU of each vehicle via the CAN communication protocol. The data acquisition module of the MCU acquires the audio data correspondingly and drives the motor to emit sound. At the same time, according to the user's requirements, the user sends instructions such as increasing the volume, pausing, and playing the next song to the cloud through the mobile phone terminal or the master vehicle multimedia terminal, and the slave vehicle executes corresponding measures after receiving the instruction.

[0271] Step S47: The lighting system, the external LED pixel screen and the electric drive system installed on the vehicle cooperate to make the lights and the pixel screen rhythm with the sound, or display preset lights and graphics according to different scene modes, creating a more immersive atmosphere.

[0272] In the embodiment of the present invention, a multi-vehicle linkage sound generation method in a driving state may include the following process:

[0273] (1) The vehicle locates its current position through navigation and continuously judges the distance between vehicles within a certain range nearby in real time.

[0274] (2) The vehicle judges the distance between the front and rear vehicles and whether there is an oncoming vehicle in the oncoming lane through sensors such as lidar and cameras. If there is a vehicle approaching in the oncoming lane and the straight-line distance is less than the set value, it is determined that the current state is a meeting; if the straight-line distance between the current vehicle and the vehicle in front in the same direction is less than the set value and the vehicle speed of the current vehicle is greater than the vehicle speed of the vehicle in front, it is determined that the current state is too close to the vehicle in front; if the straight-line distance between the current vehicle and the vehicle behind in the same direction is less than the set value and the vehicle speed of the current vehicle is less than the vehicle speed of the vehicle behind, it is determined that the current state is too close to the vehicle behind;

[0275] (3) The memory pre-stores the prompt sounds and patterns for three scenarios: meeting an oncoming vehicle, being too close to the vehicle in front, and being too close to the vehicle behind. When a scenario is triggered, the MCU data acquisition module reads the corresponding audio information pre-set in the memory, calculates the target three-phase current to be applied to the motor stator winding, and drives the motor to emit the prompt sound corresponding to the target audio. At the same time, it reads the pre-set pattern information of the external pixel screen of the vehicle, controls the screen to display the corresponding pattern, and provides interactive information to the other vehicle to achieve interaction between vehicles. When vehicles meet, the vehicle emits a prompt for the oncoming vehicle and greets the oncoming vehicle; when the vehicle is too close to the vehicle in front or behind, the corresponding prompt sound is triggered to give a prompt to the vehicles in front and behind.

[0276] (3) After the vehicle recognizes the communication information sent by the other vehicle through a microphone, camera, etc., the intelligent voice system determines the communication message to be replied, and transmits the audio information from the bus to the front and rear drive MCUs via the CAN communication protocol. The data acquisition module of the MCU correspondingly acquires the audio data, drives the motor to emit a reply sound, and at the same time controls the screen to display the corresponding pattern to achieve interactive communication between vehicles.

[0277] In an embodiment of the present invention, after the first vehicle is successfully matched with multiple second vehicles, after the first vehicle is successfully matched with multiple second vehicles, the target audio data is sent to the cloud server, so that the cloud server sends the target audio data to the corresponding second vehicle, and the second vehicle makes the motor emit sound according to the target audio data, realizing the coordinated sound emission of multiple vehicle motors.

[0278] It should be noted that for the method embodiment, for the sake of simple description, it is expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequence, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present invention.

[0279] An embodiment of the present invention further provides a vehicle control device, and the device is used to execute the vehicle control method as described above.

[0280] An embodiment of the present invention further provides an electronic device, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the vehicle control method as described above is realized.

[0281] An embodiment of the present invention further provides a vehicle, and the vehicle executes the vehicle control method as described above, or the vehicle includes the device as described above, or the vehicle includes the electronic device as described above.

[0282] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0283] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant parts, please refer to the partial description of the method embodiment.

[0284] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0285] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a device, or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention can 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 code.

[0286] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of 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 can be implemented by computer program instructions, and the combination of processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0287] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0288] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable terminal device provide for implementing the process Figure 1 in one process or multiple processes and / or blocks Figure 1 steps for the functions specified in one block or multiple blocks.

