Driving feedback method, storage medium, program product, electronic device, and vehicle

Abstract

The application relates to a driving feedback method, a storage medium, a program product, an electronic device and a vehicle. The method comprises the following steps: in response to a vehicle mode of the vehicle, determining a feedback intensity; and based on the feedback intensity, controlling a target motor of the vehicle, so that the target motor performs driving feedback. The method controls the target motor on the vehicle to emit driving feedback corresponding to the vehicle mode, without an additional feedback device, thereby saving cost and reducing assembly complexity of the system.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a driving feedback method, storage medium, program product, electronic device, and vehicle. Background Technology

[0002] Driving feedback refers to providing drivers with information about vehicle status and the driving environment to help them better understand and respond to current driving situations. Related technologies require additional feedback devices, such as vibration devices or audio equipment, to achieve driving feedback; however, this approach not only increases system cost but also raises assembly complexity. Summary of the Invention

[0003] This application provides a driving feedback method, storage medium, program product, electronic device, and vehicle to simplify the installation of equipment in vehicles.

[0004] To achieve the above objectives, according to a first aspect of this application, a driving feedback method is provided, the method comprising:

[0005] The intensity of the feedback is determined in response to the vehicle's vehicle mode.

[0006] The target motor of the vehicle is controlled based on the feedback intensity so that the target motor provides driving feedback.

[0007] Optionally, controlling the target motor of the vehicle based on the feedback intensity includes:

[0008] Based on the feedback strength, a reference signal is determined, and the target motor of the vehicle is controlled based on the reference signal.

[0009] Optionally, the reference signal includes an audio reference signal and / or a vibration reference signal.

[0010] Optionally, controlling the target motor of the vehicle based on the reference signal includes:

[0011] The target motor of the vehicle is controlled based on the vehicle's driving information and the reference signal.

[0012] Optionally, controlling the target motor of the vehicle based on the vehicle's driving information and the reference signal includes:

[0013] Based on the vehicle's driving information, the amount of signal change is determined;

[0014] The change in the signal is superimposed on the reference signal to control the target motor of the vehicle.

[0015] Optionally, superimposing the change in the signal onto the reference signal to control the target motor of the vehicle includes:

[0016] The change in the reference signal is superimposed on the reference signal to obtain the target control signal;

[0017] Based on the target control signal, the target motor of the vehicle is controlled.

[0018] Optionally, the step of superimposing the change in the signal onto the reference signal to obtain the target control signal includes:

[0019] The signal parameters of the target control signal are obtained by superimposing the signal parameters of the reference signal with the signal parameters of the signal change amount.

[0020] Optionally, the signal parameters include amplitude and / or frequency.

[0021] Optionally, controlling the target motor of the vehicle based on the target control signal includes:

[0022] Based on the target control signal, a current corresponding to the signal parameters of the target control signal is injected into the target motor.

[0023] Optionally, determining the reference signal based on the feedback strength includes:

[0024] Based on the feedback intensity and the preset mapping relationship, an associated signal related to the feedback intensity is obtained to determine the reference signal.

[0025] The preset mapping relationship is used to indicate the associated signals corresponding to each of the multiple feedback intensities.

[0026] Optionally, the vehicle mode includes the vehicle's driving mode and / or a custom mode, wherein the custom mode is used to receive instructions related to a custom feedback intensity.

[0027] Optionally, determining the feedback strength in response to the vehicle's vehicle mode includes:

[0028] If the instruction related to the custom feedback intensity is detected, the custom feedback intensity is used as the feedback intensity.

[0029] Optionally, determining the feedback strength in response to the vehicle's vehicle mode includes:

[0030] In the absence of detected instructions related to the custom feedback intensity, the feedback intensity is determined based on the vehicle's driving mode.

[0031] Optionally, determining the feedback intensity based on the vehicle's driving mode includes:

[0032] When the vehicle is in energy-saving mode, the first feedback intensity is used as the feedback intensity; and / or

[0033] When the vehicle is in normal driving mode, the second feedback intensity is used as the feedback intensity; and / or

[0034] When the vehicle's driving model is in motion mode, the third feedback intensity is used as the feedback intensity.

[0035] Wherein, the third feedback intensity is greater than the second feedback intensity; and the second feedback intensity is greater than the first feedback intensity.

[0036] Optionally, controlling the target motor of the vehicle based on the feedback intensity includes:

[0037] Based on the feedback intensity, the target motor of the vehicle is controlled to emit sound and / or vibrate.

[0038] Optionally, the vehicle includes multiple drive motors, and the control of the target motor of the vehicle to emit sound and / or vibration includes:

[0039] The sound and / or vibration of the target motor of the vehicle are controlled to achieve sound and / or vibration in a preset direction; the target motor is at least one of the plurality of drive motors.

[0040] Optionally, the method further includes:

[0041] When the vehicle's driving feedback function is enabled, the step of controlling the vehicle's target motor based on the feedback intensity is performed.

[0042] Optionally, the vehicle's driving information includes at least one of the following: the vehicle's driving status information, road surface status information, and pedal information.

[0043] Optionally, the pedal information includes at least one of accelerator pedal information and brake pedal information.

[0044] Optionally, the driving feedback includes providing feedback on at least one of the vehicle mode, driving status information, road surface status information, and pedal information.

[0045] According to a second aspect of this application, embodiments of this application also provide an electronic device, comprising:

[0046] A memory on which computer programs are stored;

[0047] A processor is configured to execute the computer program in the memory to implement any of the driving feedback methods provided in the embodiments of this application.

[0048] According to a third aspect of this application, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, the computer-readable storage medium storing instructions that, when executed by a computer, cause the computer to implement any of the driving feedback methods provided in embodiments of this application.

[0049] According to a fourth aspect of this application, embodiments of this application also provide a computer program product storing instructions that, when executed by a computer, cause the computer to implement any of the driving feedback methods described in the embodiments of this application.

