Suspension system control method and device, vehicle and storage medium

Abstract

The invention discloses a control method and device of a suspension system, a vehicle and a storage medium, relates to the technical field of vehicles, and aims to solve the problem of how to control the suspension system to swing along with music. The energy management method comprises the following steps: in response to a music signal, controlling the suspension system to execute a rhythm action along with a drumbeat of the music signal.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a control method, device, vehicle, and storage medium for a suspension system. Background Art

[0002] Currently, with the continuous development of the automotive industry, new technologies and new applications on automotive products emerge in an endless stream, which makes automobiles gradually evolve from simple passenger and cargo carrying devices into advanced industrial products integrating various high technologies. With the continuous improvement of consumers' in-vehicle entertainment needs, in-vehicle entertainment systems are also constantly upgraded and improved. In-vehicle entertainment systems not only have high-quality sound effects but also support various music formats and playback methods, providing a richer music experience for drivers and passengers. However, due to modern consumers' increasing emphasis on personalized experiences, automobile manufacturers have introduced the function of the vehicle body rhythm with music, making the driving process more interesting and enjoyable. The vehicle body rhythm with music is essentially the rhythm of the suspension system in the vehicle. Therefore, how to control the suspension system so that the suspension system can dance with music is an urgent problem to be solved currently. Summary of the Invention

[0003] The purpose of the present application is to provide a control method, device, vehicle, and storage medium for a suspension system, aiming to solve the problem of how to control the suspension system to dance with music.

[0004] To achieve the above object, the present application adopts the following technical solutions:

[0005] In a first aspect, the present application provides a control method for a suspension system, including: in response to a music signal, controlling the suspension system to perform a rhythm action following the beats of the music signal.

[0006] The control method for the suspension system provided by the embodiments of the present application controls the suspension system to perform a rhythm action following the beats of the music signal by responding to the music signal. Thus, when the music sounds, the suspension system is controlled to perform a rhythm action according to the beats of the music, achieving the effect of the suspension system dancing with music, enhancing the entertainment of the vehicle, and thus making the driving process more interesting and improving the driving experience of users.

[0007] In some embodiments, the above-mentioned controlling the suspension system to perform a rhythm action following the beats of the music signal includes: controlling the suspension system to perform a first rhythm action at a first beat of the music signal; controlling the suspension system to perform a second rhythm action at a second beat of the music signal.

[0008] In some embodiments, the above-mentioned controlling the suspension system to perform a rhythm action following the beats of the music signal includes: controlling the suspension system to perform a pause action within a preset duration after performing the first rhythm action, and the pause action is used to keep the suspension system in the current posture.

[0009] In some embodiments, the above method further includes: controlling the suspension system to perform a recovery action after the pause action is completed, and the recovery action is used to make the suspension system restore the posture before performing the first rhythm action.

[0010] In some embodiments, controlling the suspension system to perform a rhythm action following the beat of a music signal includes: controlling the suspension system to complete the rhythm action within the adjustment time when the beat starts.

[0011] In some embodiments, the above suspension system includes a plurality of suspension structures; controlling the suspension system to perform a rhythm action following the beat of a music signal includes: determining a target suspension structure that performs the rhythm action from the plurality of suspension structures, and adjusting the displacement of the target suspension structure within the adjustment time when the beat starts.

[0012] In some embodiments, adjusting the displacement of the target suspension structure within the adjustment time when the beat starts includes: for each target suspension structure: controlling a drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts, so as to adjust the displacement of at least one target suspension structure.

[0013] In some embodiments, controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts includes: based on the current displacement, target displacement, and adjustment time of the target suspension structure, controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts.

[0014] In some embodiments, based on the current displacement, target displacement, and adjustment time of the target suspension structure, controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts includes: based on the current displacement, target displacement, and adjustment time of the target suspension structure, determining the suspension displacement-time relationship and suspension speed-time relationship of the target suspension structure; based on the suspension displacement-time relationship and suspension speed-time relationship, controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts.

[0015] In some embodiments, based on the suspension displacement-time relationship and suspension speed-time relationship, controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts includes: based on the suspension displacement-time relationship, suspension speed-time relationship, and leverage ratio of the target suspension structure, determining the motor displacement-time relationship and motor speed-time relationship of the drive motor; based on the motor displacement-time relationship and motor speed-time relationship, controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts.

[0016] In some embodiments, controlling the driving motor in the target suspension structure to output a target force during the adjustment time when the drumbeat starts based on the motor displacement-time relationship and the motor speed-time relationship includes: during the adjustment time when the drumbeat starts, determining the feedforward force of the driving motor at the current moment according to the motor displacement-time relationship, and determining the feedback force of the driving motor at the current moment according to the motor displacement-time relationship and / or the motor speed-time relationship; controlling the driving motor to output the sum of the feedforward force and the feedback force at the current moment.

[0017] In some embodiments, the above-mentioned feedback force includes a speed feedback force and / or a displacement feedback force.

[0018] In some embodiments, the above-mentioned displacement feedback force is determined in the following manner: determining the target displacement of the driving motor at the current moment based on the motor displacement-time relationship; performing feedback processing on the target displacement and the actual displacement of the driving motor at the current moment to obtain the displacement feedback force.

[0019] In some embodiments, the above-mentioned speed feedback force is determined in the following manner: determining the target speed of the driving motor at the current moment based on the motor speed-time relationship; performing feedback processing on the target speed and the actual speed of the driving motor at the current moment to obtain the speed feedback force.

[0020] In some embodiments, the above-mentioned method further includes: based on the music signal, determining the probability that each playback moment of the music signal is a drumbeat and the energy of each playback moment; determining the playback moments whose probability satisfies the probability threshold condition as drumbeats; determining the energy of the drumbeats based on the energy of each playback moment and the drumbeats.

[0021] In some embodiments, the adjustment amount of the displacement of the above-mentioned target suspension structure is positively correlated with the energy of the music signal at the drumbeat.

[0022] In some embodiments, the above-mentioned probability threshold condition includes: the probability is greater than the probability threshold.

[0023] In some embodiments, determining the probability that each playback moment of the music signal is a drumbeat based on the music signal includes: determining the characteristic information of the music signal at each playback moment; based on the characteristic information of the music signal at each playback moment, determining the probability that each playback moment of the music signal is a drumbeat and the energy of each playback moment.

[0024] In some embodiments, the above-mentioned characteristic information includes time-domain characteristic information and frequency-domain characteristic information.

[0025] In some embodiments, determining the probability of each playback of the music signal being a drumbeat and the energy of each playback moment based on the feature information of the music signal at each playback moment includes: using a cross-attention algorithm to fuse the time-domain feature information and frequency-domain feature information of the music signal at the playback moment to obtain the time-frequency feature information of the music signal at the playback moment; based on the time-frequency feature information of the music signal at each playback moment, determining the probability of each playback moment of the music signal being a drumbeat and the energy of each playback moment.

[0026] In some embodiments, determining the probability of each playback moment of the music signal being a drumbeat and the energy of each playback moment based on the time-frequency feature information of the music signal at each playback moment includes: inputting the time-frequency feature information of the music signal at each playback moment into a drumbeat recognition model to obtain the probability of each playback moment of the music signal being a drumbeat and the energy of each playback moment.

[0027] In some embodiments, the above drumbeat recognition model includes a Transformer model.

[0028] In some embodiments, before the above-mentioned response to the music signal to control the active suspension control system to perform a rhythmic action following the drumbeat of the music signal, it further includes: obtaining an original music signal and preprocessing the original music signal to obtain a music signal.

[0029] In some embodiments, the above preprocessing includes at least one of the following: filtering processing, noise reduction processing, pre-emphasis processing, frame segmentation processing, windowing processing, and differential processing.

[0030] In some embodiments, the above suspension structure includes an electromagnetic suspension structure.

[0031] In some embodiments, the electromagnetic suspension structure includes: a linear motor; the linear motor is configured to control the magnitude and direction of the force output by the linear motor according to the target output force to control the suspension system to perform a rhythmic action.

[0032] In some embodiments, the linear motor includes: a stator assembly and a mover assembly; the linear motor is configured to control the magnitude and direction of the force output by the linear motor according to the target output force to control the rhythm of the suspension system, including: controlling the current flowing through the stator assembly according to the target output force, so that the stator assembly and the mover assembly cooperate with each other to control the magnitude and direction of the force output by the linear motor, to control the suspension system to perform a rhythmic action, wherein the direction of the cooperative movement of the stator assembly and the mover assembly is the same as the direction of the force output by the linear motor.

[0033] In a second aspect, the present application provides an electronic device, including: a processor and a memory configured to store processor-executable instructions; wherein, the processor is configured to execute the instructions to implement the control method of any optional suspension system in the above first aspect.

[0034] In a third aspect, the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions in the computer-readable storage medium are executed by a device, the device can execute the control method of any of the optional suspension systems in the first aspect above.

[0035] In a fourth aspect, the present application provides a vehicle, including: the electronic device in the third aspect above, or the computer-readable storage medium in the fourth aspect.

