Vehicle control method and device, control equipment and computer program product

Abstract

The invention is suitable for the technical field of vehicles, and provides a vehicle control method and device, control equipment and a computer program product. The vehicle control method comprises the steps that target data of a sensor of a vehicle and fundamental wave driving current of control equipment of the vehicle are obtained; generating harmonic current according to the target data; generating a target control current according to the fundamental wave driving current and the harmonic current; and driving a motor of the vehicle through the target control current, and controlling the motor to output a target sound wave signal associated with the target data. By means of the method, the motor of the vehicle can drive the vehicle and output the sound wave signals at the same time, so that acoustic devices such as a mechanical horn, a buzzer or an independent loudspeaker do not need to be arranged on the vehicle, and the production cost of the vehicle is reduced.

Description

Technical Field

[0001] This application belongs to the technical field of vehicles, and particularly relates to a vehicle control method, device, control equipment, and computer program product. Background Art

[0002] Currently, some vehicles usually output acoustic wave signals through independent acoustic devices. For example, electric two-wheelers commonly used in daily life usually output acoustic wave signals through mechanical horns, buzzers, or independent speakers.

[0003] Since setting up mechanical horns, buzzers, or independent speakers on vehicles requires hardware costs, the production cost of vehicles is thus increased. Summary of the Invention

[0004] In view of this, embodiments of this application provide a vehicle control method, device, control equipment, and computer program product to solve the technical problem of the relatively high production cost of existing vehicles.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, including:

[0006] Obtain target data of a sensor of the vehicle and fundamental wave drive current of the control equipment of the vehicle;

[0007] Generate harmonic current according to the target data;

[0008] Generate target control current according to the fundamental wave drive current and the harmonic current;

[0009] Drive a motor of the vehicle through the target control current, and control the motor to output a target acoustic wave signal associated with the target data.

[0010] Optionally, the generating harmonic current according to the target data includes:

[0011] Determine current state information of the vehicle according to the target data; the current state information includes any one or more of the following: current position information, current three-axis attitude angle information, current three-axis attitude acceleration information, and current speed information;

[0012] Determine the frequency, amplitude, phase, and duration of the target acoustic wave signal according to the current state information;

[0013] Generate the harmonic current according to the frequency, amplitude, phase, and duration of the target acoustic wave signal.

[0014] Optionally, the generating the harmonic current according to the frequency, amplitude, phase, and duration of the target acoustic wave signal includes:

[0015] Obtain the equivalent sound source spacing of the motor and the preset offset angle between the harmonic current and the fundamental wave drive current;

[0016] Determine the compensation phase information according to the equivalent sound source spacing of the motor and the preset offset angle;

[0017] Compensate the phase according to the compensation phase information to obtain the compensated phase;

[0018] Generate the harmonic current according to the frequency, amplitude, compensated phase and duration of the target sound wave signal.

[0019] Optionally, the generating the harmonic current according to the frequency, amplitude, phase and duration of the target sound wave signal includes:

[0020] Obtain the current speed information of the vehicle;

[0021] Determine the compensated frequency according to the current speed information and the frequency;

[0022] Generate the harmonic current according to the compensated frequency, amplitude, phase and duration of the target sound wave signal.

[0023] Optionally, the generating the target control current according to the fundamental wave drive current and the harmonic current includes:

[0024] Determine the first torque fluctuation of the motor caused by the harmonic current;

[0025] Determine the compensation current for canceling the first torque fluctuation according to the first torque fluctuation;

[0026] Generate the target control current according to the compensation current, the fundamental wave drive current and the harmonic current.

[0027] Optionally, the determining the first torque fluctuation of the motor caused by the harmonic current includes:

[0028] Determine the amplitude of the harmonic current and the rotor position angle information of the motor;

[0029] Determine the first torque fluctuation according to the amplitude of the harmonic current, the rotor position angle information and a preset constant.

[0030] Optionally, it further includes:

[0031] Real-time detect the second torque fluctuation of the motor through a sliding mode observer;

[0032] The compensation current is corrected according to the second torque fluctuation corresponding to each moment.