[0050] According to a fifth aspect of this application, embodiments of this application also provide a vehicle including the aforementioned electronic equipment.

[0051] Some embodiments of this specification include at least the following beneficial effects: by controlling the target motor on the vehicle to emit driving feedback corresponding to the vehicle mode, no additional feedback device is required, thus reducing the assembly complexity of the system.

[0052] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0055] Figure 1 This is a schematic diagram of the structure of a driving feedback system according to some embodiments of this specification;

[0056] Figure 2 This is an exemplary flowchart of a driving feedback method according to some embodiments of this specification;

[0057] Figure 3 This is an exemplary flowchart illustrating the adjustment of a reference signal according to some embodiments of this specification;

[0058] Figure 4These are exemplary schematic diagrams of driving feedback methods according to some embodiments of this specification;

[0059] Figure 5 This is a schematic diagram of the structure of an electronic device according to some embodiments of this specification. Detailed Implementation

[0060] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0061] To facilitate understanding of the implementation schemes provided in this application, the relevant application background of the driving feedback method provided in this application will be explained first.

[0062] With the continuous development of electric vehicle technology, people are not only pursuing traditional performance aspects such as comfort, but also placing increasingly higher demands on driving pleasure. Real-time feedback on driving conditions can directly improve the user's driving experience, enhancing the experience for those seeking driving enjoyment. Currently, related technologies often require additional feedback devices installed on the vehicle, resulting in high costs. Furthermore, these technologies rely on information from the motor controller regarding the motor's operating status as input to generate feedback, but this requires additional signal processing and transmission, making real-time feedback impossible. Additionally, current technologies often provide feedback based on the vehicle's driving mode (e.g., energy-saving, normal, sport), using the magnitude of acceleration in the forward direction, without considering lateral and vertical vibration feedback or audio feedback. This results in a limited range of driving feedback types, which are prone to inaccuracies and fail to provide comprehensive driving feedback to the user.

[0063] In view of this, some embodiments of this specification provide a driving feedback method that can use a drive motor to replace additional sound and vibration devices. The drive motor is controlled by a motor controller to emit driving feedback corresponding to the vehicle mode or driving information, reducing the transmission and processing of signals, helping to provide more realistic driving feedback, and improving the diversity and fun of driving the vehicle for the user.

[0064] Figure 1 This is a schematic diagram of the structure of a driving feedback system according to some embodiments of this specification.

[0065] like Figure 1 As shown, the driving feedback system 100 may include a drive motor 120 and a motor controller 110.

[0066] The drive motor 120 refers to an electric motor installed on the front axle, rear axle, or near the wheels of the vehicle, used to drive the wheels. In some four-wheel drive models, each drive motor 120 can operate independently to adapt to different driving conditions and needs.

[0067] The motor controller 110 is an electronic device that manages and controls the operation of the drive motor 120. For example, the motor controller 110 can convert the direct current from the battery into alternating current suitable for the drive motor 120, and adjust the operating state of the drive motor 120 according to instructions from the vehicle control unit. For example, the motor controller 110 can adjust parameters such as the speed, braking torque, and drive torque of the drive motor 120. The motor controller 110 controls the output of the drive motor 120 by receiving signals from controllers such as the vehicle control unit (VCU).

[0068] In some embodiments, the motor controller 110 may be a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components.

[0069] In some embodiments, the motor controller 110 can control the drive motor 120 to provide driving feedback based on vehicle mode, driving information, etc. Further details can be found in the related description below.

[0070] In some embodiments, such as Figure 1 As shown, the driving feedback system may also include a sensor module 140, a vehicle controller 130, an interaction module 150, etc.

[0071] In some embodiments, the sensor module 140 may include a tactile sensor for detecting road conditions, such as millimeter-wave or ultrasonic radar devices, visual devices such as cameras, and physical quantity measurement devices such as accelerometers and gyroscopes; the sensor module 140 may also include sensors for acquiring information such as motor status and driving status; the sensor module 140 may be used to measure, but is not limited to, motor speed, wheel speed, vehicle speed, vehicle acceleration, vehicle attitude, torque, power, etc., wherein angular velocity can be measured using a rotary transformer, acceleration can be measured using an accelerometer, vehicle attitude can be measured using an accelerometer and gyroscope, and torque and power can be measured using corresponding measuring devices and sensors.

[0072] In some embodiments, the vehicle controller 130 may include a microprocessor, a communication module, a power supply and protection circuit module, etc. The vehicle controller 130 may be a vehicle control unit (VCU) or an electronic control unit (ECU) in an electric vehicle, which can monitor and process various data on the vehicle.

[0073] In some embodiments, the vehicle controller 130 can be responsible for turning various functions on and off, and the vehicle controller 130 can also transmit the signals required for driving feedback to the motor controller 110.

[0074] In some embodiments, the interaction module 150 includes input and output components such as a display screen and external buttons.

[0075] In some embodiments, the motor controller 110 includes modules such as control chips, connection circuits, and power devices. The motor controller 110 can receive instructions from the vehicle controller 130, obtain drive signals and high-voltage signals to drive the motor 120 to operate according to the desired conditions, emit specific sounds and vibrations, and at the same time not affect the normal driving of the vehicle.

[0076] In some embodiments, the driving feedback system 100 may also include one or more other devices, such as a network, storage devices, etc. The network may include any suitable wired or wireless network that facilitates information and / or data exchange. The storage device is used to store data, instructions, and / or any other information. The storage device may include one or more storage components, each of which may be a separate device or part of other devices. In some embodiments, the storage device may include random access memory, read-only memory, removable memory, etc., or any combination thereof. In some embodiments, the storage device may be connected to a network to communicate with one or more components in the driving feedback system 100.

[0077] In some embodiments, the driving feedback method can be applied to various scenarios requiring driving feedback. For example, users may need the vehicle to provide personalized driving feedback to enhance their driving experience and information perception. Or, users may be able to select or customize vibration and audio modes according to their needs.

