Vehicle rhythm dancing mode control method and device, vehicle and medium

Abstract

The method is mainly applied to the technical field of automobile engineering. The invention discloses a vehicle rhythm dancing mode control method and device, a vehicle and a medium, and the method comprises the steps: obtaining an audio signal, and extracting rhythm features and spectrum features from the audio signal; in response to the arrangement instruction, an action subsequence is generated corresponding to each system in the target vehicle, each action subsequence comprises a plurality of action symbols, and each action symbol defines an action type of the corresponding system; performing synchronous processing on the execution time point of each action symbol according to the rhythm characteristics, and updating the execution parameter of each action symbol according to the spectrum characteristics; and based on the execution time point after synchronization processing and the updated execution parameter, driving each system in parallel to execute the corresponding action sub-sequence, so that the target vehicle follows the audio signal to execute the multi-system coordination action. The control capability of the intelligent drive-by-wire chassis can be improved through cooperative control of multiple systems in the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of automobile engineering technology, and in particular to a vehicle rhythmic dancing mode control method, device, vehicle and medium. Background Art

[0002] In the field of intelligent wire-controlled chassis, with the continuous development of automobile technology, the vehicle's chassis control system is also constantly evolving. The active suspension system mainly focuses on improving the comfort and handling stability of the vehicle, and adapts to different road conditions and driving needs by adjusting the stiffness and damping of the suspension. The wire-controlled steering system plays an important role in improving steering accuracy and reducing mechanical connection components, while the rear-wheel steering system helps improve the vehicle's flexibility at low speeds and stability at high speeds. However, most existing technologies are limited to simple motion control of a single system, such as only active suspension to achieve the ups and downs of the vehicle body, or only wire-controlled steering to complete basic steering operations. There is a lack of high coordination between the systems, and there are obvious deficiencies in the ability to coordinate and control more complex and richer dynamic motions. Summary of the Invention

[0003] The present invention provides a vehicle rhythmic dance mode control method, device, vehicle and medium, which can enhance the control capability of an intelligent wire-controlled chassis through the coordinated control of multiple systems in the vehicle.

[0004] The present invention provides a vehicle rhythmic dance mode control method, characterized in that the method includes: Acquire an audio signal, and extract rhythm features and spectrum features from the audio signal; In response to the choreography instruction, an action subsequence is generated for each system in the target vehicle, each of the action subsequences includes a plurality of action symbols, and each of the action symbols defines an action type of the corresponding system; Synchronizing the execution time point of each action symbol according to the rhythm feature, and updating the execution parameter of each action symbol according to the spectrum feature; Based on the execution time point after synchronization processing and the updated execution parameters, each of the systems is driven in parallel to execute a corresponding action subsequence, so that the target vehicle follows the audio signal to perform a multi-system coordinated action.

[0005] Optionally, the method of extracting the rhythm feature includes: Performing frame processing on the audio signal to obtain multiple audio frames; Performing time domain analysis on each frame of the audio clip to obtain the number of valid peaks of each frame of the audio clip; Determining a change trend of the number of effective peaks and a peak interval duration of the audio signal based on the number of effective peaks of all the audio clips; The rhythm feature is generated based on the changing trend of the number of effective peaks and the duration of the peak intervals.

[0006] Optionally, the method of extracting the spectrum features includes: Performing frame processing on the audio signal to obtain multiple audio frames; Performing frequency domain analysis on each frame of the audio segment and determining the amplitude value of each frequency band in the audio segment; Determining a maximum amplitude value corresponding to each frame of the audio segment and a main frequency range corresponding to the maximum amplitude value; The frequency spectrum feature is generated based on the maximum amplitude and the main frequency range of all the audio segments.

[0007] Optionally, in response to the choreography instruction, generating an action subsequence for each system in the target vehicle respectively includes: In response to the system selection instruction, generating an action instruction set corresponding to the target system according to the structural parameters and control parameters of the target system among the multiple systems, wherein the action instruction set includes multiple basic action instructions; Arranging the plurality of basic action instructions according to a preset order to obtain a preset action sequence; A target action instruction set is determined according to the selected instruction set identifier, and a preset action sequence corresponding to the target action instruction set is used as an action subsequence corresponding to the target system.