[0033] In a second aspect, an embodiment of the present application provides a vehicle control device, including:

[0034] An acquisition unit configured to acquire target data of a sensor of a vehicle and a fundamental wave drive current of a control device of the vehicle;

[0035] A first generation unit configured to generate a harmonic current according to the target data;

[0036] A second generation unit configured to generate a target control current according to the fundamental wave drive current and the harmonic current;

[0037] A control unit configured to drive a motor of the vehicle through the target control current and control the motor to output a target sound wave signal associated with the target data.

[0038] In a third aspect, an embodiment of the present application provides a control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, each step in the vehicle control method according to any one of the first aspects described above is implemented.

[0039] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, each step in the vehicle control method according to any one of the first aspects described above is implemented.

[0040] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a control device, the control device is caused to execute each step in the vehicle control method according to any one of the first aspects described above.

[0041] The vehicle control method, device, control device, and computer program product provided by the embodiments of the present application have the following beneficial effects:

[0042] In the vehicle control method provided by the embodiments of the present application, first, target data of a sensor of a vehicle and a fundamental wave drive current of a control device of the vehicle are acquired, then a harmonic current is generated according to the target data, and then a target control current is generated according to the fundamental wave drive current and the harmonic current. Finally, the motor of the vehicle is driven through the target control current, and the motor is controlled to output a target sound wave signal associated with the target data. Through this method, the motor of the vehicle can simultaneously implement the functions of driving the vehicle and outputting a sound wave signal. Therefore, the vehicle does not need to be provided with acoustic devices such as a mechanical horn, a buzzer, or an independent speaker, reducing the production cost of the vehicle. Description of the Drawings

[0043] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for use in the embodiments or the description of the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0044] Figure 1 It is a flowchart of the implementation of a vehicle control method provided by an embodiment of the present application;

[0045] Figure 2 It is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application;

[0046] Figure 3 It is a schematic structural diagram of a control device provided by an embodiment of the present application. Specific embodiments

[0047] It should be noted that the terms used in the embodiments of the present application are only used to explain the specific embodiments of the present application, rather than intended to limit the present application. In the description of the embodiments of the present application, unless otherwise stated, "a plurality" means two or more than two, "at least one", "one or more" means one, two or more than two. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0048] Referring to "one embodiment" or "some embodiments" described in this specification means that in one or more embodiments of the present application, specific features, structures or characteristics described in combination with this embodiment are included. Thus, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" and the like that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "include", "comprise", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0049] The execution subject of the vehicle control method provided by the embodiments of the present application can be the control device of the vehicle. Specifically, when it is necessary to control the vehicle, each step of the vehicle control method provided by the embodiments of the present application can be executed through the control device of the vehicle, so that the motor of the vehicle can simultaneously realize the functions of driving the vehicle and outputting acoustic wave signals, thereby reducing the production cost of the vehicle.

[0050] Exemplarily, the vehicle in the embodiments of the present application may be an electric two-wheeler, and the control device of the vehicle may be an inverter of the electric two-wheeler.

[0051] Please refer to Figure 1 , Figure 1 which is a flowchart of the implementation of a vehicle control method provided by the embodiments of the present application. This vehicle control method can be applied to the control device of the vehicle, and this vehicle control method may include S101 to S104, which are described in detail as follows:

[0052] In S101, obtain the target data of the vehicle's sensors and the fundamental wave drive current of the vehicle's control device.

[0053] In the embodiments of the present application, when it is necessary to control the vehicle, the control device may first obtain the target data of the vehicle's sensors and the fundamental wave drive current of the vehicle's control device.

[0054] Among them, the vehicle's sensors may include but are not limited to the following sensors: sensors for obtaining the current position information of the vehicle, sensors for obtaining the current three-axis attitude angle information of the vehicle, sensors for obtaining the current three-axis attitude acceleration information of the vehicle, and sensors for obtaining the current speed information of the vehicle.