[0078] It is important to note that the driving feedback system 100 is provided for illustrative purposes only and is not intended to limit the scope of this specification. Various changes and modifications can be made by those skilled in the art based on the description herein. For example, the driving feedback system 100 may also include a database, information sources, etc. Furthermore, the driving feedback system 100 may be implemented on other devices to achieve similar or different functions. However, these changes and modifications will not depart from the scope of this specification.

[0079] Figure 2 This is an exemplary flowchart of a driving feedback method according to some embodiments of this specification. In some embodiments, process 200 may be executed based on a motor controller. Figure 2 As shown, process 200 includes the following steps.

[0080] Obtain vehicle mode (not shown in the image).

[0081] In some embodiments, vehicle modes include vehicle driving modes and / or custom modes.

[0082] Custom mode refers to an operating mode that allows drivers or users to personalize multiple systems and functions of a vehicle according to their personal preferences and specific needs.

[0083] In some embodiments, the custom mode is used to receive instructions related to a custom feedback intensity.

[0084] The vehicle's driving mode refers to the current driving mode of the vehicle. For example, driving modes may include Eco mode, Normal mode, Sport mode, etc.

[0085] In some embodiments, the motor controller can obtain the vehicle mode from the vehicle's electronic control unit (ECU) via an onboard bus (e.g., CAN bus).

[0086] Step S210: In response to the vehicle's vehicle mode, determine the feedback strength.

[0087] Feedback intensity refers to the degree of prominence of auditory and tactile feedback received by the driver. Adjusting the feedback intensity can help drivers better perceive the current vehicle mode and vehicle status, thereby improving the driving experience and safety.

[0088] In some embodiments, feedback intensity can be expressed as a numerical value (e.g., feedback degree, feedback value, feedback percentage, etc.) or a level (e.g., feedback level).

[0089] In response to the vehicle's vehicle mode, determine the feedback strength, including:

[0090] In some embodiments, if an instruction related to a custom feedback strength is detected, the custom feedback strength is used as the feedback strength.

[0091] Custom feedback intensity refers to a customized feedback intensity.

[0092] In some embodiments, users can input custom feedback intensity on the vehicle's display device in a variety of ways, including but not limited to touch input, voice input, image recognition input, and external device input.

[0093] In some embodiments, determining the feedback strength in response to the vehicle's vehicle mode includes:

[0094] In the absence of any instructions related to the custom feedback intensity, the feedback intensity is determined based on the vehicle's driving mode.

[0095] In some embodiments, the feedback intensity corresponding to a vehicle mode can be determined in various ways based on the vehicle mode. For example, the feedback intensity corresponding to the current vehicle mode can be determined based on a pre-established mapping relationship between different reference vehicle modes and different feedback intensities. The mapping relationship can be determined based on prior knowledge or historical data.

[0096] In some embodiments, determining the feedback intensity based on the vehicle's driving mode includes: using a first feedback intensity as the feedback intensity when the vehicle's driving mode is energy-saving mode; and / or using a second feedback intensity as the feedback intensity when the vehicle's driving mode is normal mode; and / or using a third feedback intensity as the feedback intensity when the vehicle's driving mode is sport mode; wherein the third feedback intensity is greater than the second feedback intensity; and the second feedback intensity is greater than the first feedback intensity.

[0097] For example, in energy-saving mode, users prioritize the vehicle's fuel efficiency rather than its power performance, requiring less feedback; in normal mode, the feedback is moderate; and in sport mode, users prioritize the vehicle's power performance and driving experience, requiring more feedback.

[0098] Step S220: Control the target motor of the vehicle based on the feedback intensity so that the target motor provides driving feedback.

[0099] The target motor refers to the drive motor that requires driving feedback.

[0100] In some embodiments, the target motor may be any one drive motor on the vehicle, or a combination of multiple drive motors on the vehicle, etc.

[0101] In some embodiments, operating parameters can be determined based on feedback intensity, and the target motor can be controlled based on the operating parameters to provide driving feedback.

[0102] Operating parameters are parameters related to the operation of the target motor.

[0103] In some embodiments, the operating parameters may include the signal parameters of the target control signal.

[0104] The target control signal refers to the signal fed back by the target motor through vibration or sound.

[0105] Signal parameters refer to parameters related to a signal.

[0106] In some embodiments, the signal parameters of the target control signal include the amplitude and / or frequency of the target control signal, and the target control signal includes a target audio signal and / or a target vibration signal.

[0107] In some embodiments, corresponding control commands can be generated based on the feedback intensity to enable the target motor to provide driving feedback.

[0108] Control commands are instructions that control the operation of one or more target motors. Control commands can include instructions for starting, stopping, and setting operating parameters.

[0109] In some embodiments, control instructions may refer to instructions used to instruct a target motor or the like to operate.

[0110] In some embodiments, the motor controller can send control commands to the corresponding target motor to control its operation. For example, it can control the vibration amplitude, vibration frequency, amplitude of the emitted audio signal, and frequency of the emitted audio signal.

[0111] In some embodiments, the processor can determine a preset table of different feedback intensities and corresponding operating parameters based on historical production experience, and determine the current operating parameters by looking up the table. Based on the operating parameters, the processor can generate control commands to control the operation of the target motor, so that the target motor can provide driving feedback.

[0112] In some embodiments, controlling the target motor of the vehicle based on feedback strength includes:

[0113] Based on the feedback strength, a reference signal is determined, and the target motor of the vehicle is controlled based on the reference signal.

[0114] A reference signal is a signal that is preset under specific conditions and used to provide a reference or standard.

[0115] In some embodiments, the reference signal includes an audio reference signal and / or a vibration reference signal.

[0116] An audio reference signal is an audio signal used to provide a reference or standard for providing auditory feedback.