[0008] Optionally, in response to the choreography instruction, generating an action subsequence for each system in the target vehicle respectively includes: In response to an arrangement instruction for a target system, a preset number library corresponding to the target system is called, where each number in the preset number library represents a basic action that can be implemented by the target system; In response to the number selection instruction, a plurality of selected numbers are arranged based on a selection order in the selection instruction to obtain an action subsequence corresponding to the target system.

[0009] Optionally, the driving each of the systems in parallel to execute a corresponding action subsequence based on the execution time point after synchronization and the updated execution parameters includes: Compiling each of the action subsequences into a corresponding system-executable control instruction stream; Based on the execution time point after synchronization processing, each system is controlled to execute the corresponding control instruction flow according to the same beat clock; When the system executes the corresponding control instruction stream, the magnitude of each action executed by the system is dynamically adjusted based on the mapping relationship between the action and the execution parameter.

[0010] Optionally, the target vehicle includes a front-wheel steering system, an active suspension system, and a rear-wheel steering system; Compiling each of the action subsequences into a corresponding system-executable control instruction stream includes: If the target system is a front-wheel steering system, compiling the action subsequence into a steering angle control instruction stream to control the steering wheel controller of the target vehicle to enter a silent state and control the front wheels of the target vehicle to steer to a target angle; If the target system is an active suspension system, the action subsequence is compiled into an active force control instruction stream to control the four active shock absorbers to output the target force through the active suspension main controller; If the target system is a rear-wheel steering system, the action subsequence is compiled into a rear-wheel steering angle instruction stream to control the rear wheels of the target vehicle to steer to a target angle.

[0011] The present invention also provides a vehicle rhythmic dance mode control device, the device comprising: An acquisition module, configured to acquire an audio signal and extract rhythm features and spectrum features from the audio signal; A first editing module is configured to generate an action subsequence for each system in the target vehicle in response to the choreography instruction, each of the action subsequences including a plurality of action symbols, each of the action symbols defining an action type of the corresponding system; a second editing module, configured to synchronize the execution time point of each action symbol according to the rhythm feature, and update the execution parameters of each action symbol according to the spectrum feature; The control module is used to drive each of the systems in parallel to execute a corresponding action subsequence based on the execution time point after synchronization processing and the updated execution parameters, so that the target vehicle follows the audio signal to perform multi-system coordinated actions.

[0012] The present invention also provides a vehicle, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the vehicle rhythmic dancing mode control method as described in any one of the above items when executing the computer program.

[0013] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle rhythmic dancing mode control method as described in any one of the above items is implemented.

[0014] The present invention has at least the following beneficial effects: This technical solution improves the control capability of the intelligent wire-controlled chassis through multi-system collaborative control. First, by acquiring audio signals and extracting rhythmic features and spectral features, a musical rhythm basis is provided for vehicle actions. Secondly, in response to choreography instructions, action subsequences for each vehicle system are generated, and each action symbol defines the action type of the corresponding system. Then, the execution time points of the action symbols are synchronized using rhythmic features to ensure that the actions of each system accurately match the rhythm of the music; at the same time, the execution parameters of the action symbols are dynamically updated based on the spectral features to make the action effects more expressive. Finally, based on the synchronized execution time points and updated execution parameters, each system is driven in parallel to execute the corresponding action subsequences to achieve multi-system collaborative action in the vehicle. This multi-system collaborative control method not only improves the control accuracy and flexibility of the intelligent wire-controlled chassis, but also enhances the diversity and fun of vehicle actions, thereby significantly improving the control capability of the intelligent wire-controlled chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation to the technical solution of the present invention.

[0016] Figure 1 The present invention is a flowchart of the steps of a vehicle rhythmic dancing mode control method; Figure 2 The present invention is a flowchart of the steps of the audio analysis process in the vehicle rhythmic dance mode control method; Figure 3 This is a flowchart of step S102 in the vehicle rhythmic dancing mode control method; Figure 4 is another step flow chart of step S102 in the vehicle rhythmic dancing mode control method; Figure 5 This is a flowchart of step S104 in the vehicle rhythmic dancing mode control method; Figure 6 The present invention is a flow chart of the steps of controlling the front wheel steering mode in the vehicle rhythmic dancing mode control method; Figure 7 The present invention is a flowchart of steps for controlling an active suspension mode in a vehicle rhythmic dancing mode control method; Figure 8 The present invention is a flowchart of the steps of rear wheel steering mode control in a vehicle rhythmic dancing mode control method; Figure 9 It is a flow chart of the steps of a software program to realize a vehicle rhythmic dancing mode control method; Figure 10 The present invention is a structural diagram of a vehicle rhythmic dancing mode control device. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] In automotive culture, there's a genre called "low rider" vehicles (also known as "jumping cars" in Chinese). These vehicles are modified with hydraulic actuators to enable them to bounce up and down, creating dance-like movements. With the advancement of drive-by-wire chassis technology, many models equipped with active suspension can also achieve similar dance-like movements. For example, domestic automakers such as Geely, Xiaomi, and NIO have already released body control features based on active suspension.

