Vehicle control method, device, vehicle and storage medium

Abstract

An embodiment of the present invention provides a vehicle control method, device, vehicle and storage medium, which relate to the field of in-vehicle entertainment technology. The method includes: a collaborative execution device obtains collaborative information; the collaborative execution device performs collaborative actions according to the collaborative information, and the collaborative execution device includes a motion device and a sound device. Therefore, in the process of controlling the vehicle, at least two collaborative execution devices can be simultaneously controlled to perform collaborative actions based on the collaborative information, thereby enriching the control content of the vehicle and improving the user's vehicle experience.

Description

Technical Field

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

[0002] With the continuous development of society, the popularity of vehicles is getting higher and higher. In addition to becoming one of the main means of transportation for people's daily travel, vehicles can also bring more entertainment functions to users. For example, with the development of technology, vehicle manufacturers have configured many in-vehicle entertainment functions on vehicles. Through different in-vehicle entertainment functions, the entertainment methods of people in the car can be greatly enriched, bringing users a good riding experience. However, in the control process of in-vehicle entertainment functions, there are at least problems such as too single control content and failure to bring users a good car experience. Summary of the invention

[0003] An embodiment of the present invention provides a vehicle control method, device, electronic device and computer-readable storage medium to solve or partially solve the problem of single control content and poor user experience in controlling the in-vehicle entertainment function of the vehicle.

[0004] An embodiment of the present invention discloses a vehicle control method, including:

[0005] Obtain collaborative information;

[0006] The collaborative execution device executes the collaborative action according to the collaborative information, and the collaborative execution device includes at least two collaborative execution devices.

[0007] The embodiment of the present invention further discloses a method for controlling a vehicle, wherein the vehicle includes a motor, and the method includes:

[0008] The motor acquires coordination information and performs corresponding coordination actions according to the coordination information.

[0009] An embodiment of the present invention further discloses a method for controlling a vehicle, wherein the vehicle includes an active suspension, and the method includes:

[0010] The active suspension obtains cooperative information and performs corresponding cooperative actions according to the cooperative information.

[0011] The embodiment of the present invention discloses a vehicle control device, including:

[0012] An information acquisition module, used to acquire collaborative information;

[0013] An execution module is used to execute a collaborative action according to the collaborative information through a collaborative execution device, and the collaborative execution device includes at least two collaborative execution devices.

[0014] The embodiment of the present invention further discloses a vehicle, comprising:

[0015] one or more processors; and

[0016] One or more machine-readable media having instructions stored thereon, when executed by the one or more processors, cause the vehicle to perform the method according to the embodiment of the present invention.

[0017] The embodiment of the present invention further discloses a computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, enables the processors to execute the method described in the embodiment of the present invention.

[0018] The embodiments of the present invention include the following advantages:

[0019] In an embodiment of the present invention, a vehicle may include a collaborative execution device. During the control process of the vehicle, the collaborative execution device may obtain collaborative information and then perform collaborative actions based on the collaborative information. The collaborative execution device may include at least a motion device and a sound-emitting device. Therefore, during the control process of the vehicle, the motion device and the sound-emitting device may be simultaneously controlled to perform collaborative actions based on the collaborative information, thereby enriching the control content of the vehicle and improving the user's vehicle experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a flow chart of steps of a vehicle control method provided in an embodiment of the present invention;

[0021] Figure 2 is a flow chart of steps of a vehicle control method provided in an embodiment of the present invention;

[0022] Figure 3 is a flow chart of steps of a vehicle control method provided in an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of the architecture of a vehicle entertainment system provided in an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of the process of vehicle entertainment provided in an embodiment of the present invention;

[0025] Figure 6 It is a structural block diagram of a vehicle control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] As an example, configuring corresponding in-vehicle entertainment functions on a vehicle can enrich the vehicle's entertainment methods, but it may require additional corresponding equipment to be configured in the vehicle, resulting in additional production costs. Even if the corresponding equipment is configured, it is difficult to provide users with an immersive experience.

[0028] In this regard, in the present invention, the vehicle may include a collaborative execution device. During the control process of the vehicle, the collaborative execution device may obtain collaborative information, and then perform collaborative actions based on the collaborative information. The collaborative execution device may at least include a motion device and a sound device. Therefore, in the process of controlling the vehicle, the motion device and the sound device may be simultaneously controlled to perform collaborative actions based on the collaborative information, thereby enriching the control content of the vehicle and improving the user's vehicle experience.

[0029] Reference Figure 1 , shows a flow chart of a vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0030] Step 101, the collaborative execution device obtains collaborative information;

[0031] Step 102: The collaborative execution device executes a collaborative action according to the collaborative information, and the collaborative execution device includes a motion device and a sound device.

[0032] For a vehicle, it can be equipped with a corresponding collaborative execution device, which can include at least a motion device and a sound device. In the process of collaborative control of the vehicle, the collaborative execution device can first obtain the corresponding collaborative information, and then execute the collaborative action corresponding to the collaborative information, so that in the process of controlling the vehicle, the motion device and the sound device can be controlled to perform collaborative actions based on the collaborative information at the same time, enriching the control content of the vehicle and improving the user's car experience.

[0033] Among them, the motion device may at least include the vehicle's active suspension, body accessories, cockpit device, in-vehicle entertainment system, etc. The cockpit device includes seats and in-vehicle entertainment system, etc. The body accessories include rearview mirrors, wipers, etc. The in-vehicle entertainment system includes display screens, speakers, etc. The sound device may at least include the vehicle's drive motor, load motor (door lock motor, window motor, etc.), in-vehicle audio, etc. When the collaborative execution device performs a collaborative action, the vehicle can simultaneously control multiple devices to cooperate and achieve collaborative motion, bringing different user perceptions to users from multiple dimensions and improving user experience.

[0034] Regarding the process of determining the coordinated information, in some feasible implementations, the vehicle can be automatically triggered, and by obtaining the corresponding driving speed of the vehicle, if the driving speed of the vehicle is less than or equal to the preset speed threshold, a voice control instruction for the active suspension and the motor is generated, and the coordinated information corresponding to the voice control instruction is determined, so as to control the active suspension and the motor to perform the corresponding coordinated action according to the coordinated information. For example, assuming that the corresponding speed threshold is preset to 20km / h, during driving, the vehicle can obtain the driving speed in real time, and determine whether the driving speed is less than or equal to 20km / h. If it is satisfied, a target instruction is generated, and the corresponding coordinated information is determined based on the target instruction, so as to control the active suspension and the motor to perform the corresponding coordinated action based on the determined coordinated information.

[0035] In addition, when the user has output multimedia through the in-vehicle entertainment system, the vehicle can determine the corresponding cooperative information of the multimedia in response to the vehicle playing the multimedia. For example, assuming that the user uses the audio playback function or the video playback function on the in-vehicle entertainment system, the in-vehicle entertainment system can play the corresponding audio or video. During the playback process, the in-vehicle entertainment system can determine the corresponding cooperative information so as to control the active suspension and the motor to perform the corresponding cooperative action based on the determined cooperative information.

[0036] In another feasible implementation, in the process of executing the corresponding in-vehicle entertainment function according to the user operation, for the in-vehicle entertainment system, the user can realize the human-computer interaction with the in-vehicle entertainment system through touch, mechanical case, voice input, gesture action and other interactive methods. The in-vehicle entertainment system can generate the corresponding voice trigger instruction based on the user's input operation, and then determine the corresponding collaborative information based on the voice trigger instruction; and for the user terminal, the user can also realize the human-computer interaction with the user terminal through touch, mechanical button, voice input, gesture action, etc. The difference is that after the user terminal generates the corresponding instruction according to the user's input operation, it can send the corresponding instruction to the vehicle, so that the vehicle can determine the corresponding collaborative information based on the received instruction through the in-vehicle entertainment system, so as to control the active suspension and the motor to perform the corresponding collaborative action based on the determined collaborative information. In the actual process, the user can choose the interactive method according to his own needs to meet the actual needs of the user.

[0037] In specific implementations, depending on the differences in interaction methods, the in-vehicle entertainment system can generate target instructions based on any of the following: user pressing and / or touching of mechanical buttons; user touching of the interaction interface; user voice input; user gestures. Among them, the mechanical buttons can be physical buttons provided by the vehicle or user terminal, and the user can operate the mechanical buttons by pressing or touching; the interaction interface can be the vehicle's in-vehicle central control screen or the touch screen of the user terminal, so that the user can control the vehicle through a variety of different interaction methods, meeting the different interaction needs of the user.