[0117] Vibration reference signal refers to a vibration signal used to provide a reference or standard for providing tactile feedback.

[0118] Different reference signals correspond to different reference signal parameters.

[0119] In some embodiments of this specification, different vibration and sound feedback intensities and frequencies correspond to different feedback intensities (e.g., high feedback intensity, low feedback intensity, etc.) to match the driver's preferences, provide a more comfortable and enjoyable driving experience, and increase the user's positive impression of the vehicle.

[0120] In some embodiments, determining a reference signal based on feedback intensity includes: obtaining an associated signal related to the feedback intensity based on a preset mapping relationship between the feedback intensity and the feedback intensity, so as to determine the reference signal, wherein the preset mapping relationship is used to indicate the associated signal corresponding to each of the multiple feedback intensities.

[0121] The mapping relationship can be determined based on prior knowledge or historical data.

[0122] For example, regarding the frequencies of the audio reference signal and vibration reference signal, in energy-saving mode, the corresponding feedback intensity is lower, resulting in a lower amplitude of the reference signal; in normal mode, the corresponding feedback intensity is moderate, resulting in a moderate amplitude of the reference signal; and in sports mode, the corresponding feedback intensity is higher, resulting in a higher amplitude of the reference signal. As another example, regarding the frequencies of the audio reference signal and vibration reference signal, in energy-saving mode, the corresponding feedback intensity is lower, so the frequency of the audio signal in normal mode is a frequency that provides a relatively peaceful auditory and tactile experience, such as the frequency of natural wind or slow water flow; the frequency of the vibration signal is the swaying frequency of a rocking chair that provides comfort for the user. In normal mode, the frequencies of the corresponding audio and vibration signals are higher than those in energy-saving mode; in sports mode, the feedback intensity is higher, so the frequencies of the audio and vibration signals in sports mode are higher, such as the wind noise and vibration frequencies of a racing car.

[0123] In some embodiments, a reference signal can be obtained based on the product of a custom feedback strength and the maximum signal.

[0124] The signal parameters of the maximum signal refer to the parameters (such as frequency and amplitude) corresponding to the maximum signal. For example, the maximum signal can be a reference signal corresponding to the maximum amplitude and the maximum frequency.

[0125] In some embodiments, the maximum signal can be determined based on historical or experimental data.

[0126] In some embodiments, reference audio signals and reference vibration signals for different driving modes can be preset, and during test drives by different users, feedback from users on the reference audio signals and reference vibration signals for different driving modes can be collected. User feedback may include evaluations of the reference audio signals and reference vibration signals. Based on user feedback, the amplitude and frequency of the reference audio signals and reference vibration signals are adjusted until the optimal effect is achieved (e.g., the user evaluation is satisfactory). The corresponding audio reference signals and vibration reference signals for different driving modes are determined, and the maximum signal is selected from them.

[0127] In some embodiments, a fitting method can be used to fit a reference signal (e.g., the frequency or amplitude of an audio reference signal, the frequency or amplitude of a vibration reference signal) under different driving modes to obtain a fitting result, i.e., a continuously changing reference signal, and the maximum signal is determined based on the fitting result. The fitting algorithm may include least squares method, linear fitting, nonlinear fitting, etc.

[0128] In some embodiments, the frequency of an audio reference signal can be determined based on the product of a custom feedback strength and the frequency of the maximum audio signal; the amplitude of an audio reference signal can be determined based on the product of a custom feedback strength and the amplitude of the maximum audio signal; the frequency of a vibration reference signal can be determined based on the product of a custom feedback strength and the frequency of the maximum vibration signal; and the amplitude of a vibration reference signal can be determined based on the product of a custom feedback strength and the amplitude of the maximum vibration signal.

[0129] In some embodiments of this specification, the feedback strength of the final output can be precisely controlled by multiplying a user-defined feedback strength (e.g., a value between 0 and 1) by the maximum signal. This helps to provide customized feedback according to user preferences while simplifying design and maintenance.

[0130] In some embodiments of this specification, different feedback intensities can provide matching reference signals and signal parameters, making the driving feedback more closely match the current vehicle mode.

[0131] In some embodiments, controlling the target motor of the vehicle based on a reference signal includes:

[0132] The target motor of the vehicle is controlled based on the vehicle's driving information and reference signals.

[0133] Vehicle driving information refers to data related to the vehicle's driving status. For example, vehicle driving information may include data related to the vehicle's speed, acceleration, steering angle, engine speed, throttle opening, etc.

[0134] In some embodiments, the vehicle's driving information includes at least one of the following: vehicle driving status information, road surface status information, and pedal information.

[0135] In some embodiments, the pedal information includes at least one of accelerator pedal information and brake pedal information.

[0136] Accelerator pedal information may include the accelerator pedal opening signal, and brake pedal information may include the brake pedal pressure signal.

[0137] In some embodiments, the vehicle's driving status information includes, but is not limited to, vehicle speed, acceleration, steering angle, engine speed, and gear status.

[0138] In some embodiments, road surface condition information refers to the specific conditions of the road surface where the vehicle is traveling. For example, road surface information may include the smoothness of the road surface and whether there are obstacles.

[0139] In some embodiments, vehicle driving status information, road surface status information, and pedal information can be obtained in various ways. For example, the motor controller can obtain current driving information from the vehicle's sensor module, i.e., at least one sensor or electronic control unit. At least one sensor includes, but is not limited to, a speed sensor, an acceleration sensor, a steering angle sensor, and a brake pedal sensor.

[0140] In some embodiments, adjustment parameters can be determined based on vehicle driving information, and a reference signal can be adjusted based on the adjustment parameters to obtain a target control signal to control the target motor of the vehicle.

[0141] The adjustment parameters may include the adjustment direction and the adjustment amplitude. The adjustment direction may include increasing or decreasing. The adjustment amplitude may include the amount of change in amplitude and the amount of change in frequency. For example, the adjustment amplitude may include one or any combination of the amount of change in the amplitude of the audio reference signal, the amount of change in the frequency of the audio reference signal, the amount of change in the amplitude of the vibration reference signal, and the amount of change in the frequency of the vibration reference signal.

