Vehicle sound production control method, device and equipment, vehicle and medium

Abstract

The embodiment of the invention provides a vehicle sound production control method, device and equipment, a vehicle and a medium, and is applied to the technical field of vehicles, the method comprises the steps that at least two types of audio signals are transmitted to at least two motor modules of the vehicle respectively, and the audio signals are used for making the motor modules emit sounds corresponding to the audio signals; controlling the at least two motor modules to start playing simultaneously in response to a playing instruction; wherein the audio signal is a monaural signal. According to the embodiment of the invention, the at least two motor modules in the vehicle are used for sounding, so that the audio signal can be transmitted to the outside of the vehicle, the function of the motor in the vehicle is expanded, additional sound equipment facing the outside of the vehicle does not need to be arranged, and the cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle sound production control method, device, equipment, vehicle and medium. BACKGROUND

[0002] At present, the audio playing of a vehicle is usually limited to the vehicle, that is, a sound equipment is arranged in the vehicle cabin of the vehicle, and the audio of a multimedia system is played through the sound equipment. However, in some scenarios, a user has a demand for delivering information to the outside of the vehicle. In this case, the vehicle can be configured with a sound equipment facing the outside of the vehicle. However, this way increases the cost of the vehicle and has low practicability. SUMMARY

[0003] In view of the above problems, a vehicle sound production control method, device, equipment, vehicle and medium are provided to overcome the above problems or at least partially solve the above problems, comprising: A vehicle sound production control method, the method comprising: transmitting corresponding audio signals to at least two motor modules of a vehicle respectively, the audio signals being used to make the motor modules produce sounds corresponding to the audio signals; controlling the at least two motor modules to start playing simultaneously in response to a playing instruction; wherein the audio signals are monaural signals.

[0004] Optionally, the audio signals corresponding to the at least two motor modules playing synchronously are different channels.

[0005] Optionally, the control of the at least two motor modules playing synchronously comprises: in the case of transmitting two types of audio signals to two motor modules respectively, controlling the two motor modules to play synchronously; in the case of transmitting three or more types of audio signals to three or more motor modules respectively, controlling the three or more motor modules to play synchronously, or controlling two of the motor modules to play synchronously and controlling the remaining motor modules to play after a predetermined time period.

[0006] Optionally, in the case of transmitting three or more types of audio signals to three or more motor modules respectively, the control of the three or more motor modules playing synchronously, or the control of two of the motor modules playing synchronously and the control of the remaining motor modules playing after a predetermined time period, comprises: controlling three motor modules to play synchronously, wherein the three types of audio signals are different monaural signals, or two of the three types of audio signals are the same monaural signal; Or, controlling two of the motor modules to sound synchronously, and controlling the third motor module to sound after a predetermined time, wherein the audio signal corresponding to the third motor module is the same monophonic signal as one of the audio signals corresponding to the other two motor modules. Or, controlling two of the motor modules to sound synchronously, and controlling the third motor module to sound according to the audio signals corresponding to the other two motor modules; wherein the audio signal corresponding to the third motor module is the audio signal obtained by superimposing and averaging the audio signals corresponding to the other two motor modules.

[0007] Optionally, in the case of transmitting three or more types of audio signals to three or more motor modules respectively, controlling the three or more motor modules to sound synchronously, or controlling two of the motor modules to sound synchronously and controlling the remaining motor modules to sound after a predetermined time, comprises: Controlling four of the motor modules to sound synchronously, wherein at least two of the four types of audio signals are different monophonic signals. Or, controlling three of the motor modules to sound synchronously, and controlling the fourth motor module to sound after a predetermined time, wherein the audio signal corresponding to the fourth motor module is the same monophonic signal as one of the audio signals corresponding to the other three motor modules. Or, controlling two of the motor modules to sound synchronously, and controlling the third motor module and / or the fourth motor module to sound after a predetermined time, wherein the audio signal corresponding to the third motor module and / or the fourth motor module is the same monophonic signal as one of the audio signals corresponding to the other two motor modules.

[0008] Optionally, the audio signals corresponding to at least two motor modules that sound synchronously are different monophonic signals separated from the same stereo audio.

[0009] Optionally, at least two of the motor modules are arranged at different positions of the vehicle.

[0010] Optionally, each motor module comprises a motor, and controlling the motor module to sound comprises: For each motor module, converting the audio signal into a first electric control signal; According to the first electric control signal, performing magnetic field oriented control on the motor in the corresponding motor module to emit sound corresponding to the audio signal through electromagnetic vibration of the motor.

[0011] Optionally, the converting the audio signal into the first electric control signal comprises: converting the audio signal into the first electric control signal in a synchronous rotating coordinate system or a stationary coordinate system controlled by the motor module.

[0012] Optionally, the converting the audio signal into the first electric control signal in a synchronous rotating coordinate system or a stationary coordinate system controlled by the motor module comprises: performing amplitude mapping processing on the audio signal to obtain an electric control signal in an amplitude dimension range; allocating the electric control signal in the amplitude dimension range to the synchronous rotating coordinate system or the stationary coordinate system controlled by the motor module to obtain the first electric control signal.