[0038] Optionally, the collaborative information may include at least synchronization information and audio information. The synchronization information may be used to synchronously control different collaborative execution devices, and the audio information may determine the execution content corresponding to the collaborative action performed by each collaborative execution device. Specifically, the collaborative execution device may perform collaborative actions according to the synchronization information and the audio information. Thus, in the process of controlling the vehicle, the motion device and the sound-emitting device may be simultaneously controlled to perform collaborative actions based on the collaborative information, thereby enriching the control content of the vehicle and improving the user's vehicle experience.

[0039] In the embodiment of the present invention, an example is given in which the operating device is an active suspension of a vehicle and the sound-generating device is a motor of the vehicle. It can be understood that in the actual collaborative control process, other collaborative execution devices may also be included, and the present invention does not limit this.

[0040] Assuming that the collaborative execution device may include an active suspension and a motor, the collaborative control process of the vehicle may include the active suspension executing a collaborative action corresponding to the audio information according to the synchronization information, and the motor executing a collaborative action corresponding to the audio information according to the synchronization information. Among them, the collaborative action may include the suspension movement of the active suspension and the sound of the motor, etc., then the active suspension executes the suspension movement corresponding to the audio information according to the synchronization information, and controls the motor to execute the sound corresponding to the audio information, so that by controlling the active suspension to move while controlling the motor to make a sound, on the one hand, there is no need to configure additional entertainment equipment on the vehicle, which effectively reduces the cost, and on the other hand, by controlling the suspension and the motor based on the movement mode and the sound mode respectively, the diversity of the sound content is enriched, and an immersive entertainment experience is provided to users through multiple perception dimensions, which greatly improves the user's car experience.

[0041] It should be noted that for the coordinated control of collaborative execution devices such as active suspension and motors, both can be controlled by a unified controller, or they can be controlled separately by different controllers (such as a domain controller for active suspension, a motor controller for motors, etc.). In the process of collaborative control, different collaborative execution devices can be guaranteed to perform collaborative actions with low latency and high dynamics based on synchronization information, thereby ensuring the synchronization of each collaborative execution device.

[0042] For example, assuming that the active suspension and the motor are controlled by a unified controller, the active suspension and the motor can be controlled by a domain controller, or by a motor controller; assuming that the active suspension and the motor are controlled by different controllers, the active suspension can be controlled by a domain controller, and the motor can be controlled by a motor controller, or the active suspension can be controlled by a first motor controller, and the motor can be controlled by a second motor controller, etc. The present invention does not limit this.

[0043] For the synchronization information in the above embodiment, it can be a timestamp. The timestamp can be used to achieve low-latency, high-dynamic control of the whole vehicle motion. In the process of collaborative control, the active suspension executes the suspension movement corresponding to the audio information according to the timestamp, and the motor executes the sound corresponding to the audio information according to the timestamp. The audio information corresponding to the sound at the same time is the same as the audio information corresponding to the suspension movement (that is, at the same time, the active suspension and the motor perform corresponding collaborative actions according to the same audio content. For example, assuming that the audio information includes a 10s audio content, at the same time, the audio content of the collaborative actions performed by the active suspension and the motor is the audio content corresponding to the same time point, such as the audio content corresponding to the 1s, etc.), thereby ensuring the synchronization of each collaborative execution device.

[0044] In some feasible implementations, the timestamp includes a first timestamp corresponding to the active suspension and a second timestamp corresponding to the motor. The time difference between the first moment when the control signal corresponding to the audio information arrives at the active suspension and the second moment when it arrives at the motor is equal to the time difference between the first timestamp and the second timestamp. The active suspension executes the suspension movement corresponding to the audio information according to the first timestamp, and the motor executes the sound corresponding to the audio information according to the second timestamp, thereby ensuring the synchronization of each collaborative execution device.

[0045] It should be noted that in the process of collaborative control, when the audio information is not fixed in the controller, the time when the audio information arrives at the controllers corresponding to the active suspension and the motor is different. For example, the time when the audio information arrives at the controller of the active suspension is T1, and the time when the audio information arrives at the controller of the motor is T2. In practice, there is a certain time difference between T1 and T2. In this regard, in an embodiment of the present invention, the two are "compensated" through timestamps so that the time when the audio information arrives at the controller is consistent, so as to achieve collaborative control of the active suspension and the motor.

[0046] In a specific implementation, compensation can be made based on the time difference when the control signal corresponding to the audio information reaches different controllers. For example, if the time difference between T1 and T2 is ΔT, and T1 is less than T2, ΔT can be added to T1 to obtain T1', so that T1' is equal to T2. Time compensation is thus made through timestamps, so that the active suspension and the motor can perform corresponding coordinated actions, thereby ensuring the synchronization of the control of the coordinated execution device.

[0047] Optionally, when the audio information is fixed in the controller, since there is no need to transmit the audio information, the controller can directly control the actuator (active suspension, motor, etc.) through pulse signals, etc., so in the process of collaborative control, timestamps may not be required. For example, assuming that the active suspension and motor are controlled by a unified domain controller, and the corresponding audio information is fixed in the domain controller, the active suspension and motor can be controlled to perform corresponding collaborative actions through switch signals; for another example, assuming that the active suspension is controlled by the domain controller, and the motor is controlled by the motor controller, and the same audio information is fixed in the domain controller and the motor controller, the active suspension can be controlled by the domain controller to move and the motor can be controlled by the motor controller to make sounds through the switch signal.

[0048] It should be noted that in the process of achieving collaborative control without a timestamp, collaborative control can be achieved through level control, such as high level representation is turned on, low level representation is turned off, etc., so as to achieve collaborative control of the collaborative execution device based on different level signals.

[0049] In some feasible implementations, the collaborative information may also include vehicle volume, and the active suspension performs suspension movements corresponding to the vehicle volume and audio information, and the motor determines the sound volume according to the vehicle volume, and determines the sound content according to the audio information.

[0050] It should be noted that, for the active suspension, when it performs corresponding actions according to the audio information, it can perform corresponding suspension movements according to the low-frequency band in the audio information, and for the audio content in the non-low-frequency band, a silent processing method can be adopted; for the motor, it can determine the sound form according to the corresponding collaborative information, and determine the sound content according to the audio information, such as determining the corresponding sound volume (i.e., the sound form) according to the vehicle volume, and determining the sound content (i.e., the content of the sound) according to the audio information, etc. The present invention does not limit this.

[0051] For active suspension, the vehicle volume can be used to determine the travel range of the active suspension so as to control the actuation of the active suspension within the travel range. At the same time, the audio information can include the corresponding amplitude, through which the target actuation range of the active suspension within the travel range can be determined, thereby limiting the actuation range of the active suspension through the vehicle volume, improving the controllability of the active suspension, and determining the actuation range of the active suspension in combination with the audio information, so that the active suspension can "rhythmically" follow the volume, audio and other information during the in-vehicle entertainment process, bringing a good sensory experience to the users in the car.

[0052] It should be noted that since the amplitude corresponding to the audio information changes during the playback of audio information, in order to make the actuation of the active suspension consistent with the audio information, the vehicle can determine the corresponding target actuation stroke that changes every moment based on the amplitude. The target actuation stroke corresponding to the active suspension at every moment during the playback of the audio information can be determined within the stroke range determined according to the vehicle volume, and then the active suspension can be controlled to perform the corresponding suspension movement according to the target actuation stroke, so that the active suspension can be actuated according to the vehicle volume while performing regular actuation as the audio changes.

[0053] For example, assuming that the volume of the vehicle is 50%, and the default maximum actuation stroke of the active suspension is 5cm, the range of the active suspension can be determined by constructing a mapping relationship between the volume of the vehicle and the default maximum actuation stroke, that is, 50% of the volume can have a range of "0~2.5cm". In the process of playing audio information, as the audio content changes, the amplitude corresponding to the audio information can change, then at each moment, the corresponding target actuation stroke can be determined in real time within the range of 0~2.5cm according to the amplitude corresponding to the audio information, and then based on the target actuation stroke, the active suspension is controlled to "rhythmically" with the playback of the audio information, thereby controlling the active suspension to actuate with the playback of the audio, bringing a good sensory experience to the users in the car.