[0055] Among them, the fundamental wave drive current of the vehicle's control device may be the current sent by the control device to the motor for driving the motor.

[0056] It should be noted that the vehicle provided by the embodiments of the present application may be an electric two-wheeler, an electric bicycle, an electric motorcycle, an electric tricycle, etc., and the present application does not make any limitations in this regard.

[0057] In S102, generate harmonic current according to the target data.

[0058] In the embodiments of the present application, after obtaining the target data of the vehicle's sensors, the control device may generate harmonic current for controlling the motor to output a target acoustic wave signal according to the target data.

[0059] In a possible implementation manner, the control device may first determine the current state information of the vehicle according to the target data. Among them, the current state information of the vehicle may include any one or more of the following: current position information, current three-axis attitude angle information, current three-axis attitude acceleration information, and current speed information.

[0060] After that, the control device may determine the frequency, amplitude, phase, and duration of the target acoustic wave signal according to the current state information.

[0061] Optionally, the control device may pre-store the mapping relationship between the current state information and the frequency, amplitude, phase, and duration of the target acoustic wave signal. Based on this, after obtaining the current state information, the control device may determine the frequency, amplitude, phase, and duration of the target acoustic wave signal according to the mapping relationship between the current state information and the frequency, amplitude, phase, and duration of the target acoustic wave signal.

[0062] In this implementation, after determining the frequency, amplitude, phase, and duration of the target acoustic wave signal, the control device may generate harmonic current according to the frequency, amplitude, phase, and duration of the target acoustic wave signal. Among them, the harmonic current may be the current sent by the control device to the motor to control the motor to output the target acoustic wave signal.

[0063] In a possible implementation, in order to enable the target acoustic wave signal output by the electrode to generate an acoustic wave interference field and realize the horizontal shift of the sound image of the target acoustic wave signal, the control device may generate harmonic current according to the frequency, amplitude, phase, and duration of the target acoustic wave signal through steps a to d. Details are as follows:

[0064] In step a, obtain the equivalent sound source spacing of the motor and the preset offset angle between the harmonic current and the fundamental wave driving current.

[0065] In this implementation method, in order to enable the target acoustic wave signal output by the electrode to generate an acoustic wave interference field and realize the horizontal shift of the sound image of the target acoustic wave signal, the control device may first obtain the equivalent sound source spacing of the motor and the preset offset angle between the harmonic current and the fundamental wave driving current.

[0066] Among them, the equivalent sound source spacing of the motor refers to the average spatial distance between equivalent point sound sources when multiple actual sound sources (such as electromagnetic force waves, mechanical vibration sources, etc.) inside the motor are simplified as equivalent point sound sources in acoustic modeling or noise propagation analysis.

[0067] Among them, the preset offset angle is the set offset angle between the harmonic current and the fundamental wave driving current. In practical applications, the preset offset angle between the harmonic current and the fundamental wave driving current may be a fixed value.

[0068] In step b, determine the compensation phase information according to the equivalent sound source spacing of the motor and the preset offset angle.

[0069] In this implementation method, after obtaining the equivalent sound source spacing of the motor and the preset offset angle between the harmonic current and the fundamental wave driving current, the control device may determine the compensation phase information according to the equivalent sound source spacing of the motor and the preset offset angle through the following formula:

[0070]

[0071] Among them, represents the compensated phase information, α represents the preset offset angle, d represents the equivalent sound source spacing of the motor, and λ represents the sound wave wavelength.

[0072] In step c, the phase is compensated according to the compensated phase information to obtain the compensated phase.

[0073] In this implementation method, after obtaining the compensated phase information, the control device can compensate the phase according to the compensated phase information to obtain the compensated phase. Specifically, the control device can determine the sum of the compensated phase information and the initial phase as the compensated phase.

[0074] In step d, harmonic current is generated according to the frequency, amplitude, compensated phase and duration of the target sound wave signal.

[0075] In this implementation method, after obtaining the compensated phase, the control device can generate harmonic current according to the frequency, amplitude, compensated phase and duration of the target sound wave signal.