[0013] Optionally, the performing field-oriented control on the motor in the motor module according to the first electric control signal comprises: inputting the first electric control signal into a vector control system of the motor, and performing field-oriented control on the motor through the vector control system.

[0014] Optionally, the performing field-oriented control on the motor through the vector control system comprises: performing field-oriented control on the motor through the vector control system according to the rotor position in the motor, converting the first electric control signal into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field, and performing field-oriented control on the motor through the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field.

[0015] Optionally, after inputting the first electric control signal into the vector control system of the motor, the method further comprises: obtaining a second electric control signal; wherein the second electric control signal is an electric control signal determined according to a parameter related to the driving state of the vehicle; performing field-oriented control on the motor in the motor module in combination with the first electric control signal and the second electric control signal.

[0016] Optionally, before transmitting at least two types of audio signals to at least two motor modules of the vehicle respectively, the method further comprises: performing monaural separation on the stereo audio to be played to obtain a monaural audio signal.

[0017] A vehicle sound control device, the device is used for: transmitting at least two types of audio signals to at least two motor modules of the vehicle respectively, the audio signal being used for making the motor module emit a sound corresponding to the audio signal; The at least two motor modules are controlled to start playing simultaneously in response to a playing instruction, wherein the audio signal is a single-channel signal.

[0018] An electronic device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program implementing the method when executed by the processor.

[0019] A vehicle comprising the apparatus or the electronic device.

[0020] A computer-readable storage medium having stored thereon a computer program, the computer program implementing the method when executed by a processor.

[0021] The embodiments of the present application have the following advantages: In the embodiments of the present application, at least two types of audio signals are transmitted to at least two motor modules of a vehicle respectively, the audio signals are used to make the motor modules emit sounds corresponding to the audio signals, the audio signals are single-channel signals, then at least two motor modules are controlled to start playing simultaneously in response to a playing instruction, thus the at least two motor modules of the vehicle are used to emit sounds, and the audio signals can be transmitted to the outside of the vehicle, the function of the motor in the vehicle is expanded, and no sound equipment directed to the outside of the vehicle needs to be additionally arranged, thereby reducing the cost. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the description of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 is a step flow chart of a vehicle sound emission control method provided by some embodiments of the present application; Figure 2 is a schematic diagram of a vehicle system architecture provided by some embodiments of the present application; Figure 3 is a schematic diagram of another vehicle system architecture provided by some embodiments of the present application; Figure 4 is a schematic diagram of another vehicle system architecture provided by some embodiments of the present application; Figure 5 is a schematic diagram of an audio acquisition architecture provided by some embodiments of the present application. DETAILED DESCRIPTION

[0024] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments. Obviously, the described embodiments are 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 creative labor fall within the scope of protection of the present application.

[0025] Referring to Figure 1 , a step flow chart of a vehicle sound generation control method provided by some embodiments of the present application is shown, which specifically includes the following steps: Step 101, at least two types of audio signals are transmitted to at least two motor modules of a vehicle respectively, the audio signals being used to make the motor modules emit sounds corresponding to the audio signals, the audio signals being monaural signals.

[0026] As an example, a vehicle can be a car configured with motor modules, such as an electric vehicle, a hybrid vehicle, the motor modules being motor modules used to drive the vehicle to travel. Among them, the motor module can include a motor and a controller, and the motor can be an asynchronous motor, a synchronous motor, an electrically excited motor.

[0027] In actual application, the vehicle can be provided with at least two motor modules, such as two motor modules, three motor modules, four motor modules, and the at least two motor modules are arranged at different positions of the vehicle, such as the at least two motor modules being arranged at corresponding positions of front right wheel, front left wheel, rear right wheel and rear left wheel respectively.

[0028] For example, Figure 2 The motor module can include a front right electric drive assembly and a front left electric drive assembly, which are connected with a power battery respectively, such as Figure 3 The motor module can include a rear right electric drive assembly and a rear left electric drive assembly, which are connected with a power battery respectively, such as Figure 4 The motor module can include a front electric drive assembly and a rear electric drive assembly, which are connected with a power battery respectively.

[0029] In the embodiments of the present application, at least two types of audio signals of monaural signals can be obtained, and then the at least two types of audio signals can be transmitted to at least two motor modules of a vehicle respectively, so as to control the motor modules to emit sounds corresponding to the audio signals, thereby realizing multiplexing the motor modules used to drive the vehicle to travel to generate sound.

[0030] Before the at least two types of audio signals are transmitted to the at least two motor modules of the vehicle respectively, it further includes: performing monaural separation on a stereo audio to be played to obtain monaural audio signals.

[0031] In practical applications, the multi-channel stereo audio can be separated into a single channel to obtain a single-channel audio signal, and then the single-channel audio signal is transmitted to the motor module. In some examples, the single-channel separation can be completed by an audio decoding chip in the multimedia system.

[0032] In some embodiments of the application, before transmitting at least two types of audio signals to at least two motor modules of the vehicle, the method further comprises: sampling the data transmitted by the multimedia system of the vehicle to obtain the corresponding audio signals of the motor modules.

[0033] In practical applications, the data transmitted by the multimedia system of the vehicle can be sampled to obtain audio signals and transmitted to the motor module, thereby realizing the playing of the audio of the multimedia system through the motor module.