[0054] For the motor, it can determine the sound volume according to the vehicle volume, and determine the sound content according to the audio information. Among them, the audio information can be processed per unit to calculate its corresponding per unit value, and the audio signal can be converted and processed to obtain the amplitude dimension corresponding to the controller to ensure that the control signal will not be over- or over-current, thereby determining the sound content of the motor. Further, the per unit value can be converted into a corresponding audio control scalar, and the audio control scalar can be determined by obtaining the maximum target parameter value and combining the vehicle volume and the per unit value. Specifically, the maximum target parameter value can be the maximum current amplitude or the maximum voltage amplitude corresponding to the motor, and the product of the maximum target parameter value, the vehicle volume and the per unit value can be used as the audio control scalar, so that the motor can be controlled by the audio control scalar to emit the corresponding sound content according to the sound volume, so as to ensure that the volume of the subsequent volume control is controlled based on the same level, ensuring the stability of the sound volume. Among them, the audio control scalar includes an audio current control scalar and / or an audio voltage control scalar, that is, the motor controller can control the motor to emit the corresponding sound content according to the corresponding sound volume according to the audio current control scalar and / or the audio voltage control scalar.

[0055] Optionally, the sound volume of the motor can be an absolute volume, that is, the loudness corresponding to the sound content. The loudness is the subjective perception of human beings to the intensity of sound, and the loudness is affected by the volume and frequency. In the process of controlling the motor to make sound, based on the aforementioned normalization process, after determining the audio current control scalar and / or audio voltage control variable corresponding to the sound, the input power of the motor can be determined, and then the output power corresponding to the sound can be determined based on the input power and the amplification factor, so as to adjust the output power of the motor according to the vehicle volume, so that when the motor emits a sound corresponding to the audio information, it can change with the change of the volume, so that the sound of the motor and the volume remain consistent.

[0056] Among them, the input power can be the electric energy obtained by the motor from the vehicle power supply, that is, the sound power of the motor, and the output power can be the electric power provided to the motor. The output power directly affects the sound-generating ability of the motor. A higher output power means that the motor can produce a greater sound pressure level, that is, a higher volume.

[0057] Furthermore, the collaborative information may also include power data, which may be the power that the vehicle battery can use to power the motor to make sounds. The motor may determine the sound volume corresponding to the audio information based on the power data. That is, the input power of the motor may be determined through the power data so as to control the volume of the sound when the motor makes sounds based on the input power. As in the previous example, in one case, the sound power of the motor may be determined based on the vehicle volume and power data, and then the motor may be controlled to make sounds corresponding to the audio information according to the adjusted sound power; in another case, the motor may be directly controlled to make sounds corresponding to the audio information according to the standard power.

[0058] Optionally, since the power data can be the power that the vehicle battery can use to power the motor to make sounds, the power data can be determined through the mapping relationship between the voltage of the vehicle battery and the power data. In one case, assuming that the vehicle is in a driving state, the voltage for making sounds = the battery voltage in the current state of the vehicle * voltage utilization rate - the voltage required for the vehicle torque, and then based on the corresponding mapping relationship, the power data corresponding to the voltage for making sounds is determined. For example, when the vehicle is in a driving state, assuming that the battery power is 70%, the corresponding power data is A, the battery power is 60%, the corresponding power data is B, the battery power is 50%, the corresponding power data is C, etc., then after the corresponding power (i.e., voltage) is obtained based on the above power calculation, the power data can be determined through the corresponding mapping relationship.

[0059] In another case, assuming that the vehicle is in a parked state, since the vehicle basically has no other power consumption, that is, the voltage of the vehicle battery can basically fully supply the motor for sound, the power data of the sound can be directly determined through the mapping relationship between the voltage of the vehicle battery and the power data. Assuming that when the battery power is 100%, the corresponding power data is A, when the battery power is 90%, the corresponding power data is B, when the battery power is 80%, the corresponding power data is C, etc. By determining the power data of the sound, when the voltage fluctuates, it can be ensured that when the motor emits the sound corresponding to the audio information, no matter what frequency band the sound content belongs to, it can maintain the same loudness level, thereby ensuring the consistency of the absolute volume of the sound.

[0060] Furthermore, based on the above-mentioned output power range, the vehicle can also determine the maximum output power within the output power range in combination with the vehicle volume. Therefore, on the one hand, based on the output power range of the motor based on the power data, when the motor emits a sound, no matter what frequency band the sound content belongs to, it can maintain the same loudness level. On the other hand, the loudness level of the sound corresponding to the audio information emitted by the motor can be adjusted according to the vehicle volume.

[0061] Furthermore, in the process of controlling the motor to make a sound, in order to improve the performance of the sound, the corresponding frequency band extraction can be performed on the audio information to obtain at least one corresponding target audio frequency band, and then the motor can be controlled to emit the sound content corresponding to the at least one target audio frequency band, thereby effectively improving the sound effect of the motor by extracting the frequency band of the audio information. Among them, the audio information can be composed of audio content of several frequency bands, and different frequency bands correspond to different frequencies. Then, the audio content corresponding to different frequency bands can be extracted from the same audio information, such as low frequency, medium frequency, high frequency and human voice frequency band content, and the motor can be controlled to emit the sound content corresponding to the target audio frequency band.

[0062] It should be noted that when the vehicle's motor includes at least two motors, such as the vehicle includes a first motor and a second motor, and the target audio frequency band includes at least two, the first motor can emit a first sound content corresponding to at least one first audio frequency band in the target audio frequency band; the second motor emits a second sound content corresponding to at least one second audio frequency band in the target audio frequency band, thereby effectively compensating for the vehicle audio by controlling different motors to emit different sound contents, enriching the audio content of the audio sound, and bringing a good auditory experience to the user.

[0063] Regarding the extraction of audio frequency bands, in one implementation, at least one corresponding target audio frequency band can be extracted from the audio information based on the vehicle's onboard audio system. For example, if the performance of the onboard audio system in a first audio frequency band is poor, the first audio frequency band can be used as a basis for extraction, thereby extracting the first audio frequency band from the audio information as a basis for the sound of the motor, thereby reinforcing the sound of the onboard audio system through the sound generation, thereby improving the sound generation effect of the vehicle.

[0064] In another implementation, at least one corresponding target audio frequency band can be extracted from the audio information according to a preset frequency band interval. For example, the preset frequency band interval may include sound frequency parameters corresponding to specific frequency intervals such as ultra-low frequency, low frequency, medium frequency, and human voice frequency. Then, based on these sound frequency parameters, the target audio frequency bands corresponding to the ultra-low frequency, low frequency, medium frequency, and human voice frequency can be extracted from the audio information, so as to control the motor to emit a sound corresponding to at least one target audio frequency band. The target audio frequency band is extracted from the audio information as the basis for the sound of the motor, thereby reinforcing the sound of the car audio through the sound, thereby improving the sound effect of the vehicle.

[0065] In another implementation, at least one corresponding target audio frequency band can be extracted from the audio information according to the vehicle's onboard audio system and a preset frequency band interval. For example, the preset frequency band interval may include sound frequency parameters corresponding to specific frequency intervals such as ultra-low frequency, low frequency, medium frequency, and human voice frequency. Then, based on these sound frequency parameters, the initial audio frequency bands corresponding to the ultra-low frequency, low frequency, medium frequency, and human voice frequency can be extracted from the audio information, respectively. Then, the frequency band interval in which the vehicle audio system performs poorly is determined. Then, based on the determined frequency band interval, the initial audio frequency band is screened to obtain at least one corresponding target audio frequency band, so as to control the motor to emit a sound corresponding to the at least one target audio frequency band. The target audio frequency band is extracted from the audio information as a basis for the motor to emit sound, thereby reinforcing the sound of the onboard audio system through sound emission and improving the sound effect of the vehicle.

[0066] In an embodiment of the present invention, in the process of controlling the motor to make a sound, the motor can be controlled to make a sound in different ways according to the difference in the data contained in the collaborative information. Specifically, the motor can be controlled to make a sound corresponding to at least one target audio frequency band according to the vehicle volume; or, the motor can be controlled to make a sound corresponding to at least one target audio frequency band according to the power data; or, the motor can be controlled to make a sound corresponding to at least one target audio frequency band according to the vehicle volume and power data, thereby controlling the motor's sound making method in a variety of ways, enriching the motor's control method, and being able to bring a good auditory experience to the user. Among them, "sound" can be the volume and content corresponding to when the motor performs a sound making action, "volume" can be the form of sound making, and "content" can be the content corresponding to the sound making, and the present invention does not limit this.