[0036] In a fifth aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions run on a processor of a device, the device can execute the control method of any of the optional suspension systems in the first aspect above. Description of the Drawings

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application;

[0039] Figure 2 It is a schematic structural diagram of a linear motor provided by an embodiment of the present application;

[0040] Figure 3 It is a schematic flow diagram of a control method for a suspension system provided by an embodiment of the present application;

[0041] Figure 4 It is a schematic flow diagram of another control method for a suspension system provided by an embodiment of the present application;

[0042] Figure 5 It is a schematic flow diagram of another control method for a suspension system provided by an embodiment of the present application;

[0043] Figure 6 It is a schematic architecture diagram of a control method for a suspension system provided by an embodiment of the present application;

[0044] Figure 7 It is a schematic diagram for controlling the dancing of a suspension structure provided by an embodiment of the present application;

[0045] Figure 8 It is a schematic structural diagram of a control device for a suspension system provided by an embodiment of the present application;

[0046] Figure 9 This is a schematic structural diagram of a device provided by an embodiment of the present application. Specific embodiments

[0047] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0048] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "inner", "outer", etc. is the orientation or relative positional relationship based on the orientation shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. Without special instructions, in the case of satisfying the relative positional relationship shown in the accompanying drawings, the above-described orientation description can be flexibly set during the actual application process.

[0049] The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying 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. In the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0050] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", and "communicated" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection. It may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0051] In the embodiments of the present application, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, article or device. Without further limitations, the element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, article or device including the element.

[0052] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0053] In the description of this specification, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0054] Currently, with the continuous development of the automotive industry, new technologies and new applications on automotive products emerge in an endless stream, which makes the automobile gradually evolve from a simple device for carrying people and goods into an advanced industrial product integrating various high technologies. With the continuous improvement of consumers' in-vehicle entertainment needs, in-vehicle entertainment systems are also constantly upgraded and improved. In-vehicle entertainment systems not only have high-quality sound effects, but also support a variety of music formats and playback methods, providing a richer music experience for drivers and passengers. However, due to modern consumers' increasing emphasis on personalized experiences, automobile manufacturers have introduced a function that makes the body rhythm with music, making the driving process more interesting and enjoyable.

[0055] The related art has proposed a rhythm chassis and its rhythm control method. This method identifies the music in the environment to form a rhythm signal, generates a rhythm execution instruction based on the rhythm signal, and drives the chassis body to perform rhythm according to the rhythm execution instruction.

[0056] The related art has also proposed a vehicle control method. This method obtains the frequency signal of the audio signal in a fixed frequency range and controls the active suspension system of the vehicle to perform rhythm actions according to the frequency signal.

[0057] It can be seen that both of the above two methods extract rhythm signals or frequency signals from music or audio. Rhythm signals and frequency signals can both be regarded as rhythm signals for the body to dance with music, and the rhythm signal can be determined by obtaining the drum beats in the audio. In the related art, a drum beat model is trained through a labeled drum beat audio set, and the drum beat model is updated with the updated audio set, and then the drum beat model is used to identify the drum beats in the audio.

[0058] However, the above two methods respectively control the vehicle to dance based on air suspension and hydraulic suspension, and the speed of the response signal is relatively slow. Therefore, when the body dances, it may not be able to quickly change with the change of the music rhythm.

[0059] Based on this, the present application proposes a control method for a suspension system, including: in response to a music signal, controlling the suspension system to perform rhythmic movements following the beats of the music signal. Thus, when the music sounds, the suspension system is controlled to perform rhythmic movements according to the beats of the music, achieving the effect of the suspension system dancing with the music, enhancing the entertainment of the vehicle, making the driving process more interesting, and improving the user's driving experience.

[0060] In some embodiments, the control method of the suspension system of the present application can be applied to control the actuator to move. The control process of the actuator can refer to the control process of the suspension structure in the suspension system. When the actuator is doing dance movements, such as breakdancing, the actuator can achieve position holding and rapid movements by controlling it with this method.

[0061] In some other embodiments, the control method of the suspension system of the present application can be used to control the suspension system to dance with the music. Dancing with the music is an innovative function that combines music and dancing. It can dance freely according to the rhythm and beats of the music, bringing a new audio-visual experience to users.

[0062] It should be noted that the function of dancing with the music can be applied not only to vehicles but also to different platforms and scenarios, and no specific limitations are made here. For example, applying the control method of the suspension system to vehicle performances can create unique visual effects and auditory enjoyment, which are highly entertaining and ornamental.

[0063] It should be understood that the control method of the suspension system of the present application controls the suspension system to perform rhythmic movements based on the beats in the music signal, and can also be combined with the lighting system in the vehicle, so that the lights also flash based on the beats in the music signal, which can create more colorful visual effects and auditory enjoyment and bring a new viewing experience to the audience.

[0064] As Figure 1 shown, in some embodiments, the vehicle includes a controller 310 and a suspension system. The suspension system includes 4 suspension structures 320, which are respectively located at the left front, left rear, right front, and right rear of the vehicle. The suspension structure 320 is electrically connected to the controller 310. When the music sounds, the controller 310 controls the target suspension structure 320 in the suspension system to displace, so that the suspension system realizes rhythmic movements.

[0065] The suspension structure is an electromagnetic suspension structure. The suspension structure includes a linear motor 100, as Figure 2As shown, the linear motor 100 includes a stator assembly 110 and a mover assembly 120. The stator assembly 110 and the mover assembly 120 cooperate with each other to control the movement of the electromagnetic suspension structure. The direction of the mutual cooperation and movement between the stator assembly 110 and the mover assembly 120 is the direction of the lifting of the electromagnetic suspension structure, and the direction of the target force formed by the mutual cooperation between the stator assembly 110 and the mover assembly 120 is also the direction of the lifting of the electromagnetic suspension structure.

[0066] In some embodiments, the active suspension system of the present application can perform the following rhythmic actions: the vehicle body pauses and rolls from side to side, the vehicle body pauses and pitches back and forth, the vehicle body pauses and moves up and down, and the four suspension structures move clockwise or counterclockwise.

[0067] Among them, when the vehicle body pauses and rolls from side to side, if the vehicle body leans to the left, the left front suspension and the left rear suspension move downward, and the right front suspension and the right rear suspension move upward; if the vehicle body leans to the right, the right front suspension and the right rear suspension move downward, and the left front suspension and the left rear suspension move upward.

[0068] If the vehicle body leans to the left, the direction of the target force formed by the mutual cooperation between the stator assembly and the mover assembly in the linear motors corresponding to the left front suspension and the left rear suspension is downward, that is, the linear motors output downward forces to drive the left front suspension and the left rear suspension to move downward, and the direction of the target force formed by the mutual cooperation between the stator assembly and the mover assembly in the linear motors corresponding to the right front suspension and the right rear suspension is upward, that is, the linear motors output upward forces to drive the right front suspension and the right rear suspension to move upward. After the left front suspension, the left rear suspension, the right front suspension, and the right rear suspension move to the target displacement, by controlling the current flowing through the stator assembly of the linear motor, a force with a constant magnitude and direction is output by the linear motor within a preset time period to keep the vehicle body in a left-leaning state. The process of the vehicle body leaning to the right is opposite to the process of the vehicle body leaning to the left. The process of the DC motor controlling the suspension structure can refer to the process of the vehicle body leaning to the left and will not be elaborated here.

[0069] When the vehicle body pauses and pitches back and forth, if the vehicle body pitches forward, the left front suspension and the right front suspension move downward, and the left rear suspension and the right rear suspension move upward; if the vehicle body pitches backward, the left front suspension and the right front suspension move upward, and the left rear suspension and the right rear suspension move downward.

[0070] If the whole vehicle pitches forward, the direction of the target force formed by the cooperation of the stator assembly and the mover assembly in the linear motors corresponding to the left front suspension and the right front suspension is downward, that is, the linear motors output a downward force to drive the left front suspension and the right front suspension to move downward. The direction of the target force formed by the cooperation of the stator assembly and the mover assembly in the linear motors corresponding to the left rear suspension and the right rear suspension is upward, that is, the linear motors output an upward force to drive the left rear suspension and the right rear suspension to move upward. After the left front suspension, the left rear suspension, the right front suspension, and the right rear suspension move to the target displacement, by controlling the current flowing through the stator assembly of the linear motor, the linear motor is controlled to output a force with a constant magnitude and direction within a preset time period to keep the whole vehicle in the pitched-forward state. The process of the whole vehicle pitching backward is opposite to the process of the whole vehicle pitching forward. The process of the DC motor controlling the suspension structure can refer to the process of the whole vehicle pitching forward and will not be elaborated here.

[0071] When the whole vehicle moves up and down in a pause manner, if the whole vehicle moves upward, the left front suspension, the right front suspension, the left rear suspension, and the right rear suspension all move upward; if it moves downward, the left front suspension, the right front suspension, the left rear suspension, and the right rear suspension all move downward.