[0019] This invention targets the mass production application of cutting-edge intelligent drive-by-wire chassis technology, aiming to enable a dance function for vehicles equipped with active suspension, wire-controlled front-wheel steering, and rear-wheel steering. By controlling the vehicle's active suspension, wire-controlled front-wheel steering, and rear-wheel steering systems, the entire vehicle chassis system can be controlled to move in time with the rhythm of music. The active suspension controls the body's heave, pitch, roll, and sway, while the wire-controlled front-wheel steering and rear-wheel steering achieve synchronous or asynchronous steering movements, thereby achieving a richer and more highly coordinated intelligent drive-by-wire chassis system control mode. The following are various embodiments of this technical solution.

[0020] Please refer to Figure 1 , Figure 1 The invention is a flowchart of the steps of a vehicle rhythmic dancing mode control method.

[0021] This embodiment provides a vehicle rhythmic dance mode control method including: S101: Acquire an audio signal, and extract rhythm features and spectrum features from the audio signal.

[0022] S102 . In response to the choreography instruction, generate an action subsequence for each system in the target vehicle, each action subsequence including a plurality of action symbols, each action symbol defining an action type of the corresponding system.

[0023] S103 : Synchronize the execution time point of each action symbol according to the rhythm feature, and update the execution parameter of each action symbol according to the spectrum feature.

[0024] S104 : Based on the synchronized execution time point and the updated execution parameters, each system is driven in parallel to execute a corresponding action subsequence, so that the target vehicle performs a multi-system coordinated action following the audio signal.

[0025] In this embodiment, the system of the target vehicle may be a steering system, a suspension system, a lighting system, or a power system.

[0026] It can be understood that this technical solution improves the control capability of the intelligent wire-controlled chassis through multi-system collaborative control. First, by acquiring audio signals and extracting rhythmic features and spectral features, a musical rhythm basis is provided for vehicle actions. Secondly, in response to choreography instructions, action subsequences for each vehicle system are generated, and each action symbol defines the action type of the corresponding system. Then, the execution time points of the action symbols are synchronized using rhythmic features to ensure that the actions of each system are accurately matched to the rhythm of the music; at the same time, the execution parameters of the action symbols are dynamically updated based on the spectral features to make the action effects more expressive. Finally, based on the synchronized execution time points and updated execution parameters, each system is driven in parallel to execute the corresponding action subsequences to achieve multi-system collaborative action of the vehicle. This multi-system collaborative control method not only improves the control accuracy and flexibility of the intelligent wire-controlled chassis, but also enhances the diversity and fun of vehicle actions, thereby significantly improving the control capability of the intelligent wire-controlled chassis.

[0027] In some embodiments, the method of extracting rhythm features includes: The audio signal is divided into frames to obtain multiple audio frames; each audio frame is analyzed in the time domain to obtain the number of effective peaks in each audio frame; based on the number of effective peaks of all audio frames, the changing trend of the effective peak number and the peak interval duration of the audio signal are determined; based on the changing trend of the effective peak number and the peak interval duration, rhythm features are generated.

[0028] In some embodiments, the method of extracting spectral features includes: The audio signal is divided into frames to obtain multiple audio frames; each frame of the audio frame is analyzed in the frequency domain to determine the amplitude value of each frequency band in the audio frame; the maximum amplitude value corresponding to each frame of the audio frame and the main frequency range corresponding to the maximum amplitude value are determined; based on the maximum amplitude value and main frequency range of all audio clips, the spectrum characteristics are generated.