[0067] It should be noted that for the audio frequency band extraction process, the sound frequency parameter presets of specific frequency ranges such as ultra-low frequency, low frequency, medium frequency, high frequency, human voice frequency, etc. that need to be extracted are first obtained, and then the parameters of the corresponding frequency range are imported into the low-pass filter, band-pass filter and high-pass filter, etc. to obtain the corresponding signal, and then the corresponding signal is input into the first low-pass filter or the first band-pass filter or the first high-pass filter to obtain the target audio frequency band for controlling the sound.

[0068] Optionally, a pre-trained preset sound extraction model can be used to extract characteristic sound of the audio. Optionally, this embodiment uses a low-frequency extraction mask of a forward propagation deep neural network trained offline to extract signals or uses a fully connected layer to extract signals. This example takes continuous audio data as input, and then performs a short-time Fourier transform on the audio information to transform the audio into the frequency domain. The transformed audio is then segmented to match the length of the prediction mask to obtain the first input data, and then the first input data is multiplied by the pre-trained signal extraction mask to obtain the second input data of the target sound signal. The signal is then processed using a short-time Fourier transform to obtain the third input data of the audio signal, thereby obtaining an output, that is, outputting the target audio frequency band, so as to control the motor to emit a sound corresponding to the target audio frequency band.

[0069] In addition, the collaborative information may also include a weighting coefficient, which is used to determine the relative volume of the motor, and the relative volume is used to adjust the sound content emitted by the motor corresponding to the audio information. In a specific implementation, the motor can emit sound content corresponding to the target frequency band in the audio information according to the weighting coefficient, and the weighting coefficient is used to determine the sound content corresponding to the target frequency band in the audio information. The sound content of the motor is adjusted by the weighting coefficient, and the sound content of the vehicle audio is compensated. The sound content of the motor and the sound content of the vehicle audio are complemented, so as to enhance the richness of the vehicle sound content and bring a good auditory experience to the user.

[0070] Among them, the relative volume may at least include the amplitude corresponding to each target audio frequency band in the audio information, and the amplitude may be determined by weighting the amplitude of the target audio frequency band according to the weighting coefficient. For example, assuming that audio frequency bands such as low frequency, medium frequency, high frequency and human voice are extracted from the audio information, and the weighting coefficients corresponding to the audio frequency bands such as low frequency, medium frequency, high frequency and human voice are 0.2, 0.5, 0.5 and 1.2 respectively (that is, the human voice frequency band is enhanced), then the amplitude corresponding to each audio frequency band can be weighted based on the weighting coefficient to obtain the corresponding amplitude. In this example, the weighting coefficient can be used to adjust the motor to compensate for the sound content of the human voice, so that the weighting coefficient can be used to adjust the sound content during the sound generation and compensate for the sound content of the vehicle audio. The sound content of the motor and the sound content of the vehicle audio are complemented to enhance the richness of the vehicle sound content, thereby bringing a good auditory experience to the user.

[0071] It should be noted that both amplitude and amplitude are used to characterize the physical deviation of sound waves, and amplitude is the numerical representation of amplitude. During the calculation process, the specific value of amplitude can be obtained by weighted calculation of the amplitude corresponding to each audio frequency band through a weighting coefficient, and the present invention does not impose any restrictions on this.

[0072] Optionally, when there are at least two motors in a vehicle, a weighting coefficient can be used to determine the sound content of each motor in each target audio frequency band. For example, assuming that the vehicle includes a first motor and a second motor, the weighting coefficient is used to determine the first amplitude of the first motor in each target audio frequency band, and the second amplitude of the second motor in each target audio frequency band, and then a corresponding current control signal is generated based on the corresponding amplitude to control the motor to emit the corresponding sound content, so that when there are multiple motors in the vehicle, different audio frequency bands can be compensated by different motors, so that different motors can compensate for the audio content in a targeted manner, giving full play to the number advantage of the motors, so that each motor can perform its duties, reducing the operating pressure of the motors while ensuring the user's auditory experience.

[0073] For example, for audio frequency bands such as low frequency, medium frequency, high frequency and human voice, the weighting coefficients corresponding to the first motor can be 0.2, 0.5, 0.5 and 1.2, that is, the first motor can compensate for the human voice frequency band; the weighting coefficients corresponding to the second motor can be 0.4, 0.5, 1.1 and 0.3, that is, the second motor can compensate for the high frequency band, so that the sound content during sound generation can be adjusted through the weighting coefficient, and the sound content of the vehicle audio can be compensated. The sound content of the motor and the sound content of the vehicle audio are complemented to enhance the richness of the vehicle sound content, thereby bringing a good auditory experience to users.

[0074] Furthermore, the collaborative information may also include a sound field coefficient, and the sound power of the motor may also be determined according to the sound field coefficient, which may be a coefficient determined according to the sound field center point set by the in-vehicle entertainment system according to the user. For example, taking a 5-seat car as an example, if the user sets the sound field to the center of the rear seats of the vehicle, the front and rear sound unit coefficients are a for the front and b for the rear, and the value of a may be less than b.

[0075] It should be noted that the sound power of the motor can be the input power of the motor, and the input power changes with the change of the vehicle battery voltage. In the case of fixed power, when the input power of the motor directly corresponds to the output power of the battery voltage, the vehicle can directly determine the sound power of the motor according to the sound field coefficient; in the case of adjustable power, the power data can be determined based on the battery voltage of the vehicle first, and then the sound power of the motor can be determined according to the power data and the sound field coefficient, so as to ensure the stability of the input power when the sound is emitted when the voltage may fluctuate. Optionally, in the case of fixed power, the battery voltage of the vehicle can be stabilized by physical means, such as setting a corresponding voltage stabilizer, and the present invention does not limit this.

[0076] In an optional implementation, under the condition of fixed power, assuming that the motor includes a first motor and a second motor, and the sound field coefficient includes a first sound field coefficient and a second sound field coefficient, the first sound power of the first motor is determined according to the first sound field coefficient; the second sound power of the second motor is determined according to the second sound field coefficient.

[0077] Assuming that the motor includes a first motor, a second motor and a third motor, and the sound field coefficient includes a first sound field coefficient corresponding to the first motor, a second sound field coefficient corresponding to the second motor, and a third sound field coefficient corresponding to the third motor, then the first sound power of the first motor is determined according to the first sound field coefficient; the second sound power of the second motor is determined according to the second sound field coefficient; and the third sound power of the third motor is determined according to the third sound field coefficient.

[0078] Assuming that the motor includes a first motor, a second motor, a third motor and a fourth motor, and the sound field coefficient includes a first sound field coefficient corresponding to the first motor, a second sound field coefficient corresponding to the second motor, a third sound field coefficient corresponding to the third motor and a fourth sound field coefficient corresponding to the fourth motor, then the first sound power of the first motor is determined according to the first sound field coefficient; the second sound power of the second motor is determined according to the second sound field coefficient; the third sound power of the third motor is determined according to the third sound field coefficient; and the fourth sound power of the fourth motor is determined according to the fourth sound field coefficient.

[0079] It should be noted that the sound field coefficient may include a front sound field coefficient, a rear sound field coefficient, a left sound field coefficient and a right sound field coefficient, etc., and the sound field coefficient corresponding to each motor may include at least one. For example, when the vehicle is equipped with a single motor, front and rear dual motors, or left and right dual motors, the sound field coefficient corresponding to each motor may be only one, such as a single motor corresponds to one of the front sound field coefficient, rear sound field coefficient, left sound field coefficient and right sound field coefficient; the front motor of the front and rear dual motors corresponds to the front sound field coefficient, and the rear motor corresponds to the rear sound field coefficient; the left motor of the left and right dual motors corresponds to the left sound field coefficient, and the right motor corresponds to the right sound field coefficient, etc.

[0080] When the vehicle is equipped with three or four motors, the sound field coefficients corresponding to the motors may be one or more than two. For example, in the case of the front motor and the left and right dual motors at the rear, the left motor at the rear of the vehicle may correspond to the rear sound field coefficient and the left sound field coefficient, the right motor may correspond to the rear sound field coefficient and the right sound field coefficient, and the front motor may correspond to the front sound field coefficient; in the case of the rear motor and the left and right dual motors at the front, the left motor at the front of the vehicle may correspond to the front sound field coefficient and the left sound field coefficient, the right motor may correspond to the front sound field coefficient and the right sound field coefficient, and the rear motor may correspond to the rear sound field coefficient; accordingly, in the case of four motors, the left motor at the front of the vehicle may correspond to the front sound field coefficient and the left sound field coefficient, the right motor may correspond to the front sound field coefficient and the right sound field coefficient, the left motor at the rear of the vehicle may correspond to the rear sound field coefficient and the left sound field coefficient, the right motor may correspond to the rear sound field coefficient and the right sound field coefficient, and so on. Thus, according to the number of motors, the sound power of each motor is adjusted by the corresponding sound field coefficient, so that motors at different positions can emit sounds of different loudness, creating an immersive auditory experience for users.