[0072] If the whole vehicle moves upward, the direction of the target force formed by the cooperation of the stator assembly and the mover assembly in the linear motors corresponding to the left front suspension, the right front suspension, the left rear suspension, and the right rear suspension is upward, that is, the linear motors output an upward force to drive the left front suspension, the right front suspension, the left rear suspension, and the right rear suspension to move upward. After the left front suspension, the left rear suspension, the right front suspension, and the right rear suspension move to the target displacement, by controlling the current flowing through the stator assembly of the linear motor, the linear motor is controlled to output a force with a constant magnitude and direction within a preset time period to keep the whole vehicle in the current posture. The process of the whole vehicle moving downward is opposite to the process of the whole vehicle moving upward. The process of the DC motor controlling the suspension structure can refer to the process of the whole vehicle moving upward and will not be elaborated here.

[0073] The four suspension structures move clockwise or counterclockwise. The clockwise movement sequence is: left front suspension - right front suspension - left rear suspension - right rear suspension, and the counterclockwise movement sequence is: left front suspension - left rear suspension - right rear suspension - right front suspension. If these four suspensions move upward in a clockwise order, the rhythm of the vehicle will present a wave state. The rest of the cases, such as moving counterclockwise or moving downward, can refer to the case of moving upward in a clockwise order and will not be described in detail here.

[0074] The control method of the suspension system of the present application is applicable to the above-mentioned controller. Among them, the controller can be an electronic device such as a personal computer (PC), a laptop, a mobile device, a tablet computer, a notebook computer, etc. The embodiments of the present application do not limit the specific form of the electronic device. Alternatively, it can also be a single server or a server cluster composed of multiple servers. In some implementation manners, the server cluster can be a distributed cluster server. The embodiments of the present application do not make any restrictions on this.

[0075] As Figure 3 shown, the control method of the suspension system provided by the embodiments of the present application includes:

[0076] S301. In response to the music signal, control the suspension system to perform a rhythmic action following the beat of the music signal.

[0077] Among them, the music signal can be a sound signal in the environment or a music signal played by the in-vehicle entertainment system. The music signal can also be an audio signal customized by the user according to their own preferences and needs.

[0078] As a possible implementation manner, it is possible to first detect whether there is a music signal in the area where the suspension control system is located. In the case of the presence of a music signal, obtain the beat of the music signal and control the active suspension control system to perform a rhythmic action following the beat of the music signal.

[0079] As a possible implementation manner, it is possible to collect parameters such as the frequency, volume, and beat of the music in the vehicle interior environment through a sound acquisition module to obtain the music signal.

[0080] As a possible implementation manner, it is possible to directly obtain the music signal through the in-vehicle entertainment system. With the development of vehicle networking technology, the in-vehicle entertainment system can also use network technology to obtain music signals on the network.

[0081] In some embodiments, the process of identifying the beat moment from the music signal can be: Since the beat usually exhibits unique frequency characteristics and time characteristics, the beat in the music signal can be obtained by performing frequency analysis or time analysis on the music signal. Exemplarily, the frequency analysis can be Fourier transform, and the time analysis can be short-time energy calculation, etc.

[0082] In some other embodiments, the process of identifying the beat moment from the music signal can also be: By performing peak detection or waveform analysis on the music signal, determine the places where the waveform of the music signal has obvious spike-like shapes, and these places can be considered as beats.

[0083] It should be noted that in some other embodiments, the controller can intelligently identify the type and style of music signals and match corresponding rhythmic movements according to different music types. This can ensure the coordination and consistency between the dancing and the music.

[0084] Among them, the rhythmic movement can be controlling the suspension system to perform up and down bouncing movements at the drumbeat moment, or it can also be dancing movements customized by the user according to their own preferences and needs, and specific limitations are not made here.

[0085] It should be noted that the stiffness of the suspension system determines the ability of the suspension system to resist deformation. The greater the stiffness, the smaller the deformation of the suspension system when subjected to external forces, and the smaller the stiffness, the greater the deformation. When it is necessary for the suspension system to produce obvious up and down bouncing, the stiffness can be appropriately reduced. When the required bouncing movement of the suspension system is not obvious, the stiffness can be appropriately increased.

[0086] As a possible implementation method, the movement trajectory of the suspension system can be changed by adjusting the stiffness of the suspension system, so as to control the suspension system to perform rhythmic movements.

[0087] In some other embodiments, after the suspension system performs a rhythmic movement, the rhythmic movement may need to be maintained for a period of time. The action holding time depends on the damping of the suspension system. The greater the damping, the faster the attenuation; the smaller the damping, the slower the attenuation. When it is necessary for the suspension system to produce continuous up and down bouncing or left and right swaying, the damping can be appropriately reduced so that the suspension system can maintain energy for a longer time during the action process, thereby extending the holding time of the bouncing.

[0088] As a possible implementation method, the movement state of the suspension system can be changed by adjusting the damping of the suspension system, so as to control the suspension system to perform rhythmic movements.

[0089] It should be noted that too small stiffness or damping may lead to a decrease in the stability of the vehicle during high-speed driving. Therefore, when adjusting the stiffness and damping of the suspension system, it must be ensured that it does not pose a threat to the driving safety of the vehicle.

[0090] Based on S301, it can be seen that by responding to music signals, when the music sounds, the active suspension system is controlled to perform rhythmic movements following the drumbeat of the music signal, achieving the effect of the suspension system dancing with the music, enhancing the entertainment of the vehicle, making the driving process more interesting, and improving the user's driving experience.

[0091] In some embodiments, the suspension structure in the suspension system of the present application is an electromagnetic suspension structure. The electromagnetic structure suspension includes: a linear motor, and the linear motor can control the magnitude and direction of the force output by the linear motor according to the target output force to control the suspension system to perform rhythmic movements.

[0092] As a possible implementation, the linear motor can control the current flowing through the stator assembly according to the target output force, so that the stator assembly and the mover assembly cooperate with each other to control the magnitude and direction of the output force of the linear motor, so as to control the suspension system to perform a rhythm action.

[0093] Among them, the direction of the cooperative movement of the stator assembly and the mover assembly is the same as the direction of the output force of the linear motor.

[0094] It should be noted that since the direction of the cooperative movement of the stator assembly and the mover assembly is the same as the direction of the output force of the linear motor, and the movement axis of the linear motor is a straight line rather than a rotational axis, there is no need to be converted into a linear motion through a transmission device (such as gears, belts, etc.). Therefore, it has the characteristic of quickly controlling the electromagnetic suspension. So after receiving the control signal, the linear motor can quickly output force to drive the electromagnetic suspension to move, achieving the effect of quickly responding to the control signal.

[0095] Thus, by using the electromagnetic suspension structure, the time from receiving the control signal to controlling the suspension system to perform a rhythm action is shortened, so that the suspension system can quickly respond to the change of the music beat.

[0096] In some embodiments, since the suspension system can also maintain the rhythm action for a period of time when following the beat of the music signal, it is possible to control a part of the beats in the music signal to maintain for a period of time after performing the rhythm action according to the user's needs. Therefore, the above control of the suspension system to follow the beat of the music signal to perform a rhythm action includes:

[0097] S401. Control the suspension system to perform a first rhythm action at the first beat of the music signal.

[0098] S402. Control the suspension system to perform a second rhythm action at the second beat of the music signal.

[0099] Among them, the first beat is used to indicate to perform a pause action after performing the first rhythm action, and the second classical is used to indicate only performing the second rhythm action.

[0100] It should be noted that the first rhythm action and the second rhythm action are rhythm actions performed by different beats in a piece of music. These two rhythm actions can be the same. For example, control the same target suspension to rise to the same height. They can also be different. For example, control the same target suspension to rise to different heights, control different target suspensions to rise to the same height, control different target suspensions to rise to different heights, etc., which are not specifically limited here.

[0101] As a possible implementation, the first drumbeat and the second drumbeat in the music signal can be marked to obtain the identifier of each drumbeat. When a drumbeat is detected, it is determined whether the drumbeat is the first drumbeat or the second drumbeat through the identifier, and then the first rhythmic movement or the second rhythmic movement is controlled to be executed.

[0102] It should be noted that in some embodiments, in order to ensure the stability of the suspension system, after executing the first rhythmic movement, the above method further includes:

[0103] Controlling the suspension system to execute a pause action within a preset duration after executing the first rhythmic movement.

[0104] Wherein, the pause action is used to keep the suspension system in its current posture.

[0105] It should be noted that after the suspension system executes a first rhythmic movement, the suspension system needs to remain stable to avoid shaking and instability caused by sudden changes. Therefore, it can be maintained for a period of time to gradually adapt to the new motion state, and this period of maintenance helps to reduce the impact and vibration caused by sudden changes, making the vehicle movement smoother.

[0106] As a possible implementation, when a drumbeat is detected, the controller calls the corresponding control program to control the suspension system to execute the first rhythmic movement. After the execution is completed, the controller controls the suspension system to execute a pause action and maintains the pause action for a preset duration. At this time, it indicates that the suspension system has adapted to this action state.

[0107] Thus, after the suspension system executes the first rhythmic movement, it can also maintain the pause action for a period of time, so that the vehicle can perform dancing actions such as action holding and rapid rhythm. When the music in the vehicle sounds, the vehicle body can quickly make various rhythmic movements, bringing a visual shock to the audience.