[0034] In some embodiments of the application, the data transmitted by the multimedia system of the vehicle comprises: The signal output to the sound by the external power amplifier assembly in the multimedia system of the vehicle; or the first bus signal transmitted by the external power amplifier assembly or the internal audio bus in the host assembly in the multimedia system of the vehicle; or the second bus signal transmitted by the external power amplifier assembly or the vehicle audio bus in the host assembly in the multimedia system of the vehicle; or the audio data packet transmitted by the multimedia system of the vehicle through Ethernet, and the audio data after parsing the audio data packet.

[0035] As an example, the audio signal collected from the multimedia system can include: a music file, a MIDI (Musical Instrument Digital Interface) file, a Bluetooth-transmitted song file, a digital signal processed by a chip, an analog signal processed by a chip, an analog signal amplified by a power amplifier, a PCM (Pulse Code Modulation) encoded file, and an analog or digital signal input by a microphone. Various formats of files are extracted and converted into digital signals according to the corresponding file encoding rules and transmitted into the motor module.

[0036] In practical applications, the corresponding audio signal can be collected from the audio line of the multimedia system, and the signal output by the multimedia system is converted into a digital signal or an analog signal that can be recognized by the motor module, such as Figure 5 , including the following signal collection schemes: 1. Amplifier Analog Signal ADC (Analog-to-Digital Converter) Sampling: The analog signal output from the amplifier to the audio system in the vehicle environment is connected to the ADC sampling port of the MCU (Microcontroller Unit). The MCU performs ADC sampling and converts the amplifier analog signal into a digital signal by debugging the underlying driver function of the motor module.

[0037] 2. I2S (Inter-IC Sound, integrated circuit built-in audio bus) - CANFD (CAN with Flexible Data rate, an upgraded version of CAN bus): Obtain the I2S signal source from the external power amplifier in the vehicle environment, and convert the I2S signal on the host assembly into a digital signal by debugging the corresponding low-level drive function on the motor module. The digital signal is then sent to the MCU through the CANFD bus.

[0038] 3. A2B (Automotive Audio Bus) - I2S - CANFD: Obtain the A2B signal source from the external power amplifier in the vehicle environment, and convert the A2B signal into an I2S signal and then into a digital signal that can be recognized by the drive motor controller by debugging the underlying drive function of the corresponding motor module. The digital signal is sent to the MCU through the CANFD bus.

[0039] 4. A2B-I2S-MCU: Obtains the A2B signal source from the external power amplifier in the vehicle environment, and converts the A2B signal into an I2S signal and then into a digital signal that can be recognized by the drive motor controller by debugging the underlying drive function of the corresponding motor module.

[0040] In some embodiments of the present invention, the data transmitted by the vehicle's multimedia system includes analog signals and digital signals, and further includes: when the data transmitted by the vehicle's multimedia system is an analog signal, performing analog-to-digital sampling on the data transmitted by the vehicle's multimedia system according to the sampling frequency; when the data transmitted by the vehicle's multimedia system is a digital signal, determining the down-frequency sampling frequency based on the sampling frequency, and sampling the audio signal according to the down-frequency sampling frequency.

[0041] In practical applications, the motor module is limited by the switching frequency of the power devices and the control frequency of the control chip, which is generally lower than the sampling rate of the music file (such as 96kHz, 48kHz, 44.1kHz, 22.05kHz). The motor module adopts dual sampling and dual update to improve the control frequency of the chip, so that it can achieve a higher control frequency (such as 20kHz, 22kHz, 24kHz, 32kHz) at a lower switching frequency (such as 10kHz, 11kHz, 12kHz, 16kHz), thereby improving the music reproduction of the audio file and achieving a higher playback quality.

[0042] For analog signals in a multimedia system, the data transmitted by the vehicle's multimedia system can be sampled using analog-to-digital sampling according to the sampling frequency. For example, sampling can be performed using an ADC based on the chip's control frequency to downsample and obtain the desired audio signal. Then, the audio signal can be denoised to improve sound quality. For instance, an ADC sampling frequency of 22kHz can yield an audio signal with a sampling rate of 22kHz.

[0043] For digital signals in multimedia systems, frequency downsampling is required. The downsampling sampling frequency is determined based on the sampling frequency, and the audio signal is sampled according to the downsampling sampling frequency. That is, the audio control signal with a lower sampling rate is obtained by downsampling the original signal at a higher sampling rate.

[0044] In some embodiments of the present invention, the method further includes: interpolating between some of the sampled audio points during the down-sampling process.

[0045] During downsampling, if a missing audio point is encountered, it can be obtained by interpolation between the previous and next audio points. For example, for a 48kHz audio file, selecting one audio point every three audio points will yield a 12kHz audio signal.

[0046] Step 102: Control at least two of the motor modules to start playing simultaneously in response to the playback command.

[0047] In this embodiment of the invention, at least two motor modules can be controlled to emit sound synchronously, such as controlling two motor modules to emit sound synchronously, controlling three motor modules to emit sound synchronously, or controlling four motor modules to emit sound synchronously. By having at least two motors emit sound simultaneously, and at least two motors are set in different positions, and the playback channels are different, a sense of position and space in stereo sound is achieved.