[0076] In another possible implementation manner, in order to enable the target sound wave signal output by the electrode to simulate the Doppler effect and simulate the sound source movement trajectory, the control device can implement generating harmonic current according to the frequency, amplitude, phase and duration of the target sound wave signal through steps e to g. Details are as follows:

[0077] In step e, the current speed information of the vehicle is obtained.

[0078] In this implementation method, in order to enable the target sound wave signal output by the electrode to simulate the Doppler effect and simulate the sound source movement trajectory, the control device can first obtain the current speed information of the vehicle.

[0079] In step f, the compensated frequency is determined according to the current speed information and the frequency.

[0080] In this implementation method, after obtaining the current speed information of the vehicle, the control device can determine the compensated frequency according to the current speed information and the frequency through the following formula:

[0081]

[0082] Among them, f ’ represents the compensated frequency, f represents the frequency, C represents the speed of sound, and V bike represents the current speed information of the vehicle.

[0083] In step g, a harmonic current is generated based on the frequency, amplitude, phase, and duration of the target acoustic wave signal after compensation.

[0084] In this implementation method, after obtaining the compensated frequency, the control device can generate a harmonic current based on the frequency, amplitude, phase, and duration of the target acoustic wave signal after compensation.

[0085] In a possible implementation manner, in order to enable the target acoustic wave signal output by the motor to have a three-dimensional sound field positioning effect, thereby improving the direction recognition of the target acoustic wave signal output by the motor, the control device can compensate the phase and frequency of the target acoustic wave signal simultaneously, and generate a harmonic current based on the compensated phase and the compensated frequency.

[0086] Specifically, the control device can obtain the compensated phase through steps a to c in the embodiments of the present application, and can obtain the compensated frequency through steps e to f in the embodiments of the present application. After obtaining the compensated phase and the compensated frequency, the control device can generate a harmonic current based on the frequency, amplitude, compensated phase, and duration of the target acoustic wave signal after compensation.

[0087] More specifically, in order to enable the target acoustic wave signal output by the motor to have a three-dimensional sound field positioning effect, thereby improving the direction recognition of the target acoustic wave signal output by the motor, the control device can obtain the equivalent sound source spacing of the motor, as well as the preset offset angle between the harmonic current and the fundamental wave drive current, and can determine the compensation phase information based on the equivalent sound source spacing of the motor and the preset offset angle, and can compensate the phase according to the compensation phase information to obtain the compensated phase. In addition, the control device can also obtain the current speed information of the vehicle, and can determine the compensated frequency based on the current speed information and the frequency. Finally, a harmonic current can be generated based on the frequency, amplitude, compensated phase, and duration of the target acoustic wave signal after compensation.

[0088] In S103, a target control current is generated based on the fundamental wave drive current and the harmonic current.

[0089] In the embodiments of the present application, after obtaining the fundamental wave drive current and generating the harmonic current, the control device can generate a target control current based on the fundamental wave drive current and the harmonic current.

[0090] Among them, the target control current can include the fundamental wave drive current and the harmonic current, and can be used to drive the motor and control the motor to output the target acoustic wave signal.

[0091] In practical applications, harmonic current may cause torque fluctuations in the motor, which in turn affects the driving effect on the electrode. Based on this, the control device can calculate the torque fluctuations caused by the harmonic current, and then compensate the fundamental driving current according to the torque fluctuations caused by the harmonic current, thereby reducing the impact of the harmonic current on the driving effect of the electrode.

[0092] Based on this, in a possible implementation manner, the control device can generate a target control current according to the fundamental driving current and the harmonic current through steps h to j. The details are as follows:

[0093] In step h, determine the first torque fluctuation of the motor caused by the harmonic current.

[0094] In this implementation manner, the control device can first determine the first torque fluctuation of the motor caused by the harmonic current. Specifically, the control device can first determine the amplitude of the harmonic current and the rotor position angle information of the motor. Then, the control device can determine the first torque fluctuation according to the amplitude of the harmonic current, the rotor position angle information of the motor, and a preset constant.