[0108] It should be noted that in some embodiments, if the time difference between two drumbeats is relatively long, the suspension system can also be controlled to execute a restoration action after executing the pause action. Wherein, the restoration action is used to make the suspension system restore its posture before executing the first rhythmic movement.

[0109] Thus, by executing the restoration action, if the time difference between two drumbeats is relatively long, after the pause, the suspension system is controlled to restore its posture before executing the first rhythmic movement, realizing the restoration of the suspension system without a drumbeat, which not only improves the user experience but also enhances the vehicle stability.

[0110] In some embodiments, in order to enable the suspension system to respond promptly to the changes in the drum beats in the music signal, the response speed of the suspension system can be increased by increasing the speed of performing the rhythmic actions. When the amplitude of the rhythmic movement of the suspension system remains unchanged, shortening the action execution time can increase the speed of performing the rhythmic actions. Controlling the suspension system to perform the rhythmic actions at the drum beat moment can include:

[0111] S501. Control the suspension system to complete the rhythmic actions within the adjustment time starting from the drum beat.

[0112] As a possible implementation, when a drum beat is detected, the control unit calls the corresponding control program to control the suspension system to perform the rhythmic actions. When the adjustment time ends, the control unit stops controlling the suspension system to perform the rhythmic actions.

[0113] Among them, the adjustment time and the amplitude of the rhythmic actions can be preset according to user requirements.

[0114] Exemplarily, if the time when the drum beat is detected is 1 s, the adjustment time of the suspension system is 0.1 s, and the rhythmic action of the suspension system is an upward displacement of 30 mm, then the position of the suspension system at 1.1 s is 30 mm higher than the position of the suspension system at 1 s.

[0115] It should be noted that the solution of the present application only limits the control of the suspension system to complete the rhythmic actions within the adjustment time, and does not limit how to control the motion parameters of the suspension system to perform actions within the adjustment time. That is, it does not limit parameters such as the speed and acceleration of the movement of the suspension system.

[0116] For example, the rhythmic action of the suspension system is an upward displacement of 30 mm. The suspension system performs an accelerating motion within 1.05 s, and a decelerating motion from 1.05 s to 1.1 s. Or the displacement of the suspension system at 1.05 s is 35 mm, and then the suspension system descends from 1.05 s to 1.1 s, so that the position of the suspension system at 1.1 s is 30 mm higher than the position of the suspension system at 1 s.

[0117] Thus, by controlling the adjustment time of the suspension system to perform the rhythmic actions, within the adjustment time, the suspension system can complete the rhythmic actions, enabling the suspension system to quickly dance and change following the changes in the music drum beats.

[0118] In some embodiments, the suspension system includes multiple suspension structures. Since these suspension structures can all work independently, when the suspension system performs the rhythmic actions, each suspension system needs to be adjusted accordingly. In some special cases, when the vehicle is traveling at a stable speed on a flat road surface and the action amplitude is not large, only some suspensions need to be adjusted.

[0119] Therefore, the above control of the suspension system to perform rhythmic actions following the beats of the music signal may include:

[0120] S601. Determine the target suspension structure for performing rhythmic actions from multiple suspension structures, and adjust the displacement of the target suspension structure within the adjustment time when the beat starts.

[0121] As a possible implementation, the identifier of the target suspension structure for performing rhythmic actions can be determined, and the target suspension structure for performing rhythmic actions can be determined from multiple suspension structures according to the identifier of the target suspension structure, and then the displacement of the target suspension structure is adjusted within the adjustment time when the beat starts.

[0122] As another possible implementation, the displacements of each target suspension structure may be different, so the identifier of the target suspension structure for performing rhythmic actions and the target adjustment amount of the displacement of each target suspension structure can also be determined, and the displacement of the target suspension structure is adjusted according to the identifier of the target suspension structure and the target adjustment amount.

[0123] In some other embodiments, the adjustment amount of the displacement of the target suspension structure has a positive correlation with the energy of the music signal at the beat moment.

[0124] As a possible implementation, obtain the moment of each beat in the music signal and the energy of each beat, determine the adjustment amount corresponding to each beat according to the energy of each beat, and when the beat moment arrives, control the displacement of the target suspension structure to adjust the corresponding adjustment amount within the adjustment time and maintain it for a preset duration.

[0125] Exemplarily, compared with soothing light music, under energetic fast-paced music, the adjustment amount of the displacement of the target suspension structure will be relatively large, so as to better adapt to the body swing amplitude of the driver.

[0126] Exemplarily, the energy P of the music signal at the beat moment, the adjustment amount of the displacement of the target suspension structure, the start moment, the adjustment time, and the preset duration to be maintained can be as shown in Table 1. Assuming the beat moment is t s , then there is the following correspondence between the energy and the adjustment amount:

[0127] Table 1

[0128]

[0129] Thus, when the suspension system performs rhythmic actions, it is not necessary to control all suspension structures, and only the corresponding suspension structures need to be controlled to act. In this way, the reduction in the number of suspension structures simplifies the control process of the suspension system and reduces the burden on the vehicle controller. Since the suspension structures need energy support to perform rhythmic actions, the reduction in the number of suspension structures reduces the required energy, thereby reducing energy consumption.

[0130] In some embodiments, the displacement of the suspension structure is related to the output force of the motor. When the motor is driven, a certain output force is generated. This force is transmitted to the suspension structure to drive the suspension structure to work. On the premise that the movement direction remains unchanged, the force and displacement are positively correlated. The greater the force, the greater the displacement. Therefore, the displacement of the suspension structure can be controlled by controlling the magnitude of the output force of the driving motor.

[0131] Therefore, adjusting the displacement of at least one target suspension structure related to the rhythm action among multiple suspension structures during the adjustment time when the drumbeat starts includes:

[0132] S701. For each target suspension structure: control the driving motor in the target suspension structure to output a target force during the adjustment time when the drumbeat starts to adjust the displacement of the target suspension structure.

[0133] As a possible implementation, determine the adjustment amount of the displacement of the target suspension structure, determine the magnitude of the target driving force for driving the target suspension structure to move output by the motor according to the adjustment amount of the displacement, and then determine the target force output by the driving motor according to the driving force.

[0134] In some embodiments, based on the current displacement, target displacement, and adjustment time of the target suspension structure, control the driving motor in the target suspension structure to output a target force during the adjustment time when the drumbeat starts.

[0135] The target force is used to indicate the force output by the driving motor to achieve the displacement adjustment amount of the target suspension structure.

[0136] As a possible implementation, based on the current displacement, target displacement, and adjustment time of the target suspension structure, determine the suspension displacement-time relationship and suspension speed-time relationship of the target suspension structure, and based on the suspension displacement-time relationship and suspension speed-time relationship, control the driving motor in the target suspension structure to output a target force during the adjustment time when the drumbeat starts.

[0137] The suspension displacement-time relationship is used to indicate the relationship between the change in suspension displacement and time, and the suspension speed-time relationship is used to indicate the relationship between the change in suspension speed and time.

[0138] As a possible implementation, based on the suspension displacement-time relationship, suspension speed-time relationship, and leverage ratio of the target suspension structure, determine the motor displacement-time relationship and motor speed-time relationship of the driving motor, and based on the motor displacement-time relationship and motor speed-time relationship, control the driving motor in the target suspension structure to output a target force during the adjustment time when the drumbeat starts.

[0139] Among them, the motor displacement-time relationship is used to indicate the relationship between the change in motor displacement and time, and the motor speed-time relationship is used to indicate the relationship between the change in motor speed and time.

[0140] Exemplarily, the target force output by the driving motor can be determined according to the following formula:

[0141] First, determine the suspension displacement-time relationship and the suspension speed-time relationship of the target suspension structure according to the current displacement, target displacement, and adjustment time of the target suspension structure. The suspension displacement-time relationship can be represented by the displacement curve of the suspension structure, and the suspension speed-time relationship can be represented by the speed curve of the suspension structure.

[0142] Among them, the displacement curve of the suspension structure and the speed curve of the suspension structure can be calculated according to the cubic polynomial, as shown in formula (1).

[0143]

[0144] Among them, represents the current displacement of the suspension structure. represents the target displacement of the suspension structure, v0 represents the current speed of the suspension structure, v1 represents the target speed of the suspension structure, T0 represents the beat, and T1 represents the adjustment time.

[0145] Let the current speed of the suspension structure, the target speed of the suspension structure, and the beat all be 0, and the adjustment time be 0.1 s. Substitute them into the cubic polynomial to obtain b0, b1, b2, b3. Then the displacement and speed of each suspension structure are:

[0146] Pos_plan = b3t 3 + b2t 2 + b1t + b0 Formula (2)

[0147] V_plan = 3b3t 2 + 2b2t + b1 Formula (3)

[0148] Among them, P os _plan represents the displacement curve of the suspension structure, and V_plan represents the speed curve of the suspension structure.

[0149] In some embodiments, the acceleration of the suspension structure can also be determined to precisely control the movement of the suspension structure. The displacement curve, suspension speed curve, and suspension acceleration curve of the suspension structure are calculated according to the fifth polynomial, as shown in formula (4).