[0048] In some embodiments of the present invention, controlling at least two motor modules to emit sound synchronously includes: controlling at least two motor modules to start playing simultaneously in response to a playback command.

[0049] Among them, the audio signals corresponding to at least two motor modules that emit sound synchronously are different channels.

[0050] In practical applications, playback commands can be generated based on user triggers, such as by the user triggering a playback command through the vehicle's display screen or by the user triggering a playback command through a button in the vehicle. Upon receiving a playback command, at least two motor modules can respond to the playback command and start playback simultaneously.

[0051] In some embodiments of the present invention, controlling at least two motor modules to emit sound synchronously includes: controlling two motor modules to emit sound synchronously when transmitting two types of audio signals to two motor modules respectively; controlling three or more motor modules to emit sound synchronously when transmitting three or more types of audio signals to three or more motor modules respectively; or controlling two of the motor modules to emit sound synchronously and controlling the remaining motor modules to emit sound after a predetermined time delay.

[0052] In some embodiments of the present invention, when transmitting three or more types of audio signals to three or more motor modules respectively, controlling three or more motor modules to emit sound synchronously, or controlling two of the motor modules to emit sound synchronously and controlling the remaining motor modules to emit sound with a predetermined delay, includes: The three motor modules are controlled to emit sound synchronously, wherein the three types of audio signals are each different mono signals, or two of the three types of audio signals are the same mono signals; Alternatively, two motor modules can be controlled to emit sound synchronously, and a third motor module can be controlled to emit sound after a predetermined time delay, wherein the audio signal corresponding to the third motor module and one of the audio signals corresponding to the other two motor modules are the same mono signal. Alternatively, two motor modules can be controlled to emit sound synchronously, and a third motor module can be controlled to emit sound based on the audio signals corresponding to the other two motor modules; wherein the audio signal corresponding to the third motor module is obtained by superimposing the audio signals corresponding to the other two motor modules and taking the average value.

[0053] In some embodiments of the present invention, when transmitting three or more types of audio signals to three or more motor modules respectively, controlling three or more motor modules to emit sound synchronously, or controlling two of the motor modules to emit sound synchronously and controlling the remaining motor modules to emit sound with a predetermined delay, includes: The four motor modules are controlled to emit sound synchronously, wherein at least two of the four types of audio signals are different mono signals; Alternatively, the three motor modules can be controlled to emit sound synchronously, and the fourth motor module can be controlled to emit sound after a predetermined time delay, wherein the audio signal corresponding to the fourth motor module is the same mono signal as one of the audio signals corresponding to the other three motor modules; Alternatively, two motor modules can be controlled to emit sound synchronously, and the third and / or fourth motor modules can be controlled to emit sound after a predetermined time delay, wherein the audio signal corresponding to the third and / or fourth motor modules is the same mono signal as one of the audio signals corresponding to the other two motor modules.

[0054] In some implementations, both motor modules can emit sound synchronously, and different mono audio can be played in the two motor modules, such as one motor module playing mono audio A and the other motor module playing mono audio B.

[0055] In some implementations, three motor modules can be controlled to emit sound simultaneously, or four motor modules can be controlled to emit sound simultaneously, or two of the motor modules can be controlled to emit sound simultaneously, while the remaining one or two motor modules are controlled to emit sound after a predetermined time.

[0056] For example, two motor modules can be controlled to emit sound synchronously, while a third and / or fourth motor module emits sound after a predetermined time. The mono audio signal played by the delayed third and / or fourth motor modules is one of the mono audio signals played by the other two motor modules. For instance, if the two motor modules emit sound synchronously and play mono audio A and B respectively, the third motor module plays mono audio A after a 10-second delay. Or, if the two motor modules emit sound synchronously and play mono audio A and B respectively, the third motor module plays mono audio A after a 5-second delay, and the fourth motor module plays mono audio B after a 10-second delay.

[0057] In some embodiments of the present invention, the audio signals corresponding to at least two motor modules that emit sound synchronously are different mono signals separated from the same stereo audio.

[0058] In some embodiments of the present invention, each motor module includes a motor, and controlling the motor module to emit sound includes: for each motor module, converting the audio signal into a first electrical control signal; and according to the first electrical control signal, performing magnetic field orientation control on the motor in the corresponding motor module to emit a sound corresponding to the audio signal through electromagnetic vibration in the motor.

[0059] As an example, the first electrical control signal may be a vector control signal, including: a voltage vector control signal, and / or, a current vector control signal.

[0060] After obtaining the audio signal, it can be converted into a first electrical control signal. Then, the first electrical control signal can be used to perform field-oriented control on the motor in the motor module. Through field-oriented control, the electromagnetic vibration in the motor can emit a sound corresponding to the audio signal.

[0061] In some embodiments of the present invention, the step of performing field-oriented control on the motor in the corresponding motor module according to the first electrical control signal includes: inputting the first electrical control signal into the vector control system of the motor, and performing field-oriented control on the motor through the vector control system.

[0062] In practical applications, FOC (Field Oriented Control) vector control systems can be pre-established, such as FOC vector control systems based on permanent magnet synchronous motors with rotor field orientation, FOC vector control systems based on asynchronous motors with rotor field orientation, and FOC vector control systems based on electrically excited synchronous motors with rotor excitation field orientation.