[0095] Optionally, the control device can use the following formula to determine the first torque fluctuation according to the amplitude of the harmonic current, the rotor position angle information of the motor, and a preset constant:

[0096] ΔT = K × I h 2 × sin 2θ

[0097] Where, ΔT represents the first torque fluctuation, K represents the preset constant, I h represents the amplitude of the harmonic current, and θ represents the rotor position angle information of the motor.

[0098] Where, the specific value of the preset constant can be obtained through experiments and set according to actual requirements, and no specific limitation is made here.

[0099] In step i, determine the compensation current used to cancel the first torque fluctuation according to the first torque fluctuation.

[0100] In this implementation manner, after the control device determines the first torque fluctuation of the motor, it can determine the compensation current used to cancel the first torque fluctuation according to the first torque fluctuation.

[0101] Specifically, the control device can calculate the compensation current according to the first torque fluctuation through an inverse model.

[0102] In step j, generate a target control current according to the compensation current, the fundamental driving current, and the harmonic current.

[0103] In this implementation manner, after determining the compensation current, the control device can generate a target control current based on the compensation current, the fundamental wave driving current, and the harmonic current.

[0104] In practical applications, the compensation current calculated by the control device based on the first torque fluctuation may not necessarily achieve a good compensation effect. That is, after compensating the fundamental wave driving current with the initially obtained compensation current, there may still be torque fluctuations in the motor.

[0105] Based on this, the control device can use a sliding mode observer to detect the second torque fluctuation of the motor in real time, and the control device can correct the compensation current according to the second torque fluctuation of the motor corresponding to each moment.

[0106] After correcting the compensation current, the control device will re-execute the step of generating a target control current based on the compensation current, the fundamental wave driving current, and the harmonic current, so as to obtain a corrected target control current, and control the motor through the corrected target control current. Thus, the compensation current can be dynamically adjusted, and further, the negative impact of the harmonic current on the fundamental wave driving current can be minimized.

[0107] In addition, in practical applications, the control device can also detect whether the load of the motor changes suddenly. If the load of the motor changes suddenly, the control device can reduce the amplitude of the harmonic current to further reduce the negative impact of the harmonic current on the fundamental wave driving current and ensure the driving performance of the motor.

[0108] In S104, the motor of the vehicle is driven by the target control current, and the motor is controlled to output a target sound wave signal associated with the target data.

[0109] In the embodiment of the present application, after generating the target control current, the control device can send the target control current to the motor, so as to drive the motor through the fundamental wave driving current in the target control current, and control the motor to output a target sound wave signal associated with the target data through the harmonic current in the target control current.

[0110] As can be seen from the above, in the vehicle control method provided in the embodiment of the present application, first, the target data of the vehicle's sensors and the fundamental wave driving current of the vehicle's control device are obtained, then the harmonic current is generated according to the target data, and then the target control current is generated according to the fundamental wave driving current and the harmonic current. Finally, the motor of the vehicle is driven by the target control current, and the motor is controlled to output a target sound wave signal associated with the target data. Through this method, the motor of the vehicle can simultaneously realize the functions of driving the vehicle and outputting a sound wave signal. Therefore, the vehicle does not need to be provided with acoustic devices such as mechanical horns, buzzers, or independent speakers, reducing the production cost of the vehicle.

[0111] Based on the vehicle control method provided in the above embodiments, an embodiment of the present application further provides a vehicle control device for implementing the above method embodiment. Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application. As Figure 2 shown, the vehicle control device 20 may include: an acquisition unit 21, a first generation unit 22, a second generation unit 23, and a control unit 24. Among them:

[0112] The acquisition unit 21 is configured to acquire target data of a sensor of the vehicle and a fundamental wave drive current of a control device of the vehicle.

[0113] The first generation unit 22 is configured to generate a harmonic current according to the target data.