[0142] In some embodiments of this specification, obtaining vehicle driving information helps to provide driving feedback that is consistent with the actual situation, thereby improving the user's driving experience.

[0143] In some embodiments, driving feedback includes providing feedback on at least one of the vehicle's vehicle mode, driving status information, road surface status information, and pedal information.

[0144] In some embodiments, controlling a target motor of a vehicle based on feedback intensity includes: controlling the target motor of the vehicle to emit sound and / or vibrate based on feedback intensity.

[0145] In some embodiments, the current injected into the target motor corresponding to the signal parameters of the target control signal can be controlled based on the target control signal corresponding to the feedback intensity, thereby controlling the target motor of the vehicle to emit sound and / or vibrate.

[0146] In some embodiments, the vehicle includes a plurality of drive motors, and controlling a target motor of the vehicle to emit sound and / or vibrate includes: controlling the target motor of the vehicle to emit sound and / or vibrate to achieve sound and / or vibration in a preset direction; the target motor is at least one of the plurality of drive motors.

[0147] The drive motor can be a hub drive motor or other drive motors used to drive the wheels.

[0148] In some embodiments, abnormal information such as lane departure and excessive lateral acceleration can be identified and indicated based on vehicle driving information.

[0149] In some embodiments, abnormal information such as road bumps and insufficient tire pressure can be identified and indicated based on vehicle driving information.

[0150] In some embodiments, for vehicles equipped with multiple independently controllable drive motors (e.g., electric vehicles with four-wheel independent drive), based on the vehicle's driving information, different drive motors can be controlled to allow the driver or passengers to experience vibration feedback and / or sound feedback from different directions.

[0151] In some embodiments, based on abnormal information such as lane departure warning or excessive lateral acceleration, the drive motor closer to the driver or the drive motor farther from the driver can be identified as the target motor. Based on the target control signal of the first target motor, the drive motor closer to the driver vibrates, or the drive motor farther from the driver vibrates, or the drive motor closer to the driver and the drive motor farther from the driver vibrate alternately at a preset frequency, so that the driver or passenger feels vibration feedback and / or sound feedback from a preset direction.

[0152] In some embodiments, based on abnormal information such as road bumps or insufficient tire pressure, the drive motor of the front wheel or the rear wheel can be identified as the second target motor. Based on the target control signal of the second target motor, the vibration of the front wheel drive motor is caused based on a preset time period, so that the driver or passenger feels vibration feedback and / or sound feedback from a preset direction.

[0153] In some embodiments of this specification, providing vibration feedback in different directions can more clearly convey different types of information. For example, vertical vibration can be used to indicate abnormal information such as road bumps, while lateral vibration can be used to indicate abnormal information such as lane departure warnings.

[0154] In some embodiments, when the vehicle's driving feedback function is enabled, the step of controlling the vehicle's target motor based on the feedback intensity is performed.

[0155] In some embodiments, the driving feedback function can be enabled by communicating with the interaction module to detect and obtain corresponding user operations. Users can input commands to enable the driving feedback function by clicking buttons, checking options, or entering commands on the interaction module. The motor controller can enable the driving feedback function when it detects such commands.

[0156] In some embodiments of this specification, enabling the driving feedback function helps users turn on driving feedback according to actual conditions, improving the flexibility of feedback and enhancing the user's driving experience.

[0157] In some embodiments of this specification, various sounds are simulated by vibrating and emitting sound through a drive motor, eliminating the need for additional sound-generating devices and thus saving costs. This also simplifies the system design and structure. Furthermore, compared to using a stereo system, the feedback from the drive motor originates from under the vehicle, providing a more realistic experience. The drive motor can also produce a wide range of sounds; various sounds can be simulated using appropriate current signals. Therefore, in different vehicle modes, combined with vehicle driving information and road conditions, feedback sounds and vibrations with different styles and frequencies can be emitted, enhancing the diversity and enjoyment of driving for the user.

[0158] Figure 3 This is an exemplary flowchart illustrating the adjustment of a reference signal according to some embodiments of this specification. In some embodiments, process 300 may be executed based on a motor controller. Figure 3 As shown, process 300 includes the following steps.

[0159] Step S310: Determine the amount of signal change based on the vehicle's driving information.

[0160] The change in signal refers to a pre-set amount of change. This change is used to adjust the reference signal to adapt to different driving modes or user needs.

[0161] In some embodiments, the change in the signal includes at least one of the amplitude and / or frequency change of the audio reference signal and the amplitude and / or frequency change of the vibration reference signal. The amplitude change of the audio reference signal and the frequency change of the audio reference signal may be the same or different. The amplitude change of the vibration reference signal and the frequency change of the vibration reference signal may be the same or different.

[0162] In some embodiments, the amount of change in the signal can be a system preset value, a manually preset value, or a value determined based on actual conditions.

[0163] In some embodiments of this specification, by adjusting the amplitude and frequency of the audio and vibration signals through changes in the signal amount, richer and more diverse forms of feedback can be provided, helping drivers to more clearly identify different types of information.

[0164] In some embodiments, the amount of signal change can be determined in various ways based on vehicle driving information.

[0165] In some embodiments, an adjustment coefficient is determined based on at least one of the vehicle's driving information, the feedback intensity corresponding to the driving mode, and a custom feedback intensity; the change in signal is obtained based on the product of the adjustment coefficient and the maximum change.

[0166] The adjustment factor is a proportional coefficient used to adjust the magnitude of the maximum change.

[0167] In some embodiments, adjustment coefficients can be determined based on vehicle driving information through various methods. For example, adjustment coefficients can be determined based on vehicle driving information using methods such as preset rules, regression analysis, and machine learning models. Regression analysis methods include, but are not limited to, linear regression and multinomial regression.