[0289] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0290] Finally, it should also be noted that in this article, relational terms such as first and second 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 term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the element.

[0291] The above has introduced in detail a vehicle control method and device, an electronic device, a vehicle, and a storage medium. Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A vehicle control method, characterized in that: Applied to a first vehicle, the method comprises: After the first vehicle and the second vehicle are successfully matched, the first vehicle sends the target audio data to the second vehicle, so that the second vehicle makes a sound according to the target audio data, or so that the second vehicle makes a joint sound with the first vehicle according to the target audio data, and the number of the second vehicle is at least one; The first vehicle sends the target audio data to the second vehicle respectively, so that the second vehicle makes a joint sound with the first vehicle according to the target audio data, including: In response to the audio playback instruction received by the first vehicle, acquiring initial audio data for controlling the second vehicle to produce sound; determining first position information of the second vehicle relative to the first vehicle; generating a first linkage sounding strategy between the first vehicle and the second vehicle based on the first position information; Performing audio processing on the initial audio data according to the first linkage sounding strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle; Sending the target audio data to the second vehicle, so that the first vehicle and the second vehicle jointly make sounds according to the first audio data and the target audio data; The first vehicle sends the target audio data to the second vehicle so that the second vehicle makes a sound according to the target audio data, including: In response to an audio playback instruction received by the first vehicle, acquiring initial audio data for controlling the second vehicle to produce sound; When there are multiple second vehicles, determining second position information of each second vehicle; generating a second linkage sounding strategy for a plurality of second vehicles based on the second position information, the second linkage sounding strategy including audio information and a play order for the second vehicle to make sounds, the second linkage sounding strategy being used to perform audio conversion on the initial audio data according to a preset instrument type, and performing audio splitting on the converted initial audio data; Performing audio processing on the initial audio data according to the second linkage sounding strategy to generate target audio data corresponding to the second vehicle; sending the target audio data to the second vehicle so that the second vehicle makes a sound according to the target audio data; The audio processing includes instrument type conversion and audio splitting.

2. The method according to claim 1, characterized in that Controlling the second vehicle to make a sound according to the target audio data includes: The first vehicle sends a play instruction to the second vehicle to control the second vehicle to obtain target audio data to be played based on the play instruction and to make sound according to the target audio data.

3. The method according to claim 1, characterized in that The first vehicle sends target audio data to the second vehicle, comprising: sending the target audio data corresponding to the second vehicle to the second vehicle; upon receiving a first feedback signal returned by the second vehicle after receiving the target audio data, generating a play instruction; The play instruction is sent to the second vehicle.

4. The method according to claim 3, characterized in that The generating a play instruction upon receiving a first feedback signal returned by the second vehicle after receiving the target audio data comprises: When there are multiple second vehicles, receiving first feedback signals returned by the multiple second vehicles after receiving the target audio data; When the number of the first feedback signals is consistent with the number of the second vehicles, a play instruction is generated.

5. The method according to claim 3, characterized in that: The step of sending the playing instruction to the second vehicle includes: determining first time delay information of each second vehicle according to a first timestamp of the first feedback signal; Determining a first instruction sending time corresponding to each second vehicle according to the first time delay information; The playing instruction is sent to each second vehicle respectively according to the first instruction sending time.

6. The method according to claim 1, characterized in that The first vehicle sends the target audio data to the second vehicle respectively, including: The first vehicle sends the target audio data corresponding to the second vehicle to the corresponding second vehicle; upon receiving a second feedback signal sent by the second vehicle when the amount of received data is greater than a preset amount of data, generating a play instruction; The play instruction is sent to the second vehicle.

7. The method according to claim 6, characterized in that The generating a play instruction when receiving a second feedback signal sent by the second vehicle when the amount of received data is greater than a preset amount of data includes: When there are multiple second vehicles, receiving second feedback signals sent by the multiple second vehicles when the amount of received data is greater than a preset amount of data; When the number of the second feedback signals is consistent with the number of the second vehicles, a play instruction is generated.