[0114] The second generation unit 23 is configured to generate a target control current according to the fundamental wave drive current and the harmonic current.

[0115] The control unit 24 is configured to drive a motor of the vehicle through the target control current and control the motor to output a target sound wave signal associated with the target data.

[0116] Optionally, the first generation unit 22 is specifically configured to:

[0117] Determine the current state information of the vehicle according to the target data; the current state information includes any one or more of the following: current position information, current three-axis attitude angle information, current three-axis attitude acceleration information, and current speed information;

[0118] Determine the frequency, amplitude, phase, and duration of the target sound wave signal according to the current state information;

[0119] Generate a harmonic current according to the frequency, amplitude, phase, and duration of the target sound wave signal.

[0120] Optionally, the first generation unit 22 is specifically configured to:

[0121] Acquire the equivalent sound source spacing of the motor and a preset offset angle between the harmonic current and the fundamental wave drive current;

[0122] Determine compensation phase information according to the equivalent sound source spacing of the motor and the preset offset angle;

[0123] Compensate the phase according to the compensation phase information to obtain the compensated phase;

[0124] Generate a harmonic current according to the frequency, amplitude, compensated phase, and duration of the target sound wave signal.

[0125] Optionally, the first generation unit 22 is specifically configured to:

[0126] Generating the harmonic current according to the frequency, amplitude, phase and duration of the target acoustic wave signal includes:

[0127] Obtaining the current speed information of the vehicle;

[0128] Determining the compensated frequency according to the current speed information and the frequency;

[0129] Generating the harmonic current according to the compensated frequency, amplitude, phase and duration of the target acoustic wave signal.

[0130] Optionally, the second generating unit 23 is specifically configured to:

[0131] Determining a first torque fluctuation of the motor caused by the harmonic current;

[0132] Determining a compensation current for canceling the first torque fluctuation according to the first torque fluctuation;

[0133] Generating a target control current according to the compensation current, the fundamental wave drive current and the harmonic current.

[0134] Optionally, the second generating unit 23 is specifically configured to:

[0135] Determining the amplitude of the harmonic current and the rotor position angle information of the motor;

[0136] Determining the first torque fluctuation according to the amplitude of the harmonic current, the rotor position angle information and a preset constant.

[0137] Optionally, the vehicle control device 20 may further include a correction unit. Wherein:

[0138] The correction unit is specifically configured to:

[0139] Real-time detecting a second torque fluctuation of the motor through a sliding mode observer;

[0140] Correcting the compensation current according to the second torque fluctuation corresponding to each moment.

[0141] It should be noted that for the information interaction, execution process, etc. between the above units, since they are based on the same concept as the method embodiment of the present application, their specific functions and the technical effects brought are specifically referable to the method embodiment part, and will not be elaborated here.

[0142] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a control device provided by an embodiment of the present application. As Figure 3As shown, the control device 3 provided in this embodiment may include: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and executable on the processor 30, such as a program corresponding to the vehicle control method. When the processor 30 executes the computer program 32, the steps in the above-mentioned vehicle control method embodiment are implemented, such as Figure 1 S101 to S104 shown. Alternatively, when the processor 30 executes the computer program 32, the functions of each module / unit in the above-mentioned vehicle control device embodiment are implemented, such as Figure 2 the functions of the units 21 to 24 shown.

[0143] Exemplarily, the computer program 32 may be divided into one or more modules / units. One or more modules / units are stored in the memory 31 and executed by the processor 30 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 32 in the control device 3. For example, the computer program 32 may be divided into an acquisition unit 21, a first generation unit 22, a second generation unit 23, and a control unit 24. For the specific functions of each unit, please refer to Figure 2 the relevant descriptions in the corresponding embodiments and will not be elaborated here.

[0144] Those skilled in the art can understand that Figure 3 this is merely an example of the control device 3 and does not constitute a limitation on the control device 3. It may include more or fewer components than shown in the figure, or combine certain components, or different components.