[0063] Among them, at least two motor modules can form at least two independent decoupled vector control systems. Each vector control system independently controls the emission of sound from an independent channel. Thus, at least two independent vector control systems can simultaneously emit sound from different channels, or control at least two independent vector control systems to simultaneously emit sound from the same channel, or at least some vector control systems can simultaneously emit sound from the same channel.

[0064] After receiving the first electrical control signal, the electromagnetic force generated by the air gap magnetic field of the motor acting on the motor core excites electromagnetic vibration, which allows the motor to emit a sound corresponding to the audio signal.

[0065] In some embodiments of the present invention, the motor is subjected to field-oriented control by a vector control system, which includes: converting the first electrical control signal into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field according to the rotor position in the motor, and performing field-oriented control on the motor by using the components perpendicular to the rotor magnetic field and the components parallel to the rotor magnetic field.

[0066] For a vector control system, the first electrical control signal can be converted into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field by combining the rotor position in the motor. Then, the rotor in the motor can be controlled by the components perpendicular to the rotor magnetic field and the components parallel to the rotor magnetic field, thereby realizing the field-oriented control of the motor.

[0067] In some embodiments of the present invention, after inputting the first electrical control signal into the vector control system of the motor, the method further includes: acquiring a second electrical control signal; wherein the second electrical control signal is an electrical control signal determined by parameters related to the vehicle's driving state; and combining the first electrical control signal and the second electrical control signal to perform field-oriented control on the motor in the corresponding motor module.

[0068] The second electric control signal is an electric control signal determined by parameters related to the vehicle's driving state, such as torque output command, speed, battery voltage, etc.

[0069] In practical applications, motor modules can be used to drive vehicles. When reusing motor modules to generate sound, the function of driving vehicles must also be taken into account. Therefore, a second electrical control signal can be determined based on parameters related to the vehicle's driving state. The second control signal is used to drive the vehicle. Then, the first and second electrical control signals can be combined to perform field-oriented control on the motor in the corresponding motor module, thereby enabling the motor module to generate sound while driving the vehicle.

[0070] In some embodiments of the present invention, converting the audio signal into a first electrical control signal includes: converting the audio signal into a first electrical control signal in a synchronous rotating coordinate system or a stationary coordinate system controlled by the corresponding motor module.

[0071] In practical applications, harmonic injection can be used to inject audio signals into the synchronous rotating coordinate system or the stationary coordinate system controlled by the motor. Specifically, one method is to inject the audio signal into the direct axis voltage (i.e., the synchronous rotating coordinate system), and the other method is to inject the audio signal into the α-β axis voltage (i.e., the stationary coordinate system). Both methods can inject audio signals into the stator voltage of the motor and act on the motor through control strategies.

[0072] In some embodiments of the present invention, the step of converting the audio signal into a first electrical control signal under the corresponding synchronous rotating coordinate system or stationary coordinate system controlled by the motor module includes: performing amplitude mapping processing on the audio signal to obtain an electrical control signal within the amplitude dimension range; and distributing the electrical control signal within the amplitude dimension range to the corresponding synchronous rotating coordinate system or stationary coordinate system controlled by the motor module to obtain the first electrical control signal.

[0073] In practical applications, audio signals can be converted and processed to a range of amplitude dimensions to obtain signals that the motor module can control. Furthermore, harmonic injection can be used to inject audio signals into the synchronous rotating coordinate system or stationary coordinate system controlled by the motor.

[0074] In some embodiments of the present invention, the step of performing amplitude mapping processing on the audio signal to obtain an electrical control signal within the amplitude dimension range includes: performing per-unit processing on the audio signal, and converting the per-unit processed audio signal according to the maximum current amplitude within the amplitude dimension range to obtain an electrical control signal within the amplitude dimension range.

[0075] In practical applications, the extracted audio signal can be processed in per-unit format. The maximum current amplitude used by the current controller to respond to the music, i.e. the maximum current amplitude within the amplitude dimension range, is multiplied by the per-unit processed audio signal to obtain an electrical control signal within the amplitude dimension range.

[0076] In some embodiments of the present invention, the step of allocating the electrical control signal within the amplitude dimension range to the corresponding synchronous rotating coordinate system or stationary coordinate system controlled by the motor module to obtain the first electrical control signal includes: acquiring the angle information of the vector control system of the motor, and allocating the electrical control signal within the amplitude dimension range to the corresponding first electrical control signal under the synchronous rotating coordinate system or stationary coordinate system controlled by the motor module according to the angle information.

[0077] In practical applications, since the obtained electrical control signal is a scalar, it needs to be converted into a vector if it is to be used in a coordinate system. This allows us to obtain angle information, and then, according to the angle information, the electrical control signal within the amplitude dimension range can be allocated as the first electrical control signal in the synchronous rotating coordinate system or stationary coordinate system of the corresponding motor module control, thus obtaining a vector signal, which facilitates motor control.

[0078] In some examples, the angle information can be preset or it can change in real time. For instance, the angle information can be determined based on the motor rotor speed, and the angle is negatively correlated with the motor rotor speed. In practical applications, since the angle information can be determined based on the motor rotor speed, it can be used to control the specific distribution method of the electrical control signal to the coordinate system. This allows for adaptation to different motor speeds, reducing motor vibration (which can cause abnormal noise).