8. The method according to claim 6, characterized in that The step of sending the playing instruction to the second vehicle includes: determining second time delay information of each second vehicle according to a second timestamp of the second feedback signal; Determining a second instruction sending time corresponding to each second vehicle according to the second time delay information; The playing instruction is sent to each second vehicle respectively according to the second instruction sending time.

9. The method according to claim 4 or 5 or 7 or 8, characterized in that: The step of sending the playing instruction to the second vehicle includes: A play instruction carrying a preset play time is sent to the second vehicle to control the second vehicle to make a sound when the current time is the preset play time.

10. The method according to claim 1, characterized in that The first location information includes direction information and / or distance information.

11. The method according to claim 1, characterized in that: Generating first audio data corresponding to the first vehicle based on the initial audio data, and generating target audio data corresponding to the second vehicle based on the initial audio data, comprises: The initial audio data is used as first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

12. The method according to claim 1, characterized in that The performing audio processing on the initial audio data according to the first linkage sounding strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle includes: The initial audio data is split according to the first linkage sounding strategy to obtain first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

13. The method according to claim 1, characterized in that The performing audio processing on the initial audio data according to the first linkage sounding strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle includes: Splitting the initial audio data according to the first linkage sounding strategy to obtain split audio data; Determining a correspondence between the split audio data and the initial audio data and the first vehicle and the second vehicle according to the first linkage sounding strategy; Using the audio data corresponding to the first vehicle in the split audio data and / or the initial audio data as the first audio data of the first vehicle; The audio data in the split audio data and / or the initial audio data that corresponds to the second vehicle is used as the target audio data of the second vehicle.

14. The method according to claim 12 or 13, characterized in that The splitting of the initial audio data according to the first linkage sounding strategy includes: The initial audio data is split according to channel information according to the first linked sound generation strategy.

15. The method according to claim 12 or 13, characterized in that The splitting of the initial audio data according to the first linkage sounding strategy includes: The initial audio data is split according to the note information according to the first linkage sounding strategy.

16. The method according to claim 1, characterized in that The performing audio processing on the initial audio data according to the first linkage sounding strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle includes: According to the first linkage sounding strategy, the initial audio data is used to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle according to a preset instrument type.

17. The method according to claim 16, characterized in that The generating, according to the first linkage sounding strategy, first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle from the initial audio data according to a preset instrument type includes: After the initial audio data is converted according to the preset instrument type according to the first linkage sounding strategy, the converted initial audio data is audio-split to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

18. The method according to claim 1, characterized in that The second position information includes direction information and / or distance information.

19. The method according to claim 1, characterized in that Generating target audio data corresponding to the second vehicle based on the initial audio data includes: The initial audio data is used as target audio data corresponding to the second vehicle.

20. The method according to claim 1, characterized in that The performing audio processing on the initial audio data according to the second linkage sounding strategy to generate target audio data corresponding to the second vehicle includes: The initial audio data is split according to the second linkage sound emission strategy to obtain target audio data corresponding to the second vehicle.

21. The method according to claim 1, characterized in that The step of splitting the initial audio data according to the second linkage sounding strategy to obtain target audio data corresponding to the second vehicle includes: For some of the plurality of second vehicles, splitting the initial audio data according to the second linkage sounding strategy to obtain target audio data corresponding to the some of the second vehicles; The initial audio data is used as target audio data of the remaining second vehicles other than the part of the second vehicles among the plurality of second vehicles.

22. The method according to claim 1, characterized in that The splitting of the initial audio data according to the second linked sounding strategy includes: The initial audio data is split according to the channel information according to the second linked sound generation strategy.

23. The method according to claim 1, characterized in that The splitting of the initial audio data according to the second linked sounding strategy includes: The initial audio data is split according to the note information according to the second linked sounding strategy.

24. The method according to claim 1, characterized in that Performing audio processing on the initial audio data according to the second linkage sounding strategy to generate target audio data corresponding to the second vehicle includes: According to the second linkage sounding strategy, the initial audio data is used to generate target audio data corresponding to the second vehicle according to a preset instrument type.

25. The method according to claim 24, characterized in that The step of generating target audio data corresponding to the second vehicle from the initial audio data according to a preset instrument type according to the second linkage sounding strategy includes: After the initial audio data is converted into audio according to the preset instrument type according to the second linkage sounding strategy, the converted initial audio data is audio split.