[0168] The maximum change refers to the maximum range within which the reference signal can change.

[0169] In some embodiments, the maximum variation may be a system preset value, a manually preset value, or a value determined based on actual conditions.

[0170] In some embodiments, the maximum change can be the change in the audio signal or vibration signal corresponding to the time when the feedback intensity is at its maximum in historical data.

[0171] In some embodiments, the maximum change may include the maximum change of the audio signal and the maximum change of the vibration signal. The maximum change of the audio signal and the maximum change of the vibration signal may be the same or different. The maximum change of the audio signal may include the maximum change of the audio signal amplitude, the maximum change of the audio signal frequency, etc. The maximum change of the audio signal amplitude and the maximum change of the audio signal frequency may be the same or different. The maximum change of the vibration signal may include the maximum change of the vibration signal amplitude, the maximum change of the vibration signal frequency, etc. The maximum change of the vibration signal amplitude and the maximum change of the vibration signal frequency may be the same or different.

[0172] In some embodiments, if no custom feedback intensity is detected, an adjustment coefficient is determined based on the feedback intensity corresponding to the driving mode, and then the amount of signal change is determined; if user input feedback intensity is detected, an adjustment coefficient is determined based on the feedback intensity, and then the amount of signal change is determined.

[0173] Different feedback intensities correspond to different adjustment coefficients.

[0174] In some embodiments, in energy-saving mode, the vehicle focuses more on fuel efficiency and environmental protection, so the feedback intensity is lower to reduce unnecessary interference and help the driver maintain a calm mindset, thereby helping to save fuel. Therefore, the adjustment coefficient is smaller at this time, and the corresponding signal change can be expressed as u%×ΔA, where u% is the adjustment coefficient in energy-saving mode and ΔA is the maximum change.

[0175] In some embodiments, in the normal mode, it is necessary to consider both driving pleasure and economy, and the feedback intensity is moderate. At this time, the adjustment coefficient is a relatively moderate value, and the corresponding signal change can be expressed as v%×ΔA, where u% is the adjustment coefficient in the normal mode and ΔA is the maximum change.

[0176] In some embodiments, in Sport mode, the emphasis is placed on the dynamic performance of driving, such as rapid response and high acceleration, so the feedback intensity is greater to support a more aggressive driving style. The corresponding change in signal can be expressed as w% × ΔA, where w% is the adjustment coefficient in Sport mode and ΔA is the maximum change.

[0177] Where 0 ≤ u% < v% < w% ≤ 1.

[0178] In some embodiments, to better cater to individual preferences, a user-customizable function is provided, allowing users to adjust the feedback intensity according to their own preferences. If a custom feedback intensity is detected, an adjustment coefficient corresponding to that feedback intensity is determined, and the change in the signal is y% × ΔA, where 0 ≤ y ≤ 1.

[0179] In some embodiments, the amount of signal change can be determined based on the currently selected driving mode in order to adjust the signal parameters of the reference signal, such as the amplitude and frequency of the audio signal.

[0180] In some embodiments, a custom feedback intensity can be obtained based on the user interface to determine the corresponding change in the signal, so as to adjust the signal parameters of the reference signal.

[0181] In some embodiments of this specification, by obtaining the signal change based on at least one of the following: current vehicle driving information (such as speed, acceleration, steering angle, etc.), the feedback intensity corresponding to the driving mode, and a custom feedback intensity, it can be ensured that the feedback always matches the actual driving situation. Drivers have different feedback needs under different driving conditions (urban roads, highways, inclement weather, etc.). Dynamic adjustment ensures that the most suitable feedback is provided under any circumstances.

[0182] In some embodiments, the adjustment coefficient is determined based on the vehicle's driving information and a custom feedback intensity.

[0183] In some embodiments, adjustment coefficients can be determined in various ways based on vehicle driving information and a custom feedback intensity. For example, adjustment coefficients can be determined based on vehicle driving information and a custom feedback intensity using methods such as preset rules, regression analysis, and machine learning models. For instance, different driving information and their respective initial adjustment coefficients can be preset, as can different feedback intensities and their corresponding initial adjustment coefficients. Based on the current vehicle driving information and the custom feedback intensity, multiple initial adjustment coefficients can be determined, and the final adjustment coefficient can be determined by a weighted sum of these multiple initial adjustment coefficients.

[0184] In some embodiments of this specification, by combining the user's personal preferences (feedback intensity) with real-time driving information, feedback that meets both user expectations and is adapted to current driving conditions can be provided.

[0185] In some embodiments, the adjustment coefficient is determined based on the vehicle's driving information and the feedback intensity corresponding to the driving mode.

[0186] In some embodiments, adjustment coefficients can be determined in various ways based on vehicle driving information and the feedback intensity corresponding to the driving mode. For example, adjustment coefficients can be determined based on vehicle driving information and the feedback intensity corresponding to the driving mode using methods such as preset rules, regression analysis, and machine learning models. For instance, a linear regression model can be established based on historical data. This model can predict adjustment coefficients based on vehicle driving information and feedback intensity. For example, the linear regression model could be: Adjustment coefficient = a0 + a1 × vehicle speed + a2 × acceleration + a3 × steering angle + a4 × initial adjustment coefficient corresponding to the feedback intensity of the driving mode, where a0, a1, a2, a3, a4, etc., are initial adjustment coefficients corresponding to each piece of driving information determined through historical data.

[0187] In some embodiments of this specification, by combining driving modes and different driving states (such as speed, acceleration, steering angle, etc.), feedback that conforms to both the driving mode and the current driving conditions can be provided.

[0188] Step S320: The change in the signal is superimposed on the reference signal to control the target motor of the vehicle.

[0189] In some embodiments, the change in the signal is superimposed on the reference signal to obtain the target control signal; based on the target control signal, the target motor of the vehicle is controlled.