[0029] It is understandable that by framing the audio signal and performing time domain analysis, it is possible to accurately capture the number of effective peaks in the audio, its changing trends, and the duration of the intervals, thereby generating finer rhythmic features that make the vehicle's movements more consistent with the rhythm of the music. At the same time, frequency domain analysis determines the maximum amplitude value and main frequency range of each frame of the audio clip, and the generated spectrum features can more accurately reflect the energy distribution and frequency characteristics of the audio. Based on these finer rhythmic and spectral features, the execution time points and parameter updates of the action subsequences of each vehicle system will be more in line with the characteristics of the music, achieving more complex, richer, and more expressive multi-system coordinated actions, further improving the control capabilities of the intelligent wire-controlled chassis, and enhancing the fun and viewing experience of the vehicle's rhythmic dance mode.

[0030] Please refer to Figure 2 , Figure 2 The present invention is a flowchart of the steps of the audio analysis process in the vehicle rhythmic dance mode control method.

[0031] like Figure 2 As shown, first, the audio signal is obtained from the vehicle network node, and the audio signal is parsed and framed through the audio pre-processing module.

[0032] Perform time domain analysis on each frame of audio to obtain the envelope structure of the audio signal and identify the number of valid peaks contained in the current frame of audio.

[0033] Perform frequency domain analysis on each frame of audio, obtain the maximum amplitude of the current frame based on the frequency amplitude values ​​of different frequency bands, normalize it to 0 to 10 to extract the music loudness signal, and extract the frequency range corresponding to the maximum amplitude (i.e., the main frequency range).

[0034] The audio rhythm signal, loudness, and main frequency signal obtained by analysis are stored, and the audio analysis results of multiple historical frames are processed to obtain a long-term audio signal.

[0035] Please refer to Figure 3 , Figure 3 The present invention is a flowchart of step S102 in the vehicle rhythmic dancing mode control method.

[0036] In some embodiments, step S102 includes: S201 , in response to a system selection instruction, generating an action instruction set corresponding to a target system according to structural parameters and control parameters of a target system among multiple systems, wherein the action instruction set includes multiple basic action instructions.

[0037] S202: Arrange a plurality of basic action instructions according to a preset order to obtain a preset action sequence.

[0038] S203: Determine a target action instruction set according to the selected instruction set identifier, and use a preset action sequence corresponding to the target action instruction set as an action subsequence corresponding to the target system.

[0039] It can be understood that by responding to the system's selected instructions, a corresponding motion instruction set is generated based on the target system's structure and control parameters. The basic motion instructions are then arranged into a preset motion sequence in a preset order. The target motion instruction set and corresponding motion subsequence are then determined based on the instruction set identifier. This process makes the motion instructions for each vehicle system more personalized and precise, enabling better matching of music rhythm and spectral characteristics, achieving more complex and highly coordinated multi-system dynamic motion control, and significantly improving the control capabilities of the intelligent drive-by-wire chassis and the expressiveness of the vehicle's rhythmic dance mode.

[0040] Please refer to Figure 4 , Figure 4 This is another step flow chart of step S102 in the vehicle rhythmic dancing mode control method.

[0041] In some embodiments, step S102 includes: S301 : In response to an arrangement instruction for a target system, a preset number library corresponding to the target system is called, where each number in the preset number library represents a basic action that can be implemented by the target system.

[0042] S302 : In response to the number selection instruction, the plurality of selected numbers are arranged based on the selection order in the selection instruction to obtain an action subsequence corresponding to the target system.

[0043] It can be understood that by responding to the choreography instructions for the target system, a preset number library is called, each number corresponds to a basic action, and then the numbers are arranged in the order in the number selection instruction to generate an action subsequence. This process enables the various vehicle systems to flexibly combine actions based on the preset action library, achieving a richer and more diverse dance action choreography. Combined with the rhythm and spectral characteristics of the audio signal, each system can more accurately execute the action sequence matched to the music, further improving the collaborative control capabilities of the intelligent wire-controlled chassis and enhancing the fun and expressiveness of the vehicle's rhythmic dance mode.

[0044] Please refer to Figure 5 , Figure 5 The present invention is a flowchart of step S104 in the vehicle rhythmic dancing mode control method.

[0045] In some embodiments, step S104 includes: S401 : Compile each action subsequence into a corresponding control instruction stream executable by the system.

[0046] S402 : Based on the execution time point after synchronization processing, control each system to execute the corresponding control instruction flow according to the same beat clock.

[0047] S403: When the system executes the corresponding control instruction flow, the amplitude of each action executed by the system is dynamically adjusted based on the mapping relationship between the action and the execution parameter.