26. The method according to claim 1, characterized in that In response to an audio playback instruction received by the first vehicle, obtaining initial audio data for the first vehicle includes: In response to an audio playback instruction received by the first vehicle, determining whether initial audio data corresponding to the audio playback instruction is in a memory of the first vehicle; When the initial audio data is in a memory of the first vehicle, acquiring the initial audio data from the memory; When the initial audio data is not in the memory of the first vehicle, the initial audio data is obtained through a preset network interface.

27. The method according to claim 26, characterized in that The obtaining the initial audio data through a preset network interface includes: Acquiring the initial audio data from an application program carrying audio data in the first vehicle through a preset network interface; Or, the initial audio data is obtained from audio data sent by the target mobile terminal through a preset network interface.

28. The method according to claim 1, characterized in that The first vehicle transmits the target audio data of the second vehicle to the second vehicle, comprising: When the first vehicle is in a driving state, the target audio data is sent to a cloud server, so as to be forwarded to the second vehicle by the cloud server.

29. The method according to claim 1, characterized in that The step of determining that the first vehicle and the second vehicle are successfully matched comprises: Acquire distance information between the first vehicle and a second vehicle in a surrounding environment, where the second vehicle is a vehicle that can be matched with the first vehicle; When the distance information is less than or equal to a preset distance, generating a vehicle matching request, and sending the vehicle matching request to the second vehicle; When response data indicating agreement to match is received from the second vehicle based on the vehicle matching request, it is determined that the second vehicle is successfully matched with the first vehicle.

30. The method according to claim 29, characterized in that The acquiring of distance information between the first vehicle and a second vehicle in the surrounding environment, where the second vehicle is a vehicle that can be matched with the first vehicle, includes: In response to the matching instruction received by the first vehicle, a function of the first vehicle for searching surrounding vehicles is started, and distance information between the first vehicle and the second vehicle is determined.

31. A vehicle control method, characterized in that: Applied to a second vehicle, the method comprises: After the second vehicle is successfully matched with the first vehicle, the second vehicle is sounded according to the target audio data based on the playback instruction of the first vehicle, or the second vehicle is connected and sounded according to the target audio data based on the playback instruction of the first vehicle, and the number of the second vehicle is at least one; The playing instruction based on the first vehicle is sounded according to the target audio data, including: The second vehicle receives the target audio data sent by the first vehicle, the target audio data being generated by the first vehicle performing audio processing on the initial audio data according to a second linkage sounding strategy, the second linkage sounding strategy including audio information and a playback order used by the second vehicle for sounding, the second linkage sounding strategy being used to perform audio conversion on the initial audio data according to a preset instrument type, and performing audio splitting on the converted initial audio data; The second vehicle generates a feedback signal of the target audio data and sends the feedback signal to the first vehicle; The second vehicle receives a playback instruction sent by the first vehicle, where the playback instruction is generated by the first vehicle based on the feedback signal; The second vehicle makes a sound according to the target audio data based on the play instruction of the first vehicle; The playing instruction based on the first vehicle is jointly sounded with the first vehicle according to the target audio data, including: The second vehicle receives the play instruction sent by the first vehicle; The second vehicle performs a linked sounding of the first vehicle and the second vehicle according to the target audio data based on the playback instruction of the first vehicle, and the target audio data is generated by the first vehicle performing audio processing on initial audio data according to a first linked sounding strategy.

32. The method according to claim 31, characterized in that The playing instruction based on the first vehicle is sounded according to the target audio data, including: The second vehicle receives the play instruction of the first vehicle, and acquires the target audio data to be played based on the play instruction; The second vehicle makes a sound according to the target audio data.

33. A vehicle control device, characterized in that: The device is used to execute the vehicle control method according to any one of claims 1 to 32.

34. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the vehicle control method as claimed in any one of claims 1 to 32.

35. A vehicle, characterized in that: The vehicle executes the vehicle control method described in any one of claims 1 to 32, or the vehicle includes the device described in claim 33, or the vehicle includes the electronic device described in claim 34.

36. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 32 is implemented.

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