[0190] In some embodiments, superimposing the change in a signal onto a reference signal to obtain a target control signal includes: superimposing the signal parameters of the change in a signal onto the signal parameters of the reference signal to obtain the signal parameters of the target control signal.

[0191] In some embodiments, signal parameters include amplitude and / or frequency.

[0192] The target control signal refers to the reference signal after adjustment by the change in the signal amount.

[0193] In some embodiments, the signal parameters of the target control signal include the amplitude and / or frequency of the target control signal, and the target control signal includes a target audio signal and / or a target vibration signal.

[0194] The target audio signal refers to the audio information fed back to the user.

[0195] The target vibration signal refers to the vibration information fed back to the user.

[0196] The change in signal refers to the change in the amplitude and / or frequency of the reference signal before and after adjustment. The direction of adjustment can include increasing or decreasing the amplitude and / or frequency of the reference signal.

[0197] In some embodiments, different target control signals correspond to different currents in the target motor.

[0198] In some embodiments, a target control signal can be obtained by superimposing a reference signal based on the amount of change in the signal.

[0199] Superposition can refer to the summation of changes in amplitude, frequency, etc., of a signal with the corresponding amplitude, frequency, etc., of a reference signal. For example, if the frequency f1 of an audio reference signal (i.e., how many fluctuations occur per hour, unit: times / hour) is equal to the frequency f2 of the audio reference signal in the signal's changes, then the frequency of the target audio signal in the superimposed target control signal is f1 + f2. Similarly, if the amplitude d1 of an audio reference signal is equal to the amplitude d2 of the audio reference signal in the signal's changes, then the frequency of the target audio signal in the superimposed target control signal is d1 + d2.

[0200] The amplitude and frequency of the target vibration signal can be obtained based on a similar superposition method as described above.

[0201] In some embodiments of this specification, determining the target control signal and the corresponding signal parameters helps to provide acoustic and vibration feedback, making the feedback mechanism more flexible and efficient.

[0202] In some embodiments, controlling a target motor of the vehicle based on a target control signal includes:

[0203] Based on the target control signal, the current injected into the target motor corresponds to the signal parameters of the target control signal.

[0204] In some embodiments, the signal variation can be determined based on vehicle driving information; a reference signal can be determined based on the vehicle's vehicle mode; the signal variation can be superimposed on the reference signal to obtain a target control signal; and the target motor can be controlled to produce sound and / or vibration in various ways based on the target control signal. For example, a pulse width modulation (PWM) signal can be generated based on the target control signal, and the duty cycle and frequency of the PWM signal can be determined according to the target control signal; the generated PWM signal can be transmitted to the control circuit of the target motor, and the current of the target motor can be adjusted by the control circuit (e.g., H-bridge driver, MOSFET, etc.) to make the target motor output a target audio signal and / or a target vibration signal, thereby making the target motor produce sound and / or vibration.

[0205] In some embodiments of this specification, the target motor of the vehicle is controlled to emit sound and / or vibrate, providing a variety of driving feedback methods to improve the driving feedback effect and enhance the user experience.

[0206] In some embodiments of this specification, the target control signal is dynamically adjusted through real-time driving information to ensure that feedback that conforms to reality is provided. Timely and appropriate feedback can significantly improve driving safety, help the driver react faster, and help the vehicle adapt to various driving scenarios and road conditions.

[0207] Figure 4 This is an exemplary schematic diagram of a driving feedback method according to some embodiments of this specification.

[0208] like Figure 4 As shown, a driving feedback method includes:

[0209] Step S1: Check whether the driving feedback function is enabled.

[0210] In some embodiments, the user can set whether to enable the driving feedback function as needed. If the user inputs the operation of enabling the driving reference function, the process proceeds to step S2.

[0211] Step S2: Check whether custom feedback intensity is enabled.

[0212] In some embodiments, the user can set whether to enable custom feedback intensity according to their needs. If the user input is detected to enable custom feedback intensity, the process proceeds to step S3; if the user input is not detected to enable custom feedback intensity, the process proceeds to step S6.

[0213] Step S3: Receive the user-defined feedback intensity.

[0214] Step S4: Determine the corresponding reference signal based on the user-defined feedback intensity.

[0215] In some embodiments, an audio reference signal, a vibration reference signal, and the corresponding amplitude and frequency are determined based on a user-defined feedback intensity.

[0216] Step S5: Based on the customized feedback intensity and vehicle driving information, the change amount is superimposed on the reference signal to control the drive motor.

[0217] Vehicle driving information can include vehicle driving status information, road surface information, and pedal braking information.

[0218] In some embodiments, the variation can be superimposed on the reference signal based on the custom feedback intensity and vehicle driving information, so that the drive motor injects the corresponding current and emits the corresponding driving feedback, such as audio, vibration, etc.

[0219] Step S6: Read the vehicle's driving mode.

[0220] Step S7: Determine the corresponding reference signal based on the vehicle's driving mode.

[0221] Based on the vehicle's driving mode (such as energy-saving mode, normal mode, and sport mode), acquire the corresponding audio reference signal and vibration reference signal.

[0222] Step S8: Based on the vehicle's driving mode and driving information, the change amount is superimposed on the reference signal to control the drive motor.

[0223] In some embodiments, the variation can be superimposed on the reference signal based on the vehicle's driving mode and driving information, so that the drive motor injects corresponding current and emits corresponding driving feedback, such as audio or vibration.

[0224] It should be noted that the above description of the process is for illustrative purposes only and does not limit the scope of this specification. Those skilled in the art can make various modifications and changes to the process under the guidance of this specification. However, these modifications and changes remain within the scope of this specification.

[0225] Figure 5 This is a schematic diagram of the structure of an electronic device according to some embodiments of this specification. For example... Figure 5 As shown, the electronic device is installed in the vehicle, such as... Figure 5 As shown, Figure 5This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 500 includes a processor 501 with one or more processing cores, a memory 502 with one or more computer-readable storage media, and a computer program stored in the memory 502 and executable on the processor. The processor 501 and the memory 502 are electrically connected.