[0048] It is understandable that by compiling the action subsequences into a control instruction stream that can be executed by the system, it is ensured that each system can accurately understand and execute the predetermined action. Based on the execution time point after synchronization processing, the control instruction stream is executed according to the same beat clock, which realizes the precise synchronization of multiple systems in time and avoids the misalignment or delay of the action. At the same time, the action amplitude is dynamically adjusted according to the mapping relationship between the action and the execution parameters, and the intensity and expressiveness of the action can be adjusted in real time according to the spectral characteristics of the audio signal, making the vehicle's movements more delicate and expressive. These improvements make the vehicle's multi-system collaborative control smoother and more precise, and significantly enhance the overall performance and user experience of the intelligent wire-controlled chassis in rhythmic dance mode.

[0049] In some embodiments, the target vehicle includes a front-wheel steering system, an active suspension system, and a rear-wheel steering system; Step S401 includes: If the target system is a front-wheel steering system, the action subsequence is compiled into a steering angle control instruction stream to control the steering wheel controller of the target vehicle to enter a silent state and control the front wheels of the target vehicle to steer to a target angle.

[0050] If the target system is an active suspension system, the action subsequence is compiled into an active force control instruction stream to control the four active shock absorbers to output the target force through the active suspension main controller.

[0051] If the target system is a rear-wheel steering system, the action subsequence is compiled into a rear-wheel steering angle instruction stream to control the rear wheels of the target vehicle to steer to the target angle.

[0052] It's understandable that by clearly defining the compilation methods for the action subsequences of the front-wheel steering system, active suspension system, and rear-wheel steering system, precise control of each system is achieved: the front-wheel steering system achieves precise steering through a steering angle control command stream, the active suspension system adjusts the shock absorber output force to control the vehicle's posture through an active force control command stream, and the rear-wheel steering system achieves rear-wheel steering control through a rear-wheel steering angle command stream. This targeted command stream compilation method, combined with synchronous execution and dynamic adjustment mechanisms, ensures the coordination and consistency of the various systems' actions, further improving the control accuracy and expressiveness of the intelligent drive-by-wire chassis in rhythmic dance mode, enhancing the diversity and fluidity of vehicle movements, and providing users with a more immersive driving experience.

[0053] Please refer to Figure 6 , Figure 6 The present invention is a flow chart of the steps of controlling the front wheel steering mode in the vehicle rhythmic dancing mode control method.

[0054] like Figure 6As shown, the wheelie dance action is broken down into basic movements, and different basic movements are combined to achieve a complete dance action. The combination of movements is preset in several groups, which users can use directly or customize through the interactive interface.

[0055] The user enters the basic action number in the interactive interface to generate the action subsequence programming of the front-wheel steering system. Based on the basic action instructions stored in the sequence, the controller sends the corresponding steering angle signal to the front-wheel steering system; the front-wheel steering system controls the steering wheel to enter a silent state (the steering wheel angle does not rotate with the wheel angle); the front-wheel steering system controls the wheel angle to execute the steering angle target.

[0056] Please refer to Figure 7 , Figure 7 The present invention is a flow chart of the steps of active suspension mode control in a vehicle rhythmic dancing mode control method.

[0057] like Figure 7 As shown, the active suspension dance action is broken down into basic movements, and different basic movements are combined to achieve a complete dance action. Several groups of combined movements are preset, which users can use directly or customize through the interactive interface.

[0058] The user enters the basic action number in the interactive interface to generate the action subsequence programming of the active suspension system. Based on the basic action instructions stored in the sequence, the controller sends the corresponding active force signal to the active suspension main controller; the active suspension main controller controls the four active shock absorbers to execute the target force.

[0059] Please refer to Figure 8 , Figure 8 The present invention is a flowchart of the steps of rear wheel steering mode control in a vehicle rhythmic dancing mode control method.

[0060] like Figure 8 As shown, the rear wheel steering dance action is broken down into basic movements, and different basic movements are combined to achieve a complete dance action. The combination of movements is preset in several groups, which users can use directly or customize through the interactive interface.

[0061] The user enters the basic action number in the interactive interface to generate the action subsequence programming of the rear-wheel steering system. Based on the basic action instructions stored in the sequence, the controller sends the corresponding steering angle signal to the rear-wheel steering system; the rear-wheel steering system controls the rear wheels to execute the steering angle target.