[0079] In some examples, the electrical control signal within the amplitude dimension range can be a current signal Is. Current distribution is performed using the angle information theta to obtain the distributed currents Isdn and Isqn (i.e., the first electrical control signal), which can be achieved using the following formula: Isdn = Is * cos(theta), Isqn = Is * sin(theta) In some examples, current can be converted into voltage Usdn and Usqn using a current-voltage conversion module. The current-voltage conversion module can be a pure proportional coefficient relationship or a proportional-derivative relationship, etc.

[0080] In some embodiments of the present invention, distributing an electrical control signal within the amplitude dimension range to a synchronous rotating coordinate system or a stationary coordinate system controlled by the corresponding motor module to obtain a first electrical control signal includes: distributing an electrical control signal within the amplitude dimension range to a synchronous rotating coordinate system controlled by the corresponding motor module to obtain a first electrical control signal; or, distributing an electrical control signal within the amplitude dimension range to a higher-order synchronous rotating coordinate system based on the synchronous rotating coordinate system of the corresponding motor module to obtain a first electrical control signal; or, distributing an electrical control signal within the amplitude dimension range to a stationary coordinate system of the corresponding motor module to obtain a first electrical control signal.

[0081] There are two types of synchronous rotating coordinate systems: synchronous rotating coordinate systems of the same order and synchronous rotating coordinate systems of higher order. You can choose to use a synchronous rotating coordinate system of the same order, a synchronous rotating coordinate system of higher order, or a stationary coordinate system, depending on the actual situation.

[0082] In the case of a synchronous rotating coordinate system of the same order, the audio signal can be converted to a synchronous rotating coordinate system of the same order, and the direction can be positive or negative. By using a synchronous rotating coordinate system of the same order, the control method is relatively simple in a normal FOC control system. However, when the audio signal contains low-pitched drum beats or other musical elements, it can easily cause the motor to vibrate at the same frequency.

[0083] In the case of higher-order synchronous rotating coordinate systems, the audio signal can be converted to a higher-order synchronous rotating coordinate system, with the direction being positive or negative. For example, the order can be 2, 3, 4, 5, 6, 7 for positive directions and 0, -1, -2, -3, -4, -5, -6, -7 for negative directions. By using a higher-order synchronous rotating coordinate system, the control complexity increases, but the advantage is that it is less likely to cause synchronous vibration of the motor during the sound reproduction process.

[0084] In the case of a stationary coordinate system, the audio signal is directly converted into voltage vectors Usα and Usβ on the αβ axis of the stationary coordinate system and injected into the original FOC closed-loop control system. The control method is relatively simple, but the audio signal has current vectors in two directions on the αβ axis, which will have a certain impact on the motor torque under driving conditions, causing excessive torque fluctuations. Under parking conditions, the influence of the current vectors in two directions on the αβ axis is related to the rotor. When the current vectors are perpendicular to the rotor position, they are prone to producing loud motor noise, but the individual unit is prone to severe vibration.

[0085] In some examples, the amplitude of the target current harmonic injection in the coordinate system of the motor being rotated synchronously multiple times can be controlled to control the amplitude of the notes played by the motor; the pitch of the notes played by the motor can be controlled by controlling the frequency of the target current harmonic injection in the coordinate system of the motor being rotated synchronously multiple times.

[0086] In this embodiment of the invention, at least two types of audio signals are transmitted to at least two motor modules of the vehicle. The audio signals are used to make the motor modules emit sounds corresponding to the audio signals. The audio signals are mono signals. Then, the at least two motor modules are controlled to start playing simultaneously in response to the playback command. This realizes the use of at least two motor modules in the vehicle to produce sound, thereby enabling the audio signals to be transmitted to the outside of the vehicle. This expands the function of the motors in the vehicle and eliminates the need for additional audio equipment facing outwards, thus reducing costs.

[0087] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0088] Some embodiments of the present invention also provide a vehicle sound control device, the device being used for: At least two types of audio signals are transmitted to at least two motor modules of the vehicle, respectively, the audio signals being used to cause the motor modules to emit sounds corresponding to the audio signals; Control at least two of the motor modules to simultaneously start playback in response to a playback command; wherein the audio signal is a mono signal.

[0089] Optionally, the audio signals corresponding to at least two of the motor modules that emit sound synchronously are from different channels.

[0090] Optionally, controlling at least two of the motor modules to emit sound synchronously includes: When transmitting the two types of audio signals to the two motor modules respectively, the two motor modules are controlled to emit sound synchronously. When transmitting three or more types of audio signals to three or more motor modules respectively, control the three or more motor modules to emit sound synchronously, or control two of the motor modules to emit sound synchronously and control the remaining motor modules to emit sound after a predetermined time.