[0150]

[0151] Among them, represents the current displacement of the suspension structure. Let \(Pos_0\) represent the target displacement of the suspension structure, \(V_0\) represent the current speed of the suspension structure, \(V_1\) represent the target speed of the suspension structure, \(A_0\) represent the current acceleration of the suspension structure, \(A_1\) represent the target acceleration of the suspension structure, \(t_0\) represent the drumbeat, and \(t_1\) represent the adjustment time.

[0152] Set the current speed of the suspension structure, the target speed of the suspension structure, the current acceleration of the suspension structure, the target acceleration of the suspension structure, and the drumbeat to 0, and the adjustment time to 0.1 s. Substitute them into the fifth-degree polynomial to obtain \(b_0\), \(b_1\), \(b_2\), \(b_3\). Then the displacement, speed, and acceleration of each suspension structure are:

[0153] Pos_plan = \(b_5t^5\) 5 +\(b_4t^4\) 4 +\(b_3t^3\) 3 +\(b_2t^2\) 2 +\(b_1t + b_0\) Formula (5)

[0154] V_plan = \(5b_5t^4\) 4 +\(4b_4t^3\) 3 +\(3b_3t^2\) 2 +\(2b_2t + b_1\) Formula (6)

[0155] A_plan = \(20b_5t^3\) 3 +\(12b_4t^2\) 2 +\(6b_3t + 2b_2\) Formula (7)

[0156] Among them, P os _plan represents the displacement curve of the suspension structure, V_plan represents the speed curve of the suspension structure, and A_plan represents the acceleration curve of the suspension structure.

[0157] Furthermore, determine the motor displacement-time relationship and the motor speed-time relationship based on the obtained displacement curve of the suspension structure, the speed curve of the suspension structure, and the lever ratio. The motor displacement-time relationship can be represented by the motor displacement curve, and the motor speed-time relationship can be represented by the motor speed curve:

[0158] PosMot_plan = Pos_plan * i Formula (8)

[0159] VMot_plan = V_plan * i Formula (9)

[0160] Among them, i is the suspension lever ratio (front suspension lever ratio and rear suspension lever ratio), PosMot_plan represents the motor displacement curve, and VMot_plan represents the motor speed curve.

[0161] In some embodiments, during the adjustment time when the drumbeat starts, the feedforward force of the drive motor at the current moment can be determined according to the motor displacement-time relationship, and the feedback force of the drive motor at the current moment can be determined according to the motor displacement-time relationship and / or the motor speed-time relationship, and the drive motor is controlled to output the sum of the feedforward force and the feedback force at the current moment.

[0162] Exemplarily, the driving force of the motor is determined according to the motor displacement, and then the feedforward force is determined according to the driving force:

[0163]

[0164] where k is the suspension stiffness (front suspension stiffness and rear suspension stiffness), and ForceMot_plan represents the feedforward force output by the motor.

[0165] It should be noted that the suspension system in a vehicle is divided into a front suspension part and a rear suspension part. The front suspension is usually responsible for supporting the front weight of the vehicle and bearing the impacts and vibrations from the road surface. Compared with the front suspension, the rear suspension may pay more attention to ride comfort and load capacity in terms of design and function. Therefore, there are differences in structure and function between the front suspension part and the rear suspension part. So, when determining the suspension lever ratio and suspension stiffness of the target suspension structure, the front suspension part and the rear suspension part should be distinguished.

[0166] It should be noted that controlling the suspension structure to act can be controlled only based on the feedforward force output by the motor. In some cases, in order to improve the accuracy of the displacement adjustment amount, a feedback control link can be added to improve the accuracy of the target force and thus improve the accuracy of the displacement adjustment amount. Therefore, a feedback force can be added on the basis of the feedforward force, and then the target force output by the motor can be the sum of the feedforward force and the feedback force.

[0167] As a possible implementation, since the feedback force is determined according to the motor displacement-time relationship and / or the motor speed-time relationship. Therefore, the feedback force includes a speed feedback force, a displacement feedback force, a speed feedback force, and a displacement feedback force.

[0168] Optionally, when the feedback force includes a displacement feedback force, the target displacement of the drive motor at the current moment can be determined based on the motor displacement-time relationship, and the target displacement and the actual displacement of the drive motor at the current moment are feedback-processed to obtain the displacement feedback force.

[0169] Optionally, when the feedback force includes a speed feedback force, the target speed of the drive motor at the current moment can be determined based on the motor speed-time relationship, and the target speed and the actual speed of the drive motor at the current moment are feedback-processed to obtain the speed feedback force.

[0170] Optionally, when the feedback force includes a speed feedback force and a displacement feedback force, the target displacement of the drive motor at the current moment can be determined based on the motor displacement-time relationship, and the target displacement and the actual displacement of the drive motor at the current moment are subjected to feedback processing to obtain the displacement feedback force. The target speed of the drive motor at the current moment is determined based on the motor speed-time relationship, and the target speed and the actual speed of the drive motor at the current moment are subjected to feedback processing to obtain the speed feedback force.

[0171] As a possible implementation, the actual displacement PosMot of the motor and the actual speed VMot of the motor can be obtained through a motor position sensor and a motor speed sensor, and proportional-integral-derivative (PID) control is respectively performed on the motor displacement and the motor speed to obtain the displacement feedback force and the speed feedback force.

[0172] e h (k) = PosMot_plan(k) - PosMot(k) Equation (11)

[0173]

[0174] e v (k) = VMot_plan(k) - VMot(k) Equation (13)

[0175]

[0176] Among them, e h (k) represents the deviation between the motor displacement and the actual motor displacement, e v (k) represents the deviation between the motor speed and the actual motor speed, ForceMot_h(k) represents the displacement feedback force, and ForceMot_v(k) represents the speed feedback force.

[0177] Finally, the force finally output by the drive motor is equal to the motor feedforward force plus the displacement feedback force and the speed feedback force, and then the target force output by the drive motor is calculated according to the force finally output by the drive motor.

[0178] ForceMot = ForceMot_plan + ForceMot_h + ForceMot_v Equation (15)

[0179] In some embodiments, the drum beats and the energy of the drum beats can be determined according to the probability of each playback moment being a drum beat, referring to Figure 4 , the above method may further include:

[0180] S801. Based on the music signal, determine the probability of each playback moment of the music signal being a drum beat and the energy of each playback moment.

[0181] As a possible implementation, the probability of each playing moment being a drumbeat can be determined based on an audio analysis tool. Since drumbeats usually generate relatively large amplitudes, by detecting the amplitude of the peaks in the music signal and comparing it with an amplitude threshold, the probability of each playing moment being a drumbeat can be determined.

[0182] As another possible implementation, a dedicated drumbeat probability recognition model can also be trained to accurately identify the probability of each playing moment in the music signal being a drumbeat. This method combines the advantages of model recognition and audio analysis and has high accuracy.

[0183] It should be noted that the above two implementation processes can also be combined to comprehensively evaluate the probability of each playing moment being a drumbeat. For example, the probability of each playing moment being a drumbeat can be initially determined by an audio analysis tool, and then the drumbeat probability recognition model can be used for further verification and optimization.

[0184] As a possible implementation, a dedicated drumbeat energy recognition model can be trained to determine the energy of each playing moment, and the energy of each playing moment in the music signal can be accurately identified.

[0185] S802. Determine the playing moments whose probabilities meet the probability threshold condition as drumbeats.

[0186] As a possible implementation, the probability threshold condition can be that the probability of a drumbeat is greater than the probability threshold. The fact that the probability of a drumbeat is greater than the probability threshold indicates that these are the climaxes or highlights of the music rhythm, with stronger rhythm and energy. By selecting the moments with a high drumbeat probability for vehicle body movements, the vehicle can interact more closely with the music, making the performance more harmonious and unified.

[0187] Exemplarily, the probability threshold is 0.9, and the plays with a probability greater than 0.9 are determined as drumbeats.

[0188] In some embodiments, when the music signal is soothing music, there may be no obvious drumbeats in this type of music. Therefore, it is inaccurate to determine the drumbeats by determining the probability of each play. At this time, a music analysis tool can be used to annotate the drumbeats in the music signal, and then the drumbeats can be obtained.

[0189] In other embodiments, in addition to the drumbeats in the music signal, other playing moments can also be annotated according to requirements, so that these active suspension systems can also perform rhythmic movements, thereby enhancing the driving experience.

[0190] S803. Determine the energy of the drumbeats based on the energy of each playing moment and the drumbeats.

[0191] As a possible implementation, the position of the drumbeat at each playback moment can be determined, and the energy of the drumbeat can be determined from the energy at each playback moment based on the position of the drumbeat.

[0192] Thus, by determining the probability that each playback moment of the music signal is a drumbeat, the playback moments with a probability greater than the probability threshold are determined as drumbeats, and the obtained drumbeats are more accurate. At the same time, the drumbeats are determined first and then the energy of the drumbeats is determined, and the result of the energy of the obtained drumbeats is also more accurate.

[0193] In some embodiments, referring to Figure 5 , determining the probability that each playback of the music signal is a drumbeat and the energy at each playback moment based on the music signal includes:

[0194] S901. Determine the characteristic information of the music signal at each playback moment.