[0062] Please refer to Figure 9 , Figure 9 The invention is a flowchart of the steps of a software program to realize a vehicle rhythmic dancing mode control method.

[0063] like Figure 9 As shown, first, an audio signal is acquired and pre-processed to extract audio features. The audio signal is then post-processed to generate rhythm features and spectral features. Then, based on these features, corresponding action subsequences are generated for the active suspension system, front-wheel steering system, and rear-wheel steering system. Each action subsequence includes multiple action symbols that define the system's action type and execution parameters. Through the synchronized execution time points and updated execution parameters, each system executes the corresponding action subsequence in parallel, realizing a mode in which the entire vehicle dances to the rhythm of music. This embodiment, based on the music rhythm signal, music loudness signal, and main frequency signal, combined with the preset action subsequences of the front-wheel steering system, active suspension system, and rear-wheel steering system, outputs the front and rear wheel target turning angles and suspension main force that change with the rhythm, realizing the dancing function of the entire vehicle, ensuring that the various vehicle systems can work together to achieve complex dynamic motion control.

[0064] Please refer to Figure 10 , Figure 10 The present invention is a structural diagram of a vehicle rhythmic dancing mode control device.

[0065] This embodiment further provides a vehicle rhythmic dance mode control device comprising: The acquisition module 501 is used to acquire an audio signal and extract rhythm features and spectrum features from the audio signal.

[0066] The first editing module 502 is configured to generate an action subsequence for each system in the target vehicle in response to the choreography instruction, each action subsequence including a plurality of action symbols, each action symbol defining an action type of the corresponding system.

[0067] The second editing module 503 is used to synchronize the execution time point of each action symbol according to the rhythm feature, and update the execution parameters of each action symbol according to the spectrum feature.

[0068] The control module 504 is configured to drive each system in parallel to execute a corresponding action subsequence based on the synchronized execution time point and the updated execution parameters, so that the target vehicle performs multi-system coordinated actions following the audio signal.

[0069] An embodiment of the present invention further provides a vehicle control device, comprising a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the vehicle rhythmic dance mode control method of the above embodiment is implemented.

[0070] Take the example of a vehicle controller where the processor and memory can be connected via a bus. The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk memory, a flash memory device, or other non-transient solid-state memory device. In some embodiments, the memory may optionally include a memory remotely located relative to the control processor, and these remote memories may be connected to the control device via a network. The non-transient software programs and instructions required to implement the control method of the above embodiment are stored in the memory, and when executed by the processor, the control method of the above embodiment is executed.

[0071] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0072] An embodiment of the present invention further provides a vehicle, comprising the vehicle control device of the above embodiment.

[0073] The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle must have an electric motor that can output power or store mechanical energy as a generator. If the vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0074] Since the vehicle applies all the technical solutions of the above-mentioned control device or vehicle controller, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0075] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions for executing the above-mentioned vehicle rhythmic dancing mode control method.

[0076] It is worth noting that since the computer-readable storage medium of an embodiment of the present invention can execute the vehicle rhythmic dance mode control method of any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer-readable storage medium of an embodiment of the present invention can refer to the specific implementation methods and technical effects of the vehicle rhythmic dance mode control method of any of the above-mentioned embodiments.

[0077] In addition, an embodiment of the present invention also provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. The processor of the computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above-mentioned vehicle rhythmic dancing mode control method.

[0078] It is worth noting that since the computer program product of the embodiment of the present invention can execute the vehicle rhythmic dance mode control method of any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer program product of the embodiment of the present invention can refer to the specific implementation methods and technical effects of the vehicle rhythmic dance mode control method of any of the above-mentioned embodiments.

[0079] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0080] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

Claims

1. A vehicle rhythmic dance mode control method, characterized in that: The method comprises: Acquire an audio signal, and extract rhythm features and spectrum features from the audio signal; In response to the choreography instruction, an action subsequence is generated for each system in the target vehicle, each of the action subsequences includes a plurality of action symbols, and each of the action symbols defines an action type of the corresponding system; Synchronizing the execution time point of each action symbol according to the rhythm feature, and updating the execution parameter of each action symbol according to the spectrum feature; Based on the execution time point after synchronization processing and the updated execution parameters, each of the systems is driven in parallel to execute a corresponding action subsequence, so that the target vehicle follows the audio signal to perform a multi-system coordinated action.