[0091] Optionally, when transmitting three or more types of audio signals to three or more motor modules respectively, controlling three or more motor modules to emit sound synchronously, or controlling two of the motor modules to emit sound synchronously and controlling the remaining motor modules to emit sound with a predetermined delay, includes: The three motor modules are controlled to emit sound synchronously, wherein the three types of audio signals are each different mono signals, or two of the three types of audio signals are the same mono signals; Alternatively, two motor modules can be controlled to emit sound synchronously, and a third motor module can be controlled to emit sound after a predetermined time delay, wherein the audio signal corresponding to the third motor module and one of the audio signals corresponding to the other two motor modules are the same mono signal. Alternatively, two motor modules can be controlled to emit sound synchronously, and a third motor module can be controlled to emit sound based on the audio signals corresponding to the other two motor modules; wherein the audio signal corresponding to the third motor module is obtained by superimposing the audio signals corresponding to the other two motor modules and taking the average value.

[0092] Optionally, when transmitting three or more types of audio signals to three or more motor modules respectively, controlling three or more motor modules to emit sound synchronously, or controlling two of the motor modules to emit sound synchronously and controlling the remaining motor modules to emit sound with a predetermined delay, includes: The four motor modules are controlled to emit sound synchronously, wherein at least two of the four types of audio signals are different mono signals; Alternatively, the three motor modules can be controlled to emit sound synchronously, and the fourth motor module can be controlled to emit sound after a predetermined time delay, wherein the audio signal corresponding to the fourth motor module is the same mono signal as one of the audio signals corresponding to the other three motor modules; Alternatively, two motor modules can be controlled to emit sound synchronously, and the third and / or fourth motor modules can be controlled to emit sound after a predetermined time delay, wherein the audio signal corresponding to the third and / or fourth motor modules is the same mono signal as one of the audio signals corresponding to the other two motor modules.

[0093] Optionally, the audio signals corresponding to at least two of the synchronously sounding motor modules are different mono signals separated from the same stereo audio.

[0094] Optionally, at least two of the motor modules are located at different positions in the vehicle.

[0095] Optionally, each of the motor modules includes a motor, and controlling the motor module to produce sound includes: For each of the motor modules, the audio signal is converted into a first electrical control signal; Based on the first electrical control signal, the motor in the corresponding motor module is subjected to magnetic field orientation control so as to emit a sound corresponding to the audio signal through electromagnetic vibration in the motor.

[0096] Optionally, converting the audio signal into a first electrical control signal includes: The audio signal is converted into a first electrical control signal in the corresponding synchronous rotating coordinate system or stationary coordinate system controlled by the motor module.

[0097] Optionally, the step of converting the audio signal into a first electrical control signal in the corresponding synchronous rotating coordinate system or stationary coordinate system controlled by the motor module includes: The audio signal is subjected to amplitude mapping processing to obtain an electrical control signal within the amplitude dimension range; The electrical control signal, which is within the amplitude dimension range, is distributed to the corresponding synchronous rotating coordinate system or stationary coordinate system controlled by the motor module to obtain the first electrical control signal.

[0098] Optionally, the step of performing field-oriented control on the motor in the corresponding motor module according to the first electrical control signal includes: The first electrical control signal is input into the vector control system of the motor, and the motor is subjected to field-oriented control by the vector control system.

[0099] Optionally, the magnetic field orientation control of the motor via the vector control system includes: The vector control system converts the first electrical control signal into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field based on the rotor position in the motor. The motor is then subjected to field-oriented control using the components perpendicular to the rotor magnetic field and parallel to the rotor magnetic field.

[0100] Optionally, after inputting the first electrical control signal into the vector control system of the motor, the method further includes: Acquire a second electrical control signal; wherein the second electrical control signal is an electrical control signal determined by parameters related to the vehicle's driving state; By combining the first electrical control signal and the second electrical control signal, the motor in the corresponding motor module is subjected to field-oriented control.

[0101] Optionally, before transmitting at least two types of audio signals to at least two motor modules of the vehicle, the method further includes: The stereo audio to be played is separated into mono channels to obtain a mono audio signal.

[0102] Some embodiments of the present invention also provide an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method described above.

[0103] Some embodiments of the present invention also provide a vehicle including the device described above, or the electronic device described above.

[0104] Some embodiments of the present invention also provide a computer-readable storage medium on which a computer program is stored, and which, when executed by a processor, implements the method described above.

[0105] Some embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0106] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0107] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0108] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0109] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0111] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0112] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0113] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0114] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the aforementioned element.

[0115] The above provides a detailed description of a method and apparatus for controlling the sound output of an electric vehicle. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the invention. At the same time, those skilled in the art will recognize that, based on the ideas of the invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the invention.

Claims

1. A vehicle sound production control method characterized by comprising: The method comprises: transmitting corresponding audio signals to at least two motor modules of a vehicle respectively, the audio signals being used to make the motor modules emit sounds corresponding to the audio signals; controlling the at least two motor modules to start playing simultaneously in response to a playing instruction; wherein the audio signals are monaural signals.

2. The method of claim 1, wherein, The corresponding audio signals of the at least two motor modules playing synchronously are different channels.

3. The method of claim 1, wherein, The control of the at least two motor modules playing synchronously comprises: in the case of transmitting two types of audio signals to two motor modules respectively, controlling the two motor modules to play synchronously; in the case of transmitting three or more types of audio signals to three or more motor modules respectively, controlling the three or more motor modules to play synchronously, or controlling two of the motor modules to play synchronously and controlling the remaining motor modules to play after a predetermined time period.