[0081] Correspondingly, the sound power of the motor is used to determine the sound volume when making a sound, and the motor can determine the sound volume when making a sound according to the sound field coefficient. Specifically, if the motor includes a first motor and a second motor, the first sound volume of the first motor is determined according to the first sound field coefficient, and the second sound volume of the second motor is determined according to the second sound field coefficient; if the motor includes a first motor, a second motor and a third motor, the first sound volume of the first motor is determined according to the first sound field coefficient, the second sound volume of the second motor is determined according to the second sound field coefficient, and the third sound volume of the third motor is determined according to the third sound field coefficient; if the motor includes a first motor, a second motor, a third motor and a fourth motor, the first sound volume of the first motor is determined according to the first sound field coefficient, the second sound volume of the second motor is determined according to the second sound field coefficient, the third sound volume of the third motor is determined according to the third sound field coefficient, and the fourth sound volume of the fourth motor is determined according to the fourth sound field coefficient.

[0082] Furthermore, in the case of fixed power, that is, when the output power of the vehicle battery is the input power of the motor, after determining the sound field coefficient corresponding to each motor, the corresponding sound power can be determined based on the sound field coefficient and the input power. For example, assuming that the front sound field coefficient is 0.8, the rear sound field coefficient is 1.2, the left sound field coefficient is 0.9, and the right sound field coefficient is 1.1, etc., and the output power of the vehicle battery is 10kw, the adjustment process can be the input power multiplied by the corresponding sound field coefficients. For the front and rear dual motors, the adjustment result can be 8kw of sound power corresponding to the front motor and 12kw of sound power corresponding to the rear motor, etc. For other numbers of motors, you can refer to this example and will not go into details here. According to the number of motors, the sound power of each motor can be adjusted by the corresponding sound field coefficient, so that motors in different positions can emit sounds of different loudness, creating an immersive auditory experience for users.

[0083] In addition, in the case of adjustable power, in order to ensure that the input power of each motor is at a stable level, the power data can be determined first, and then the sound power corresponding to each motor can be determined based on the power data and the sound field coefficient, that is, the actual input power can be determined.

[0084] Assuming that the motor includes a first motor and a second motor, and the sound field coefficient includes a first sound field coefficient corresponding to the first motor and a second sound field coefficient corresponding to the second motor, the first sound power of the first motor is determined based on the first sound field coefficient and the power data; the second sound power of the second motor is determined based on the second sound field coefficient and the power data.

[0085] Assuming that the motor includes a first motor, a second motor and a third motor, and the sound field coefficient includes a first sound field coefficient corresponding to the first motor, a second sound field coefficient corresponding to the second motor, and a third sound field coefficient corresponding to the third motor, then the first sound power of the first motor is determined based on the first sound field coefficient and power data; the second sound power of the second motor is determined based on the second sound field coefficient and power data; and the third sound power of the third motor is determined based on the third sound field coefficient and power data.

[0086] Assuming that the motor includes a first motor, a second motor, a third motor and a fourth motor, and the sound field coefficient includes a first sound field coefficient corresponding to the first motor, a second sound field coefficient corresponding to the second motor, a third sound field coefficient corresponding to the third motor and a fourth sound field coefficient corresponding to the fourth motor, then the first sound power of the first motor is determined based on the first sound field coefficient and power data; the second sound power of the second motor is determined based on the second sound field coefficient and power data; the third sound power of the third motor is determined based on the third sound field coefficient and power data; and the fourth sound power of the fourth motor is determined based on the fourth sound field coefficient and power data.

[0087] Correspondingly, in the case of adjustable power, the sound power of the motor can also be used to determine the sound volume when emitting sound, so the motor can determine the sound volume when emitting sound according to the sound field coefficient. Specifically, if the motor includes a first motor and a second motor, the first sound volume of the first motor is determined according to the first sound field coefficient and power data, and the second sound volume of the second motor is determined according to the second sound field coefficient and power data; if the motor includes a first motor, a second motor and a third motor, the first sound volume of the first motor is determined according to the first sound field coefficient and power data, the second sound volume of the second motor is determined according to the second sound field coefficient and power data, and the third sound volume of the third motor is determined according to the third sound field coefficient and power data; if the motor includes a first motor, a second motor, a third motor and a fourth motor, the first sound volume of the first motor is determined according to the first sound field coefficient and power data, the second sound volume of the second motor is determined according to the second sound field coefficient and power data, the third sound volume of the third motor is determined according to the third sound field coefficient and power data, and the fourth sound volume of the fourth motor is determined according to the fourth sound field coefficient and power data.

[0088] It should be noted that, since the input power of each motor may be different, the input power corresponding to each motor may be obtained first, and then the final sound power of the motor may be determined based on the obtained input power and sound field coefficient. It is understandable that the relevant description process may refer to the aforementioned example and will not be repeated here.

[0089] It should be noted that the embodiments of the present invention include but are not limited to the above examples. It is understandable that those skilled in the art can also make settings according to actual needs under the guidance of the ideas of the embodiments of the present invention, and the present invention is not limited to this.

[0090] In an embodiment of the present invention, a vehicle may include a collaborative execution device. During the control process of the vehicle, the collaborative execution device may obtain collaborative information and then perform collaborative actions based on the collaborative information. The collaborative execution device may include at least a motion device and a sound-emitting device. Therefore, during the control process of the vehicle, the motion device and the sound-emitting device may be simultaneously controlled to perform collaborative actions based on the collaborative information, thereby enriching the control content of the vehicle and improving the user's vehicle experience.

[0091] Reference Figure 2 , shows a flow chart of a vehicle control method provided by an embodiment of the present invention, wherein the vehicle includes a motor, and specifically may include the following steps:

[0092] Step 201: The motor acquires coordination information and performs corresponding coordination actions according to the coordination information.

[0093] In some feasible implementations, the collaborative information includes at least synchronization information and audio information, and performing a corresponding collaborative action according to the collaborative information includes:

[0094] A collaborative action corresponding to the audio information is performed according to the synchronization information.

[0095] In some feasible implementations, the collaborative information further includes at least vehicle volume, power data, weighting coefficients, and sound field coefficients, and the performing of a collaborative action corresponding to the audio information includes:

[0096] The utterance corresponding to the audio information is performed according to at least one of the vehicle volume, the power data, the weighting coefficient, and the sound field coefficient.

[0097] In an embodiment of the present invention, a vehicle may include a collaborative execution device. During the control process of the vehicle, the collaborative execution device may obtain collaborative information and then perform collaborative actions based on the collaborative information. The collaborative execution device may include at least a motion device and a sound-emitting device. Therefore, during the control process of the vehicle, the motion device and the sound-emitting device may be simultaneously controlled to perform collaborative actions based on the collaborative information, thereby enriching the control content of the vehicle and improving the user's vehicle experience.

[0098] Reference Figure 3 , shows a flow chart of a vehicle control method provided by an embodiment of the present invention, wherein the vehicle includes a motor, and the vehicle includes an active suspension, and specifically may include the following steps:

[0099] Step 301: The active suspension obtains coordination information and performs corresponding coordination actions according to the coordination information.

[0100] In some feasible implementations, the collaborative information includes at least synchronization information and audio information, and performing a corresponding collaborative action according to the collaborative information includes:

[0101] A collaborative action corresponding to the audio information is performed according to the synchronization information.

[0102] In some feasible implementations, the collaborative information at least further includes a vehicle volume, and the performing of a collaborative action corresponding to the audio information includes:

[0103] A coordinated action corresponding to the audio information is performed according to the vehicle volume.

[0104] In an embodiment of the present invention, a vehicle may include a collaborative execution device. During the control process of the vehicle, the collaborative execution device may obtain collaborative information and then perform collaborative actions based on the collaborative information. The collaborative execution device may include at least a motion device and a sound-emitting device. Therefore, during the control process of the vehicle, the motion device and the sound-emitting device may be simultaneously controlled to perform collaborative actions based on the collaborative information, thereby enriching the control content of the vehicle and improving the user's vehicle experience.