[0195] Among them, the characteristic information includes time-domain characteristic information and frequency-domain characteristic information. The time-domain characteristic information mainly includes the short-time energy, short-time average zero-crossing rate, short-time autocorrelation coefficient, etc. of the signal. The frequency-domain characteristic information mainly includes the spectrum, frequency components, harmonic structure, etc. of the signal.

[0196] As a possible implementation, a time-frequency analysis method can be used to determine the time-domain characteristic information and frequency-domain characteristic information of the music signal at each playback moment. The time-frequency analysis method combines the time-domain and frequency-domain information of the signal and can intuitively display the characteristics of the signal at different times and frequencies. Exemplarily, the time-frequency analysis method includes the short-time Fourier transform (STFT), continuous wavelet transform (CWT), etc.

[0197] In some embodiments, after obtaining the time-domain characteristic information and frequency-domain characteristic information of the music signal at each playback moment by using the time-frequency analysis method, a spectrogram (or time-frequency spectrum diagram) can be drawn. The horizontal axis of this diagram represents time, the vertical axis represents frequency, and the color represents the amplitude (or energy) of the signal. By observing the spectrogram, the changes in the frequency and amplitude of the music signal over time can be determined.

[0198] As another possible implementation, the time-domain characteristic information and frequency-domain characteristic information at each playback moment can be determined separately, and then the time-domain characteristic information and frequency-domain characteristic information at each playback moment are combined.

[0199] Exemplarily, the time-domain characteristics of the music signal can be extracted through a signal processing algorithm. The time-domain characteristics of the music signal can also be extracted through methods such as deep learning.

[0200] Exemplarily, the music signal can be subjected to spectrum analysis to obtain a spectrogram, and the frequency-domain characteristic information is determined based on the spectrogram. The frequency-domain characteristics of the music signal can also be extracted through methods such as deep learning.

[0201] S902. Determine the probability that each playback moment of the music signal is a drumbeat and the energy at each playback moment based on the feature information of the music signal at each playback moment.

[0202] As a possible implementation, the cross-attention algorithm can be used to fuse the time-domain feature information and frequency-domain feature information of the music signal at the playback moment to obtain the time-frequency feature information of the music signal during playback. Based on the time-frequency feature information of the music signal at each playback moment, determine the probability that each playback moment of the music signal is a drumbeat and the energy at each playback moment.

[0203] Exemplarily, the short-time average energy can be used to represent the time-domain feature information, and the maximum frequency feature can be used to represent the frequency-domain feature information. For the time-domain feature of short-time average energy First, use a continuous CNN network model to extract deep features and perform max pooling to obtain the time-domain features

[0204]

[0205] For the frequency-domain feature of maximum frequency feature Also use a continuous CNN network model to extract deep features and perform max pooling to extract the frequency-domain features

[0206]

[0207] Then use the cross-attention algorithm to determine the correlation between the time-domain features and the frequency-domain features, where the query value key V, K come from the frequency-domain features, and Q comes from the time-domain features, that is, use the energy features in the time domain to find the frequency-domain features related to energy in the frequency domain. Then calculate the similarity, normalize the weights, and then weight to obtain F c , for F c Perform max pooling to obtain the feature F of the time-frequency feature information:

[0208]

[0209] F = Maxpooling(F c ) Equation (19)

[0210] Furthermore, input the time-frequency feature information of the music signal at each playback moment into the drumbeat recognition model to obtain the probability that each playback moment of the music signal is a drumbeat.

[0211] Among them, the input of the drumbeat recognition model is time-frequency feature information, and the output is the probability of drumbeats and the energy at each playback moment. The time-domain feature information can be represented by short-time average energy, and the frequency-domain feature information can be represented by the maximum frequency feature.

[0212] Exemplarily, the drumbeat recognition model can be a Transformer model. Taking the feature F as the feature input of the Transformer model, the Transformer model captures the context relationship of the input time series through the self-attention mechanism to determine the importance of the feature F.

[0213] It should be noted that the self-attention mechanism can directly calculate the relationship between any two positions in the sequence, without the need to calculate iteratively in order like other network models. This enables the Transformer to effectively capture long-range dependence information, improving the computational efficiency. Especially when dealing with long sequences, it can significantly reduce the training time and inference time of the model.

[0214] To model the long-range context relationship of the input feature F, in the structure of the Transformer, the input embedding of the encoder is Q e = K e = V e = MLP(F), because the time-domain feature contains time position information, so the position encoding In this way, the model can understand the position of the feature in the sequence and process semantic information based on the time order. The final output part of the decoder contains a linear layer and a Softmax layer. The linear layer is used for dimension conversion and enhancing the model's expressive ability, and the Softmax layer converts the output of the linear layer into the probability distribution P of drumbeats at each playback moment d :

[0215]

[0216] Among them, MLP is a multi-layer perceptron used for weighted summation. P1 represents the probability that the current moment is a drumbeat. If P1 is greater than the set threshold, it is considered that the current playback moment is a drumbeat, and the response action of the suspension structure is triggered at the current playback moment. P2 represents the probability of the drumbeat energy at the current moment, which is used to determine the adjustment amount of the suspension structure displacement when the vehicle is dancing.

[0217] Thus, the present application determines the probability of drumbeats and the energy at each playback moment of the music signal by combining the time-domain feature information and the frequency-domain feature information of the music signal, so that the advantages of both can be combined, the characteristics of the drumbeats can be understood more comprehensively, and the recognition accuracy can be improved.

[0218] In some embodiments, since there may be noise interference when collecting the original music signal, this interference will affect the recognition of the drum beats in the music signal. Therefore, after obtaining the original music signal, preprocessing can be performed first, and then drum beat recognition can be carried out. Therefore, before controlling the active suspension control system to perform a rhythmic action following the drum beats of the music signal as described above, it may further include:

[0219] S1001. Obtain the original music signal and perform preprocessing on the original music signal to obtain a music signal.

[0220] Among them, the preprocessing includes at least one of the following: filtering processing, noise reduction processing, pre-emphasis processing, frame segmentation processing, windowing processing, and differential processing.

[0221] As a possible implementation, a filter can be used to remove high-frequency noise and low-frequency background noise.

[0222] It should be understood that high-frequency noise is usually generated due to various electromagnetic interferences, vibrations of internal components of the device, or signal transmission distortions. These high-frequency noises usually do not contain useful information and will interfere with the resolution and clarity of the signal. A low-pass filter (LPF) can be used to attenuate or block high-frequency signals. By selecting an appropriate cut-off frequency, it can be ensured that only signals below this frequency pass through, thereby effectively removing high-frequency noise.

[0223] Low-frequency background noise usually includes environmental noise, wind noise, mechanical vibrations, etc. These noises will cover or interfere with the target signal sound. A high-pass filter (HPF) can be used to attenuate or block low-frequency signals. By setting an appropriate cut-off frequency, it can be ensured that only signals above this frequency pass through, thereby effectively removing low-frequency background noise.

[0224] In some embodiments, pre-emphasis can also be performed on the original music signal. Since high-frequency signals are more susceptible to attenuation during transmission than low-frequency signals, by performing pre-emphasis on the original music signal, the high-frequency components of the original music signal are enhanced to compensate for the excessive attenuation of the high-frequency components during transmission. Exemplarily, pre-emphasis can be achieved through a first-order high-pass filter, which amplifies the high-frequency components in the input signal while keeping the low-frequency components relatively unchanged.

[0225] In some other embodiments, since the music signal is generated by the human vocal organs, the motion states of these organs change over time, resulting in the statistical characteristics of the speech signal also changing over time. Therefore, the original music signal is a non-stationary signal. To process such a non-stationary signal, the original music signal can be divided into multiple short-time frames, and at the same time, a Hamming window is used to smooth the transition between frames, reducing the influence of the truncation effect, thereby improving the quality of the obtained music signal.

[0226] In some other embodiments, the signal-to-noise ratio of the original music signal may be relatively low. Through differential operations, the changing components in the signal can be extracted, and then these changing components are used to reconstruct or enhance the original music signal to improve the clarity and intelligibility of the music signal.

[0227] It should be noted that the above only illustrates the process of signal preprocessing from aspects such as noise reduction and pre-emphasis, and does not constitute a limitation to this solution. At the same time, there are other preprocessing methods that are also applicable to the preprocessing process of this application, and will not be listed one by one here.

[0228] Refer to Figure 6 , the following uses an example to illustrate the architecture of the control method for the suspension system of this application, which may specifically include the following parts: a preprocessing module 710, a drumbeat detection module 720, a suspension structure motion parameter query module 730, and a suspension structure dancing module 740.

[0229] Among them, the preprocessing module 710 is used to obtain the original music signal and perform preprocessing on the original music signal to obtain the time-domain feature information and frequency-domain feature information of the music signal.

[0230] It should be noted that the specific process is as follows: the preprocessing module 710 performs filtering, noise reduction, pre-emphasis, framing and windowing, differentiation, and Fourier transform on the original music signal to obtain the time-domain feature information and frequency-domain feature information of the music signal.

[0231] The drumbeat detection module 720 is used to determine the probability that each playback moment in the music signal is a drumbeat and the energy of each playback moment according to the time-domain feature information and frequency-domain feature information.