4. The method of claim 3, wherein, The control of the three or more motor modules playing synchronously, or the control of two of the motor modules playing synchronously and the control of the remaining motor modules playing after a predetermined time period in the case of transmitting three or more types of audio signals to three or more motor modules respectively comprises: controlling three motor modules to play synchronously, wherein the three types of audio signals are different monaural signals, or two of the three types of audio signals are the same monaural signal; or, controlling two motor modules to play synchronously and controlling a third motor module to play after a predetermined time period, wherein the audio signal corresponding to the third motor module is the same monaural signal as one of the audio signals corresponding to the other two motor modules; or, controlling two motor modules to play synchronously and controlling a third motor module to play according to the audio signals corresponding to the other two motor modules; wherein the audio signal corresponding to the third motor module is an audio signal obtained by superimposing and averaging the audio signals corresponding to the other two motor modules.

5. The method of claim 3, wherein, The control of the three or more motor modules playing synchronously, or the control of two of the motor modules playing synchronously and the control of the remaining motor modules playing after a predetermined time period in the case of transmitting three or more types of audio signals to three or more motor modules respectively comprises: controlling four motor modules to play synchronously, wherein at least two of the four types of audio signals are different monaural signals; or, controlling three motor modules to play synchronously and controlling a fourth motor module to play after a predetermined time period, wherein the audio signal corresponding to the fourth motor module is the same monaural signal as one of the audio signals corresponding to the other three motor modules; or, controlling two motor modules to play synchronously and controlling a third motor module to play according to the audio signals corresponding to the other two motor modules; wherein the audio signal corresponding to the third motor module is an audio signal obtained by superimposing and averaging the audio signals corresponding to the other two motor modules. Or, controlling two said motor modules to sound synchronously, and controlling a third said motor module and / or a fourth said motor module to sound after a predetermined time, wherein the audio signal corresponding to the third said motor module and / or the fourth said motor module is the same monophonic signal as one of the audio signals corresponding to the other two said motor modules.

6. The method of claim 1, wherein, The audio signals corresponding to the at least two said motor modules sounding synchronously are different monophonic signals separated from the same stereo audio.

7. The method of claim 1, wherein, The at least two said motor modules are arranged at different positions of the vehicle.

8. The method according to any one of claims 1 to 7, characterized in that, Each said motor module comprises a motor, and the method of controlling the motor module to sound comprises: For each said motor module, converting the audio signal into a first electric control signal; According to the first electric control signal, performing magnetic field oriented control on the motor in the corresponding said motor module to make the motor emit sound corresponding to the audio signal through electromagnetic vibration.

9. The method of claim 8, wherein, The converting the audio signal into a first electric control signal comprises: Converting the audio signal into a first electric control signal in a synchronous rotating coordinate system or a stationary coordinate system controlled by the corresponding said motor module.

10. The method of claim 9, wherein, The converting the audio signal into a first electric control signal in a synchronous rotating coordinate system or a stationary coordinate system controlled by the corresponding said motor module comprises: Performing amplitude mapping processing on the audio signal to obtain an electric control signal in an amplitude dimension range; Assigning the electric control signal in the amplitude dimension range to a synchronous rotating coordinate system or a stationary coordinate system controlled by the corresponding said motor module to obtain a first electric control signal.

11. The method of claim 8, wherein, The magnetic field oriented control according to the first electric control signal comprises: Inputting the first electric control signal into a vector control system of the motor to perform magnetic field oriented control on the motor through the vector control system.

12. The method of claim 11, wherein, The magnetic field oriented control through the vector control system comprises: According to the rotor position of the motor, converting the first electric control signal into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field through the vector control system, and performing magnetic field oriented control on the motor through the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field.

13. The method of claim 11, wherein, After inputting the first electric control signal into the vector control system of the motor, the method further comprises: Obtaining a second electric control signal; wherein the second electric control signal is an electric control signal determined by a parameter related to the driving state of the vehicle; Combining the first electric control signal and the second electric control signal to perform magnetic field oriented control on the motor in the corresponding said motor module.

14. The method according to any one of claims 1 to 7, characterized in that, Before the transmission of at least two types of audio signals to at least two motor modules of the vehicle, the method further comprises: Performing monophonic separation on the stereo audio to be played to obtain monophonic audio signals.

15. A vehicle sound generating control device characterized by comprising: The device is used for: Transmitting at least two types of audio signals to at least two motor modules of the vehicle, wherein the audio signals are used to make the motor modules emit sound corresponding to the audio signals; The at least two motor modules are controlled to start playing simultaneously in response to a playing instruction; wherein the audio signal is a single-channel signal.

16. An electronic device, comprising: A computer program product comprising a processor, a memory, and a computer program stored on the memory and loadable on the processor, the computer program being executable by the processor to implement the method of any one of claims 1 to 14.

17. A vehicle characterized by comprising: An apparatus as claimed in claim 15, or an electronic device as claimed in claim 16.

18. A computer-readable storage medium, characterized in that, A computer program product comprising a computer program stored on a computer readable storage medium, the computer program being executable by a processor to implement the method of any one of claims 1 to 14.

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