[0105] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the following examples are used for exemplary description:

[0106] For a vehicle, it can be equipped with an on-board multimedia system, an active suspension system, and an automotive motor control system. The on-board multimedia system can provide users with different on-board entertainment functions, the active suspension system can control the actuators on the active suspension to perform corresponding movements, and the automotive motor control system can control the vehicle motor, such as controlling sound.

[0107] Optionally, in an embodiment of the present invention, the vehicle-mounted multimedia system can obtain audio information through a wired communication system, a wireless communication system, etc., and transmit the obtained audio information to the vehicle active suspension system, the vehicle motor control system, etc., and then the vehicle active suspension system can control the active suspension to synchronize with the music according to the received audio information, and the vehicle motor control system can control the sound and vibration according to the received audio information, so that by controlling the active suspension to move while controlling the motor to make sound, on the one hand, there is no need to configure additional entertainment equipment on the vehicle, which effectively reduces the cost, and on the other hand, by controlling the suspension and the motor based on the movement mode and the sound mode respectively, the diversity of the sound content is enriched, and an immersive entertainment experience is provided to users through multiple perception dimensions, which greatly improves the user's car experience.

[0108] Among them, the wired communication network may include a vehicle-mounted CAN (Controller Area Network) network, CAN FD (Controller Area Network with Flexible Data-rate, an extended version of the controller area network), Ethernet, a universal serial bus, and optical fiber and other wired transmission media, and the wireless communication network may include Bluetooth, cellular wireless networks, WiFi (Wireless Fidelity), NFC (Near Field Communication) and other wireless medium communication systems, and the present invention does not impose any restrictions on this.

[0109] In addition, the active suspension may include an actuator, and in the process of controlling the active suspension to perform synchronous rhythmic motion following the audio information, the actuator on the active suspension may be controlled to achieve synchronous rhythmic motion of the vehicle body following the system command of the vehicle multimedia system. Accordingly, the automobile motor control system may control the motor to make sound and vibrate, and obtain the corresponding d by calculating the target sound signal and the vibration command, and then perform feedback control to obtain d after the q-axis target current is differentiated from the actual current, and the q-axis reference voltage acts on the motor to realize active control of the motor vibration and sound.

[0110] In one example, referring to Figure 4 , showing a schematic diagram of the architecture of the whole vehicle entertainment system provided in an embodiment of the present invention, in a vehicle 40, a vehicle multimedia system 410, a vehicle active suspension system 420 and a vehicle motor control system 430, etc. can be configured, wherein the vehicle active suspension system 420 can be used to control the active suspension 4201, and the vehicle motor control system can be used to control the vehicle's motor 4301, so that by controlling the active suspension to move while controlling the motor to make a sound, on the one hand, there is no need to configure additional entertainment equipment on the vehicle, which effectively reduces the cost, and on the other hand, by controlling the suspension and the motor based on the movement mode and the sound mode respectively, the diversity of the sound content is enriched, and an immersive entertainment experience is provided to the user through multiple perception dimensions, which greatly improves the user's car experience.

[0111] In the specific implementation, refer to Figure 5 , showing a flow chart of the whole vehicle entertainment provided in an embodiment of the present invention. When the whole vehicle coordinated rhythmic system is activated, the following steps are performed. The whole vehicle system rhythmic system refers to the coordinated action of the vehicle multimedia system, the vehicle active suspension system, and the vehicle motor control system.

[0112] Step S001 , the multimedia control system sends sound, loudness, power data and timestamp information to the active suspension control system S002 and the motor control system S010 .

[0113] Step S002 : The active suspension control system controls the actuator of each suspension to actively control the vehicle body posture by sending pulse signals to the suspensions respectively.

[0114] Step S003: the vehicle body active suspension actuator receives a pulse signal sent by the suspension control device and performs coordinated actuation.

[0115] Step S010 , the motor control system receives the sound, audio loudness, generated power and timestamp information emitted by the vehicle multimedia system and then performs digital audio data processing on the signal.

[0116] Preferably, the following strategy is used for signal extraction and processing: S500, obtain the preset sound frequency parameters of specific frequency intervals such as ultra-low frequency, low frequency, medium frequency, high frequency, human voice frequency, etc. that need to be extracted. S501 Import the parameters of the corresponding frequency interval into sound extractors such as low-pass filter, band-pass filter, high-pass filter, etc. to obtain the first low-pass filter, the first band-pass filter, and the first high-pass filter. S502 Input the original audio data into the first low-pass filter or the first band-pass filter or the first high-pass filter to obtain the required audio response signal. S503 Obtain the corresponding data and phase response data of the corresponding frequency interval, and calculate the corresponding frequency audio playback power.

[0117] Optionally, a pre-trained preset sound extraction model can be used to extract the characteristic sound of the audio. Optionally, this embodiment uses a low-frequency extraction mask of a forward propagation deep neural network trained offline to extract the signal or extract the signal through a fully connected layer. This example takes continuous audio data as input, then performs a short-time Fourier transform on the audio information to transform the audio into the frequency domain, and then performs segmentation processing on the transformed audio to match the length of the prediction mask to obtain the first input data, and then multiplies the first input data by the pre-trained signal extraction mask to obtain the second input data of the target sound signal, and then uses ISTFT to process the signal and obtain the third input data of the audio signal. Thus, the output is obtained.

[0118] Step S012, the motor synchronous rhythm system obtains the power sound information of each sound segment and determines the weighting coefficient according to the actual power of each sound unit in the current vehicle. The weighting coefficient is used to match the actual sound power. If the sound power coefficient is less than the minimum value, no action is taken. If it exceeds the maximum power, it is limited to the maximum power point.

[0119] Step S013, determine the number of motors of the electric vehicle. If the number of motors is a front single motor or a rear single motor, proceed to step S100; if the number of motors is 2, proceed to step S200; if the number of motors is 3, proceed to step S300; if the number of motors is 4, proceed to step S400.

[0120] Step S201, determine whether it is a front and rear dual motor configuration or a left and right dual motor configuration. If it is a combination of a front motor and a rear motor, proceed to step S210 to obtain the front and rear sound field power coefficients, which are determined by the sound field center point set by the user provided by the in-car entertainment system. In this embodiment, taking a 5-seater car as an example, if the user sets the sound field to the center of the rear seat of the vehicle, the front and rear sound unit coefficients are a in front and b in the back, and the value of a is less than b. If the motor configuration is a left and right layout, optionally, the vehicle places the motor in the front of the vehicle and arranges it horizontally on the left and right. Optionally, the vehicle places the motor in the rear of the vehicle and arranges it horizontally on the left and right, then proceed to step S220.

[0121] Step S301, determine whether a single drive motor is placed at the front side of the vehicle or a single motor is placed at the rear side of the vehicle. If the vehicle configuration is a front single motor, enter step S310 to obtain the front and rear sound field power coefficients and the left and right channel power coefficients of the rear sound in the vehicle; if the vehicle configuration is a rear single motor, enter step S320 to obtain the front and rear sound field power coefficients and the left and right channel power coefficients of the front sound in the vehicle.

[0122] Step S401 obtains the power coefficient of the front and rear sound fields in the vehicle and the left and right channel information. The left and right channel information may be any numerical index that affects the loudness of the sound, such as the left and right channel power coefficients.

[0123] Step S101, step S211, step S221, step S311, step S321, step S402 compare the timestamp with the timestamp in the sound data, and when the preset time is reached, the motor controller controls each motor to play the corresponding sound.

[0124] By controlling the active suspension to move while controlling the motor to make sounds, on the one hand, there is no need to configure additional entertainment equipment on the vehicle, which effectively reduces costs. On the other hand, by controlling the suspension and motor based on the movement mode and sound mode respectively, the diversity of sound content is enriched, and an immersive entertainment experience is provided to users through multiple perception dimensions, greatly improving the user's car experience.

[0125] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0126] Reference Figure 6 , shows a structural block diagram of a vehicle control device provided by an embodiment of the present invention, which may specifically include the following modules:

[0127] Information acquisition module 601, used for the collaborative execution device to acquire collaborative information;

[0128] The execution module 602 is used for the collaborative execution device to execute the collaborative action according to the collaborative information, and the collaborative execution device includes a motion device and a sound device.

[0129] In some feasible implementations, the collaborative information includes at least synchronization information and audio information, and the execution module 602 is specifically configured to:

[0130] The collaborative execution device executes a collaborative action according to the synchronization information and the audio information.