2. A vehicle rhythmic dance mode control method according to claim 1, characterized in that: Methods for extracting the rhythm features include: Performing frame processing on the audio signal to obtain multiple audio frames; Performing time domain analysis on each frame of the audio clip to obtain the number of valid peaks of each frame of the audio clip; Determining a change trend of the number of effective peaks and a peak interval duration of the audio signal based on the number of effective peaks of all the audio clips; The rhythm feature is generated based on the changing trend of the number of effective peaks and the duration of the peak intervals.

3. The vehicle rhythmic dance mode control method according to claim 1, characterized in that: Methods for extracting the spectrum features include: Performing frame processing on the audio signal to obtain multiple audio frames; Performing frequency domain analysis on each frame of the audio segment and determining the amplitude value of each frequency band in the audio segment; Determining a maximum amplitude value corresponding to each frame of the audio segment and a main frequency range corresponding to the maximum amplitude value; The frequency spectrum feature is generated based on the maximum amplitude and the main frequency range of all the audio segments.

4. The vehicle rhythmic dance mode control method according to claim 1, characterized in that: In response to the choreography instruction, an action subsequence is generated for each system in the target vehicle, including: In response to the system selection instruction, generating an action instruction set corresponding to the target system according to the structural parameters and control parameters of the target system among the multiple systems, wherein the action instruction set includes multiple basic action instructions; Arranging the plurality of basic action instructions according to a preset order to obtain a preset action sequence; A target action instruction set is determined according to the selected instruction set identifier, and a preset action sequence corresponding to the target action instruction set is used as an action subsequence corresponding to the target system.

5. The vehicle rhythmic dance mode control method according to claim 1, characterized in that: In response to the choreography instruction, an action subsequence is generated for each system in the target vehicle, including: In response to an arrangement instruction for a target system, a preset number library corresponding to the target system is called, where each number in the preset number library represents a basic action that can be implemented by the target system; In response to the number selection instruction, a plurality of selected numbers are arranged based on a selection order in the selection instruction to obtain an action subsequence corresponding to the target system.

6. The vehicle rhythmic dance mode control method according to claim 1, characterized in that: The step of driving each of the systems in parallel to execute a corresponding action subsequence based on the synchronized execution time point and the updated execution parameters includes: Compiling each of the action subsequences into a corresponding system-executable control instruction stream; Based on the execution time point after synchronization processing, each system is controlled to execute the corresponding control instruction flow according to the same beat clock; When the system executes the corresponding control instruction stream, the magnitude of each action executed by the system is dynamically adjusted based on the mapping relationship between the action and the execution parameter.

7. The vehicle rhythmic dance mode control method according to claim 6, characterized in that: The target vehicle includes a front-wheel steering system, an active suspension system, and a rear-wheel steering system; Compiling each of the action subsequences into a corresponding system-executable control instruction stream includes: If the target system is a front-wheel steering system, compiling the action subsequence into a steering angle control instruction stream to control the steering wheel controller of the target vehicle to enter a silent state and control the front wheels of the target vehicle to steer to a target angle; If the target system is an active suspension system, the action subsequence is compiled into an active force control instruction stream to control the four active shock absorbers to output the target force through the active suspension main controller; If the target system is a rear-wheel steering system, the action subsequence is compiled into a rear-wheel steering angle instruction stream to control the rear wheels of the target vehicle to steer to a target angle.

8. A vehicle rhythmic dance mode control device, characterized in that: The device comprises: An acquisition module, configured to acquire an audio signal and extract rhythm features and spectrum features from the audio signal; A first editing module is configured to generate an action subsequence for each system in the target vehicle in response to the choreography instruction, each of the action subsequences including a plurality of action symbols, each of the action symbols defining an action type of the corresponding system; a second editing module, configured to synchronize the execution time point of each action symbol according to the rhythm feature, and update the execution parameters of each action symbol according to the spectrum feature; The control module is used to drive each of the systems in parallel to execute a corresponding action subsequence based on the execution time point after synchronization processing and the updated execution parameters, so that the target vehicle follows the audio signal to perform multi-system coordinated actions.

9. A vehicle, characterized in that: The vehicle includes a memory and a processor, the memory stores a computer program, and the processor implements the vehicle rhythmic dancing mode control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle rhythmic dancing mode control method according to any one of claims 1 to 7 is implemented.

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