[0232] The suspension structure motion parameter query module 730 is used to determine the drumbeat moment, adjustment time, holding time, and the adjustment amount of the suspension structure displacement according to the probability of the drumbeat and the drumbeat energy.

[0233] The suspension structure dancing module 740 is used to plan the displacement and speed of the suspension structure according to the drumbeat moment, adjustment time, holding time, and the adjustment amount of the suspension structure displacement, and control the suspension structure motion according to PID.

[0234] It should be noted that the specific working process of each module can refer to the above embodiments and will not be described in detail here.

[0235] Referring to Figure 7 , the following uses an example to illustrate the specific process of the suspension structure dancing module controlling the suspension structure dancing. The present application can use a dual-loop PID algorithm to control the suspension structure dancing.

[0236] First, based on a cubic polynomial or a quintic polynomial, determine the displacement and velocity of the suspension structure according to the current displacement of the suspension structure, the target displacement of the suspension structure, and the adjustment time.

[0237] Then, determine the motor displacement and motor velocity according to the displacement of the suspension structure and the product of the velocity of the suspension structure and the lever ratio.

[0238] Calculate the motor feedforward force according to the formula, calculate the displacement feedback force according to the motor displacement and the actual motor displacement, calculate the velocity feedback force according to the motor velocity and the actual motor velocity, and add the motor feedforward force, the displacement feedback force, and the velocity feedback force to obtain the motor output force. Adjust the displacement of the suspension structure by controlling the magnitude of the motor output force.

[0239] The above mainly introduces the solution provided by the embodiments of the present application from the perspective of the method. To implement the above functions, the control device of the suspension system includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware 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 the present application.

[0240] The embodiments of the present application can, according to the above method, exemplarily divide the functional modules of the control device of the suspension system. For example, the control device of the suspension system may include each functional module corresponding to each function division, or two or more functions may be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of the present application is illustrative, merely a logical function division, and there may be other division methods in actual implementation.

[0241] FIG. is a schematic structural diagram of a control device of a suspension system provided by an embodiment of the present application. Referring to Figure 8 , the control device 900 of the suspension system includes: a processing unit 910.

[0242] A processing unit 910, configured to control a suspension system to perform a rhythmic action following the beats of a music signal in response to the music signal.

[0243] In some embodiments, the above-mentioned processing unit 910 is specifically configured to control the suspension system to perform a first rhythmic action at a first beat of the music signal; and control the suspension system to perform a second rhythmic action at a second beat of the music signal.

[0244] In some embodiments, the above-mentioned processing unit 910 is specifically configured to control the suspension system to perform a pause action within a preset duration after performing the first rhythmic action, and the pause action is used to keep the suspension system in its current posture.

[0245] In some embodiments, the above-mentioned processing unit 910 is further configured to control the suspension system to perform a restoration action after performing the pause action, and the restoration action is used to restore the suspension system to the posture before performing the first rhythmic action.

[0246] In some embodiments, the above-mentioned processing unit 910 is specifically configured to control the suspension system to complete the rhythmic action within an adjustment time when the beat starts.

[0247] In some embodiments, the above-mentioned suspension system includes a plurality of suspension structures; the above-mentioned processing unit 910 is specifically configured to determine a target suspension structure for performing the rhythmic action from the plurality of suspension structures, and adjust the displacement of the target suspension structure within the adjustment time when the beat starts.

[0248] In some embodiments, for each target suspension structure: the above-mentioned processing unit 910 is specifically configured to control a drive motor in the target suspension structure to output a target force within the adjustment time starting from the beat moment, so as to adjust the displacement of at least one target suspension structure.

[0249] In some embodiments, for any one target suspension structure, the above-mentioned processing unit 910 is specifically configured to control a drive motor in the target suspension structure to output a target force within the adjustment time starting from the beat moment based on the current displacement, target displacement and adjustment time of the target suspension structure.

[0250] In some embodiments, the above-mentioned processing unit 910 is specifically configured to determine a suspension displacement-time relationship and a suspension speed-time relationship of the target suspension structure based on the current displacement, target displacement and adjustment time of the target suspension structure; and control a drive motor in the target suspension structure to output a target force within the adjustment time starting from the beat moment based on the suspension displacement-time relationship and the suspension speed-time relationship.

[0251] In some embodiments, the above-mentioned processing unit 910 is specifically configured to determine the motor displacement-time relationship and the motor speed-time relationship of the drive motor based on the suspension displacement-time relationship, the suspension speed-time relationship, and the leverage ratio of the target suspension structure; and control the drive motor in the target suspension structure to output a target force within the adjustment time starting from the beat moment based on the motor displacement-time relationship and the motor speed-time relationship.

[0252] In some embodiments, the above-mentioned processing unit 910 is specifically configured to, within the adjustment time starting from the beat moment, determine the feedforward force of the drive motor at the current moment according to the motor displacement-time relationship, and determine the feedback force of the drive motor at the current moment according to the motor displacement-time relationship and / or the motor speed-time relationship; and control the drive motor to output the sum of the feedforward force and the feedback force at the current moment.

[0253] In some embodiments, the above-mentioned feedback force includes a speed feedback force and / or a displacement feedback force.

[0254] In some embodiments, the above-mentioned processing unit 910 is specifically configured to determine the target displacement of the drive motor at the current moment based on the motor displacement-time relationship; and perform feedback processing on the target displacement and the actual displacement of the drive motor at the current moment to obtain a displacement feedback force.

[0255] In some embodiments, the above-mentioned processing unit 910 is specifically configured to determine the target speed of the drive motor at the current moment based on the motor speed-time relationship; and perform feedback processing on the target speed and the actual speed of the drive motor at the current moment to obtain a speed feedback force.

[0256] In some embodiments, the above-mentioned processing unit 910 is further configured to determine the probability that each playback moment of the music signal is a beat and the energy of each playback moment based on the music signal; determine the playback moments whose probability satisfies the probability threshold condition as beats; and determine the energy of the beats based on the energy of each playback moment and the beats.

[0257] In some embodiments, the adjustment amount of the displacement of the above-mentioned target suspension structure is positively correlated with the energy of the music signal at the beat.

[0258] In some embodiments, the above-mentioned probability threshold condition includes: the probability is greater than the probability threshold.

[0259] In some embodiments, the above-mentioned processing unit 910 is specifically configured to determine the characteristic information of the music signal at each playback moment; and determine the probability that each playback moment of the music signal is a beat and the energy of each playback moment based on the characteristic information of the music signal at each playback moment.

[0260] In some embodiments, the above-mentioned characteristic information includes time-domain characteristic information and frequency-domain characteristic information.

[0261] In some embodiments, the above-mentioned processing unit 910 is specifically configured to use the cross-attention algorithm to fuse the time-domain feature information and frequency-domain feature information of the music signal at the playback moment, so as to obtain the time-frequency feature information of the music signal at the playback moment; based on the time-frequency feature information of the music signal at each playback moment, determine the probability that each playback moment of the music signal is a drumbeat and the energy at each playback moment.

[0262] In some embodiments, the above-mentioned processing unit 910 is specifically configured to input the time-frequency feature information of the music signal at each playback moment into the drumbeat recognition model, so as to obtain the probability that each playback moment of the music signal is a drumbeat and the energy at each playback moment.

[0263] In some embodiments, the above-mentioned drumbeat recognition model includes a Transformer model.

[0264] In some embodiments, the above-mentioned processing unit 910 is further configured to obtain the original music signal and preprocess the original music signal to obtain the music signal.

[0265] In some embodiments, the above-mentioned preprocessing includes at least one of the following: filtering processing, noise reduction processing, pre-emphasis processing, frame segmentation processing, windowing processing, and differential processing.

[0266] In some embodiments, the above-mentioned suspension structure includes an electromagnetic suspension structure.

[0267] In some embodiments, the electromagnetic suspension structure includes: a linear motor; the linear motor is configured to control the magnitude and direction of the force output by the linear motor according to the target output force, so as to control the suspension system to perform a rhythmic action.

[0268] In some embodiments, the linear motor includes: a stator assembly and a mover assembly; the linear motor is configured to control the magnitude and direction of the force output by the linear motor according to the target output force, so as to control the rhythm of the suspension system, including: controlling the current flowing through the stator assembly according to the target output force, so that the stator assembly and the mover assembly cooperate with each other to control the magnitude and direction of the force output by the linear motor, so as to control the suspension system to perform a rhythmic action, wherein the direction of the cooperative movement of the stator assembly and the mover assembly is the same as the direction of the force output by the linear motor.

[0269] Figure 8 This is a schematic structural diagram of a device provided by an embodiment of the present application. As Figure 9 shown, the device 1000 includes but is not limited to: a processor 1001 and a memory 1002.

[0270] Among them, the above-mentioned memory 1002 is used to store the executable instructions of the above-mentioned processor 1001. It can be understood that the above-mentioned processor 1001 is configured to execute instructions to implement the group obstacle detection method in the above-mentioned embodiments.

[0271] It should be noted that those skilled in the art can understand that Figure 9 the device structure shown in Figure 8 does not constitute a limitation on the device. The device may include more or fewer components than

[0272] shown, or combine certain components, or have different component arrangements.