[0131] In some feasible implementations, the motion device at least includes an active suspension of a vehicle, the sound generating device at least includes a motor of the vehicle, and the execution module 602 is specifically used for:

[0132] The active suspension performs a coordinated action corresponding to the audio information according to the synchronization information, and the motor performs a coordinated action corresponding to the audio information according to the synchronization information.

[0133] In some feasible implementations, the coordinated action at least includes the suspension movement of the active suspension and the sound of the motor, and the execution module 602 is specifically used to:

[0134] The active suspension performs suspension movement corresponding to the audio information according to the synchronization information, and the motor performs sound generation corresponding to the audio information according to the synchronization information.

[0135] In some feasible implementations, the synchronization information includes a timestamp, and the execution module 602 is specifically configured to:

[0136] The active suspension performs suspension movement corresponding to the audio information according to the timestamp, and the motor performs sound generation corresponding to the audio information according to the timestamp, and the audio information corresponding to the sound generation at the same time is the same as the audio information corresponding to the suspension movement.

[0137] In some feasible implementations, the execution module 602 is specifically used to:

[0138] The active suspension performs corresponding suspension movement according to the low-frequency band in the audio information.

[0139] In some feasible implementations, the collaborative information further includes vehicle volume, and the execution module 602 is specifically configured to:

[0140] The active suspension performs a suspension movement corresponding to the vehicle volume and the audio information.

[0141] In some possible implementations, the vehicle volume is used to determine the travel range of the active suspension.

[0142] In some possible implementations, the audio information includes an amplitude, and the amplitude is used to determine a target actuation stroke of the active suspension in the stroke range.

[0143] In some feasible implementations, the collaborative information further includes vehicle volume, and the execution module 602 is specifically configured to:

[0144] The motor determines a sound volume according to the vehicle volume, and determines a sound content according to the audio information.

[0145] In some feasible implementations, when the vehicle volumes are the same, the sound volumes corresponding to the same audio information are the same.

[0146] In some feasible implementations, the collaborative information further includes power data, and the execution module 602 is specifically configured to:

[0147] The motor performs sound generation corresponding to the vehicle volume and the audio information according to the power data.

[0148] In some feasible implementations, the collaborative information further includes power data, and the execution module 602 is specifically configured to:

[0149] The motor determines a sound volume corresponding to the audio information according to the power data.

[0150] In some feasible implementations, the execution module 602 is specifically used to:

[0151] The motor emits sound content corresponding to at least one target audio frequency band, and the at least one target audio frequency band is extracted from the audio information.

[0152] In some feasible implementations, the motor includes at least a first motor and a second motor, the number of target audio frequency bands is at least two, and the execution module 602 is specifically configured to:

[0153] The first motor emits a first sound content corresponding to at least one first audio frequency band in the target audio frequency band;

[0154] The second motor emits second sound content corresponding to at least one second audio frequency band in the target audio frequency band.

[0155] In some feasible implementations, the execution module 602 is specifically used to:

[0156] The motor emits a sound corresponding to the at least one target audio frequency band according to the vehicle volume;

[0157] Or, the motor emits a sound corresponding to at least one target audio frequency band according to the power data;

[0158] Alternatively, the motor emits a sound corresponding to the at least one target audio frequency band according to the vehicle volume and power data.

[0159] In some feasible implementations, the target audio frequency band is extracted from the audio information according to the vehicle audio system of the vehicle;

[0160] Or, extracted from the audio information in a preset frequency band interval;

[0161] Alternatively, it is extracted from the audio information according to the vehicle's onboard audio system and a preset frequency band interval.

[0162] In some feasible implementations, the collaborative information further includes a weighting coefficient, and the weighting coefficient is used to determine a relative volume of the motor, and the relative volume is used to adjust the sound content emitted by the motor corresponding to the audio information.

[0163] In some feasible implementations, the motor emits sound content corresponding to the target frequency band in the audio information according to the weighting coefficient, and the weighting coefficient is used to determine the sound content corresponding to the target frequency band in the audio information.

[0164] In some feasible implementations, the relative volume includes at least an amplitude corresponding to each target audio frequency band in the audio information, and the amplitude is determined by weighting the amplitude of the target audio frequency band according to the weighting coefficient.

[0165] In some feasible implementations, the motor includes at least a first motor and a second motor, and the weighting coefficient is used to determine the sound content of the first motor and the second motor in each target audio frequency band.

[0166] In some feasible implementations, the collaborative information also includes a sound field coefficient, and the sound volume of the motor is determined according to the sound field coefficient.

[0167] In some feasible implementations, the sound power of the motor is determined according to the sound field coefficient.

[0168] In some feasible implementations, the motor includes a first motor and a second motor, and the sound field coefficient includes a first sound field coefficient and a second sound field coefficient; wherein,

[0169] The first sound volume of the first motor is determined according to the first sound field coefficient;

[0170] The second sound volume of the second motor is determined according to the second sound field coefficient.

[0171] In some feasible implementations, the first sound power of the first motor is determined according to the first sound field coefficient;

[0172] The second sound power of the second motor is determined according to the second sound field coefficient.

[0173] In some feasible implementations, the motor includes a first motor, a second motor, and a third motor, and the sound field coefficient includes a first sound field coefficient corresponding to the first motor, a second sound field coefficient corresponding to the second motor, and a third sound field coefficient corresponding to the third motor; wherein,

[0174] The first sound volume of the first motor is determined according to the first sound field coefficient;

[0175] The second sound volume of the second motor is determined according to the second sound field coefficient;

[0176] The third sound volume of the third motor is determined according to the third sound field coefficient.

[0177] In some possible implementations,

[0178] The first sound power of the first motor is determined according to the first sound field coefficient;

[0179] The second sound power of the second motor is determined according to the second sound field coefficient;

[0180] The third sound power of the third motor is determined according to the third sound field coefficient.

[0181] In some feasible implementations, the motor includes a first motor, a second motor, a third motor and a fourth motor, and the sound field coefficient includes a first sound field coefficient corresponding to the first motor, a second sound field coefficient corresponding to the second motor, a third sound field coefficient corresponding to the third motor and a fourth sound field coefficient corresponding to the fourth motor; wherein,

[0182] The first sound volume of the first motor is determined according to the first sound field coefficient;

[0183] The second sound volume of the second motor is determined according to the second sound field coefficient;

[0184] The third sound volume of the third motor is determined according to the third sound field coefficient;

[0185] The fourth sound volume of the fourth motor is determined according to the fourth sound field coefficient.

[0186] In some possible implementations,

[0187] The first sound power of the first motor is determined according to the first sound field coefficient;

[0188] The second sound power of the second motor is determined according to the second sound field coefficient;

[0189] The third sound power of the third motor is determined according to the third sound field coefficient;

[0190] The fourth sound power of the fourth motor is determined according to the fourth sound field coefficient.

[0191] In some feasible implementations, the collaborative information also includes a sound field coefficient, and the sound volume of the motor is determined based on the sound field coefficient and power data.

[0192] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0193] An embodiment of the present invention further provides a vehicle, comprising:

[0194] one or more processors; and

[0195] One or more machine-readable media having instructions stored thereon, when executed by the one or more processors, cause the vehicle to perform the method described in the embodiment of the present invention.

[0196] An embodiment of the present invention further provides a computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, enables the processors to execute the method described in the embodiment of the present invention.

[0197] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0198] It should be understood by those skilled in the art that the embodiments of the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, EEPROM, Flash, and eMMC, etc.) containing computer-usable program codes.

[0199] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0200] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0201] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0202] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0203] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0204] The above is a detailed introduction to a vehicle control method and a vehicle control device provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle control method, characterized in that: include: The collaborative execution device obtains collaborative information; The collaborative execution device executes the collaborative action according to the collaborative information, and the collaborative execution device includes a motion device and a sound device; The collaborative information includes at least synchronization information and audio information, the synchronization information includes a timestamp, the motion device includes at least an active suspension of the vehicle, the sound device includes at least a motor of the vehicle, the collaborative action includes at least a suspension movement of the active suspension and a sound of the motor, and the collaborative execution device executes the collaborative action according to the collaborative information, including: The active suspension performs suspension movement corresponding to the audio information according to the timestamp, and the motor performs sound generation corresponding to the audio information according to the timestamp, and the audio information corresponding to the sound generation at the same time is the same as the audio information corresponding to the suspension movement.