[0145] The processor 30 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0146] The memory 31 can be an internal storage unit of the control device 3, such as the hard disk or memory of the control device 3. The memory 31 can also be an external storage device of the control device 3, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, or a flash card equipped on the control device 3, etc. Further, the memory 31 can also include both the internal storage unit of the control device 3 and the external storage device. The memory 31 is used to store computer programs and other programs and data required by the control device. The memory 31 can also be used to temporarily store the data that has been output or will be output.

[0147] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit is used as an example. In actual applications, the above functions can be allocated to different functional units according to needs, that is, the internal structure of the vehicle control device is divided into different functional units to complete all or part of the functions described above. Each functional unit in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated herein.

[0148] The embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

[0149] The embodiment of the present application provides a computer program product, when the computer program product runs on a terminal device, the terminal device is enabled to implement the steps in the foregoing method embodiments.

[0150] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0151] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0152] The above-described embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application and should all be included in the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, Including: Obtaining target data of a vehicle's sensors and a fundamental drive current of the vehicle's control device; Generating a harmonic current according to the target data; Generating a target control current according to the fundamental drive current and the harmonic current; Driving a motor of the vehicle with the target control current and controlling the motor to output a target acoustic wave signal associated with the target data.

2. The method according to claim 1, characterized in that The generating a harmonic current according to the target data includes: Determining current state information of the vehicle according to the target data; the current state information includes any one or more of the following: current position information, current three-axis attitude angle information, current three-axis attitude acceleration information, and current speed information; Determining the frequency, amplitude, phase, and duration of the target acoustic wave signal according to the current state information; Generating the harmonic current according to the frequency, amplitude, phase, and duration of the target acoustic wave signal.

3. The method according to claim 2, characterized in that, The generating the harmonic current according to the frequency, amplitude, phase, and duration of the target acoustic wave signal includes: Obtaining an equivalent sound source spacing of the motor and a preset offset angle between the harmonic current and the fundamental drive current; Determining compensation phase information according to the equivalent sound source spacing of the motor and the preset offset angle; Compensating the phase according to the compensation phase information to obtain the compensated phase; Generating the harmonic current according to the frequency, amplitude, compensated phase, and duration of the target acoustic wave signal.

4. The method according to claim 2, wherein The generating the harmonic current according to the frequency, amplitude, phase, and duration of the target acoustic wave signal includes: Obtaining the current speed information of the vehicle; Determining the compensated frequency according to the current speed information and the frequency; Generating the harmonic current according to the compensated frequency, amplitude, phase, and duration of the target acoustic wave signal.

5. The method according to any one of claims 1 to 4, characterized in that, The generating a target control current according to the fundamental drive current and the harmonic current includes: Determining a first torque fluctuation of the motor caused by the harmonic current; Determining a compensation current for canceling the first torque fluctuation according to the first torque fluctuation; Generating the target control current according to the compensation current, the fundamental drive current, and the harmonic current.

6. The method according to claim 5, wherein The determining a first torque fluctuation of the motor caused by the harmonic current includes: Determining the amplitude of the harmonic current and the rotor position angle information of the motor; Determining the first torque fluctuation according to the amplitude of the harmonic current, the rotor position angle information, and a preset constant.

7. The method according to claim 5, characterized in that, Further including: Real-time detecting a second torque fluctuation of the motor through a sliding mode observer; Correcting the compensation current according to the second torque fluctuation corresponding to each moment.

8. A vehicle control device, characterized in that, Including: An obtaining unit, configured to obtain target data of a vehicle's sensors and a fundamental drive current of the vehicle's control device; A first generating unit, configured to generate a harmonic current according to the target data; A second generating unit, configured to generate a target control current according to the fundamental drive current and the harmonic current; A control unit for driving a motor of the vehicle by the target control current and controlling the motor to output a target sound wave signal associated with the target data.

9. A control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps in the vehicle control method according to any one of claims 1 to 7.

10. A computer program product, characterized in that, When the computer program product is executed by a processor, it implements the steps in the vehicle control method according to any one of claims 1 to 7.

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