[0273] The memory 1002 can be used to store software programs and various data. The memory 1002 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required by at least one functional module (such as a determination unit, a processing unit, etc.). In addition, the memory 1002 can include high-speed random access memory and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0274] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided. For example, the memory 1002 including instructions, and the above instructions can be executed by the processor 1001 of the device 1000 to implement the method in the above embodiment.

[0275] In actual implementation, Figure 8 the processing unit 910 in Figure 8 Figure 9 can be implemented by the processor 1001 in

[0276] calling the computer program stored in the memory 1002. The specific execution process can refer to the description of the method part in the above embodiment and will not be elaborated here.

[0277] In the exemplary embodiments, the embodiments of the present application further provide a vehicle, including the above-mentioned electronic device or computer-readable storage medium.

[0278] In an exemplary embodiment, the embodiments of the present application further provide a computer program product including one or more instructions, which can be executed by a processor 1001 of a device to complete the method in the above embodiments.

[0279] It should be noted that when the instructions in the above computer-readable storage medium or the one or more instructions in the computer program product are executed by the processor of the device, each process of the above method embodiments is implemented, and the same technical effects as the above method can be achieved. To avoid repetition, it will not be elaborated here.

[0280] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0281] In several embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point, the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0282] The unit described as a separated component may or may not be physically separated, and the component displayed as a unit may be a physical unit or multiple physical units, that is, it can be located in one place, or it can be distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0283] In addition, each functional unit in the various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0284] When an integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions for causing a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0285] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0286] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for a suspension system, characterized in that, The method includes: In response to a music signal, controlling the suspension system to perform a rhythmic action following the beats of the music signal.

2. The method according to claim 1, wherein The controlling the suspension system to perform a rhythmic action following the beats of the music signal includes: Controlling the suspension system to perform a first rhythmic action at a first beat of the music signal; Controlling the suspension system to perform a second rhythmic action at a second beat of the music signal.

3. The method according to claim 2, wherein The controlling the suspension system to perform a rhythmic action following the beats of the music signal includes: Controlling the suspension system to perform a pause action within a preset duration after performing the first rhythmic action, where the pause action is used to keep the suspension system in its current posture.

4. The method according to claim 3, characterized in that, The method further includes: Controlling the suspension system to perform a restoration action after performing the pause action, where the restoration action is used to restore the suspension system to the posture before performing the first rhythmic action.

5. The method according to claim 1, characterized in that The controlling the suspension system to perform a rhythmic action following the beats of the music signal includes: Controlling the suspension system to complete the rhythmic action within the adjustment time when the beat starts.

6. The method according to any one of claims 1 to 5, characterized in that, The suspension system includes a plurality of suspension structures; the controlling the suspension system to perform a rhythmic action following the beats of the music signal includes: Determining a target suspension structure that performs the rhythmic action from the plurality of suspension structures, and adjusting the displacement of the target suspension structure within the adjustment time when the beat starts.

7. The method according to claim 6, wherein Adjusting the displacement of the target suspension structure within the adjustment time when the beat starts includes: For each of the target suspension structures: controlling a drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts to adjust the displacement of the target suspension structure.

8. The method according to claim 7, characterized in that, The controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts includes: Based on the current displacement, target displacement, and adjustment time of the target suspension structure, controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts.

9. The method according to claim 8, wherein The based on the current displacement, target displacement, and adjustment time of the target suspension structure, controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts includes: Based on the current displacement, target displacement, and adjustment time of the target suspension structure, determining a suspension displacement-time relationship and a suspension speed-time relationship of the target suspension structure; Based on the suspension displacement-time relationship and the suspension speed-time relationship, controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts.

10. The method according to claim 9, characterized in that The based on the suspension displacement-time relationship and the suspension speed-time relationship, controlling the drive motor in the target suspension structure to output a target force within the adjustment time when the beat starts includes: Based on the suspension displacement-time relationship, the suspension speed-time relationship, and the leverage ratio of the target suspension structure, determining a motor displacement-time relationship and a motor speed-time relationship of the drive motor; Based on the motor displacement-time relationship and the motor speed-time relationship, control the driving motor in the target suspension structure to output a target force during the adjustment time when the drumbeat starts.

11. The method according to claim 10, characterized in that, Based on the motor displacement-time relationship and the motor speed-time relationship, controlling the driving motor in the target suspension structure to output a target force during the adjustment time when the drumbeat starts includes: During the adjustment time when the drumbeat starts, determine the feedforward force of the driving motor at the current moment according to the motor displacement-time relationship, and determine the feedback force of the driving motor at the current moment according to the motor displacement-time relationship and / or the motor speed-time relationship; Control the driving motor to output the sum of the feedforward force and the feedback force at the current moment.

12. The method according to claim 11, wherein The feedback force includes a speed feedback force and / or a displacement feedback force.

13. The method according to claim 12, wherein The displacement feedback force is determined in the following manner: Determine the target displacement of the driving motor at the current moment based on the motor displacement-time relationship; perform feedback processing on the target displacement and the actual displacement of the driving motor at the current moment to obtain the displacement feedback force.

14. The method according to claim 12, wherein The speed feedback force is determined in the following manner: Determine the target speed of the driving motor at the current moment based on the motor speed-time relationship; Perform feedback processing on the target speed and the actual speed of the driving motor at the current moment to obtain the speed feedback force.

15. The method according to any one of claims 6 to 14, characterized in that, The method further includes: Based on the music signal, determine the probability that each playback moment of the music signal is a drumbeat and the energy of each playback moment; Determine the playback moments that satisfy the probability threshold condition as the drumbeats; Based on the energy of each playback moment and the drumbeats, determine the energy of the drumbeats.

16. The method according to claim 15, wherein The adjustment amount of the displacement of the target suspension structure is positively correlated with the energy of the music signal at the drumbeats.

17. The method according to claim 15, wherein The probability threshold condition includes: the probability is greater than the probability threshold.

18. The method according to claim 15, characterized in that, Based on the music signal, determining the probability that each playback moment of the music signal is a drumbeat and the energy of each playback moment includes: Determine the characteristic information of the music signal at each playback moment; Based on the characteristic information of the music signal at each playback moment, determine the probability that each playback moment of the music signal is a drumbeat and the energy of each playback moment.

19. The method according to claim 18, wherein The characteristic information includes time-domain characteristic information and frequency-domain characteristic information.

20. The method according to claim 19, wherein Based on the characteristic information of the music signal at each playback moment, determining the probability that each playback moment of the music signal is a drumbeat and the energy of each playback moment includes: Use the cross-attention algorithm to fuse the time-domain characteristic information and the frequency-domain characteristic information of the music signal at the playback moment to obtain the time-frequency characteristic information of the music signal at the playback moment; Based on the time-frequency characteristic information of the music signal at each playback moment, determine the probability that each playback moment of the music signal is a drumbeat and the energy of each playback moment.

21. The method according to claim 20, characterized in that, Based on the time-frequency characteristic information of the music signal at each playback moment, determining the probability that each playback moment of the music signal is a drumbeat and the energy of each playback moment includes: Input the time-frequency feature information of the music signal at each playback moment into the drumbeat recognition model to obtain the probability that each playback moment of the music signal is a drumbeat and the energy at each playback moment.

22. The method according to claim 21, wherein The drumbeat recognition model includes a Transformer model.

23. The method according to claim 1, wherein Before responding to the music signal and controlling the suspension control system to perform a rhythmic action following the drumbeats of the music signal, the method further: Obtain the original music signal, and perform preprocessing on the original music signal to obtain the music signal.

24. The method according to claim 13, wherein The preprocessing includes at least one of the following: Filtering processing, noise reduction processing, pre-emphasis processing, framing processing, windowing processing, differential processing.

25. The method according to any one of claims 6-14, characterized in that, The suspension structure includes an electromagnetic suspension structure.

26. The method according to claim 25, characterized in that, The electromagnetic suspension structure includes: a linear motor; the linear motor is configured to control the magnitude and direction of the force output by the linear motor according to the target output force, so as to control the suspension system to perform a rhythmic action.

27. The method according to claim 26, wherein The linear motor includes: a stator assembly and a mover assembly; The linear motor is configured to control the magnitude and direction of the force output by the linear motor according to the target output force, so as to control the rhythmic movement of the suspension system, including: Controlling the current flowing through the stator assembly according to the target output force, so that the stator assembly and the mover assembly cooperate with each other to control the magnitude and direction of the force output by the linear motor, so as to control the suspension system to perform a rhythmic action, wherein the direction of the cooperative movement of the stator assembly and the mover assembly is the same as the direction of the force output by the linear motor.

28. An electronic device, characterized in that, Includes: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the control method of the suspension system according to any one of claims 1 to 27.

29. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the device, the device can execute the control method of the suspension system according to any one of claims 1 to 27.

30. A vehicle, characterized in that, Includes: The electronic device according to claim 28, or the computer-readable storage medium according to claim 29.

31. A computer program product, the computer program product comprising computer instructions, characterized in that, When the computer instructions run on the processor of the device, the device can execute the control method of the suspension system according to any one of claims 1 to 27.

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