2. The method according to claim 1, characterized in that The active suspension performs a suspension movement corresponding to the audio information according to the timestamp, including: The active suspension performs corresponding suspension movement according to the low-frequency band in the audio information.

3. The method according to claim 2, characterized in that The coordinated information further includes a vehicle volume, and the performing of a suspension movement corresponding to the audio information includes: The active suspension performs a suspension movement corresponding to the vehicle volume and the audio information.

4. The method according to claim 3, characterized in that The vehicle volume is used to determine the range of travel of the active suspension.

5. The method according to claim 4, characterized in that The audio information includes an amplitude, which is used to determine a target actuation travel of the active suspension in the travel range.

6. The method according to claim 3, characterized in that The collaborative information also includes a vehicle volume, and the performing of the sound corresponding to the audio information includes: The motor determines a sound volume according to the vehicle volume, and determines a sound content according to the audio information.

7. The method according to claim 6, characterized in that When the vehicle volumes are the same, the sound volumes corresponding to the same audio information are the same.

8. The method according to claim 7, characterized in that The collaborative information further includes power data, and the performing of the sounding corresponding to the audio information includes: The motor performs sound generation corresponding to the vehicle volume and the audio information according to the power data.

9. The method according to claim 3, characterized in that: The collaborative information further includes power data, and the performing of the sounding corresponding to the audio information includes: The motor determines a sound volume corresponding to the audio information according to the power data.

10. The method according to any one of claims 1 to 9, characterized in that: The performing of the sounding corresponding to the audio information comprises: The motor emits sound content corresponding to at least one target audio frequency band, and the at least one target audio frequency band is extracted from the audio information.

11. The method according to claim 10, characterized in that The motor includes at least a first motor and a second motor, the target audio frequency bands are at least two, and the motor emits sound content corresponding to at least one target audio frequency band, including: The first motor emits a first sound content corresponding to at least one first audio frequency band in the target audio frequency band; The second motor emits second sound content corresponding to at least one second audio frequency band in the target audio frequency band.

12. The method according to claim 10, characterized in that The performing of the sounding corresponding to the audio information includes: The motor emits a sound corresponding to the at least one target audio frequency band according to the vehicle volume; Or, the motor emits a sound corresponding to at least one target audio frequency band according to the power data; Alternatively, the motor emits a sound corresponding to the at least one target audio frequency band according to the vehicle volume and power data.

13. The method according to claim 10, characterized in that The target audio frequency band is extracted from the audio information according to the vehicle's onboard audio system; Or, extracted from the audio information in a preset frequency band interval; Alternatively, it is extracted from the audio information according to the vehicle's onboard audio system and a preset frequency band interval.

14. The method according to claim 13, characterized in that The collaborative information also includes a weighting coefficient, where the weighting coefficient is used to determine a relative volume of the motor, and the relative volume is used to adjust the sound content emitted by the motor corresponding to the audio information.

15. The method according to claim 14, characterized in that The motor emits the sound content corresponding to the target frequency band in the audio information according to the weighting coefficient, and the weighting coefficient is used to determine the sound content corresponding to the target frequency band in the audio information.

16. The method according to claim 15, characterized in that The relative volume at least includes the amplitude corresponding to each target audio frequency band in the audio information, and the amplitude is determined by weighting the amplitude of the target audio frequency band according to the weighting coefficient.

17. The method according to claim 16, characterized in that The motor includes at least a first motor and a second motor, and the weighting coefficient is used to determine the sound content of the first motor and the second motor in each target audio frequency band.

18. The method according to claim 1, characterized in that The collaborative information also includes a sound field coefficient, and the sound volume of the motor is determined according to the sound field coefficient.

19. The method according to claim 18, characterized in that The sound power of the motor is determined according to the sound field coefficient.

20. The method according to claim 18, characterized in that The motor includes a first motor and a second motor, and the sound field coefficient includes a first sound field coefficient and a second sound field coefficient; wherein, The first sound volume of the first motor is determined according to the first sound field coefficient; The second sound volume of the second motor is determined according to the second sound field coefficient.

21. The method according to claim 20, characterized in that The first sound power of the first motor is determined according to the first sound field coefficient; The second sound power of the second motor is determined according to the second sound field coefficient.

22. The method according to claim 18, characterized in that The motor includes a first motor, a second motor and a third motor, and the sound field coefficient includes a first sound field coefficient corresponding to the first motor, a second sound field coefficient corresponding to the second motor and a third sound field coefficient corresponding to the third motor; wherein, The first sound volume of the first motor is determined according to the first sound field coefficient; The second sound volume of the second motor is determined according to the second sound field coefficient; The third sound volume of the third motor is determined according to the third sound field coefficient.

23. The method according to claim 22, characterized in that The first sound power of the first motor is determined according to the first sound field coefficient; The second sound power of the second motor is determined according to the second sound field coefficient; The third sound power of the third motor is determined according to the third sound field coefficient.

24. The method according to claim 18, characterized in that The motor includes a first motor, a second motor, a third motor and a fourth motor, and the sound field coefficient includes a first sound field coefficient corresponding to the first motor, a second sound field coefficient corresponding to the second motor, a third sound field coefficient corresponding to the third motor and a fourth sound field coefficient corresponding to the fourth motor; wherein, The first sound volume of the first motor is determined according to the first sound field coefficient; The second sound volume of the second motor is determined according to the second sound field coefficient; The third sound volume of the third motor is determined according to the third sound field coefficient; The fourth sound volume of the fourth motor is determined according to the fourth sound field coefficient.

25. The method according to claim 24, characterized in that The first sound power of the first motor is determined according to the first sound field coefficient; The second sound power of the second motor is determined according to the second sound field coefficient; The third sound power of the third motor is determined according to the third sound field coefficient; The fourth sound power of the fourth motor is determined according to the fourth sound field coefficient.

26. The method according to claim 1, characterized in that The collaborative information also includes a sound field coefficient, and the sound volume of the motor is determined based on the sound field coefficient and power data.

27. A vehicle control method, characterized in that: The vehicle includes an electric machine, and the method includes: The motor acquires the coordination information and performs a corresponding coordination action according to the coordination information; The collaborative information at least includes synchronization information and audio information, the synchronization information at least includes a timestamp, and the performing a corresponding collaborative action according to the collaborative information includes: The motor performs a sound corresponding to the audio information according to the timestamp, and the audio information corresponding to the sound at the same time is the same as the audio information corresponding to the suspension movement of the vehicle.

28. The method according to claim 27, characterized in that The collaborative information at least includes a vehicle volume, power data, a weighting coefficient, and a sound field coefficient. The performing of the sounding corresponding to the audio information includes: The utterance corresponding to the audio information is performed according to at least one of the vehicle volume, the power data, the weighting coefficient, and the sound field coefficient.

29. A vehicle control method, characterized in that: The vehicle includes an active suspension, and the method includes: The active suspension acquires the coordinated information and performs a corresponding coordinated action according to the coordinated information; The collaborative information at least includes synchronization information and audio information, the synchronization information at least includes a timestamp, and the performing a corresponding collaborative action according to the collaborative information includes: The active suspension performs a suspension movement corresponding to the audio information according to the timestamp, and the audio information corresponding to the sound emitted by the motor of the vehicle at the same time is the same as the audio information corresponding to the suspension movement.

30. The method according to claim 29, characterized in that The coordinated information further includes at least a vehicle volume, and the performing of a suspension movement corresponding to the audio information includes: A suspension movement corresponding to the audio information is performed according to the vehicle volume.

31. A vehicle control device, characterized in that: The device comprises: An information acquisition module, used to acquire collaborative information; An execution module, configured to execute a coordinated action according to the coordinated information through a coordinated execution device, wherein the coordinated execution device at least includes a motion device and a sound generating device; The collaborative information includes at least synchronization information and audio information, the synchronization information includes a timestamp, the motion device includes at least an active suspension of the vehicle, the sound device includes at least a motor of the vehicle, the collaborative action includes at least a suspension movement of the active suspension and a sound of the motor, and the execution module is specifically used to: The active suspension performs suspension movement corresponding to the audio information according to the timestamp, and the motor performs sound generation corresponding to the audio information according to the timestamp, and the audio information corresponding to the sound generation at the same time is the same as the audio information corresponding to the suspension movement.

32. A vehicle, characterized in that: include: one or more processors; and One or more machine-readable media having instructions stored thereon, when executed by the one or more processors, cause the vehicle to perform the method of any one of claims 1-30.

33. A computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method according to any one of claims 1 to 30.

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