[0226] The processor 501 is the control center of the electronic device 500. It connects various parts of the electronic device 500 via various interfaces and lines. By running or loading software programs and / or units stored in the memory 502, and by calling data stored in the memory 502, it executes various functions and processes data of the electronic device 500, thereby providing overall monitoring of the electronic device 500. The processor 501 can be a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a Network Processor (NP), etc., and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0227] In this embodiment of the application, the processor 501 in the electronic device 500 loads the computer program corresponding to the process of one or more applications into the memory 502 according to the method or steps described in the above embodiment, and the processor 501 runs the applications stored in the memory 502 to execute the driving feedback method.

[0228] Optional, such as Figure 5 As shown, the electronic device 500 also includes: a touch display screen 503, a radio frequency circuit 504, an audio circuit 505, an input unit 506, and a power supply 507. The processor 501 is electrically connected to the touch display screen 503, the radio frequency circuit 504, the audio circuit 505, the input unit 506, and the power supply 507. Those skilled in the art will understand that... Figure 5 The vehicle structure shown does not constitute a limitation on the vehicle and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0229] The touch display screen 503 can be used to display a graphical user interface (GUI) and receive operation commands generated by the user interacting with the GUI. The touch display screen 503 may include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the vehicle. These graphical user interfaces can be composed of graphics, text, icons, video, and any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), an organic light-emitting diode (OLED), or other similar technology. The touch panel can be used to collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel), generate corresponding operation commands, and execute the corresponding program according to the operation commands. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch location and the signal generated by the touch operation, transmitting the signal to the touch controller. The touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 501. It can also receive and execute commands from the processor 501. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it transmits the information to the processor 501 to determine the type of touch event. Subsequently, the processor 501 provides corresponding visual output on the display panel based on the type of touch event. In this embodiment, the touch panel and the display panel can be integrated into the touch display screen 503 to achieve input and output functions. However, in some embodiments, the touch panel and the touch display screen 503 can be implemented as two independent components to achieve input and output functions. That is, the touch display screen 503 can also be used as part of the input unit 506 to achieve input functions.

[0230] The radio frequency circuit 504 can be used to transmit and receive radio frequency signals to establish wireless communication with network devices or other vehicles, and to transmit and receive signals with network devices or other vehicles.

[0231] Audio circuitry 505 can be used to provide an audio interface between the user and the vehicle via a speaker and microphone. Audio circuitry 505 converts received audio data into electrical signals, transmits them to the speaker, and the speaker converts them into audio signals for output. Conversely, the microphone converts collected audio signals into electrical signals, which are then received by audio circuitry 505, converted back into audio data, and then processed by processor 501 before being transmitted via radio frequency circuitry 504 to, for example, another vehicle, or output to memory 502 for further processing. Audio circuitry 505 may also include an earphone jack to provide communication between peripheral headphones and the vehicle.

[0232] The input unit 506 can be used to receive input numbers, characters, or user characteristic information (such as fingerprints, iris, facial information, etc.), and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.

[0233] Power supply 507 is used to supply power to various components of electronic device 500. Optionally, power supply 507 can be logically connected to processor 501 through a power management device, thereby enabling functions such as charging, discharging, and power consumption management through the power management device. Power supply 507 may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0234] although Figure 5 As not shown in the diagram, the electronic device 500 may also include a camera, sensor, wireless fidelity module, Bluetooth module, etc., which will not be described in detail here.

[0235] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the driving feedback method described above. For example, the computer-readable storage medium may be the memory 502 including program instructions, which may be executed by the processor 501 of the electronic device 500 to implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of this application.

[0236] Alternatively, when the instructions are executed by a computer, they may implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of this application.

[0237] This application also provides a vehicle equipped with the electronic equipment provided in any of the above embodiments, the electronic equipment being used to execute the driving feedback method provided in any of the above embodiments. The vehicle may be a plug-in hybrid electric vehicle or a new energy vehicle, etc., and this specification does not specifically limit it.

[0238] In one embodiment, the vehicle can be configured for a fully or partially autonomous driving mode. For example, while in autonomous driving mode, the vehicle can control itself and, through human intervention, determine the current state of the vehicle and its surrounding environment, identify the possible behaviors of at least one other vehicle in the surrounding environment, determine the confidence level corresponding to the probability of that other vehicle performing the possible behavior, and control the vehicle based on the determined information. When the vehicle is in autonomous driving mode, it can be configured to operate without human interaction.

[0239] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0240] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0241] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although the descriptions of each embodiment in this application have different focuses, and the parts not described in detail in a certain embodiment can be referred to the relevant embodiments of other embodiments, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A driving feedback method, characterized in that, The method includes: The intensity of the feedback is determined in response to the vehicle's vehicle mode. The target motor of the vehicle is controlled based on the feedback intensity so that the target motor provides driving feedback.

2. The method according to claim 1, characterized in that, The method of controlling the target motor of the vehicle based on the feedback intensity includes: Based on the feedback strength, a reference signal is determined, and the target motor of the vehicle is controlled based on the reference signal.

3. The method according to claim 2, characterized in that, The reference signal includes an audio reference signal and / or a vibration reference signal.

4. The method according to claim 2, characterized in that, The control of the target motor of the vehicle based on the reference signal includes: The target motor of the vehicle is controlled based on the vehicle's driving information and the reference signal.

5. The method according to claim 4, characterized in that, The step of controlling the target motor of the vehicle based on the vehicle's driving information and the reference signal includes: Based on the vehicle's driving information, the amount of signal change is determined; The change in the signal is superimposed on the reference signal to control the target motor of the vehicle.

6. The method according to claim 5, characterized in that, The step of superimposing the change in the reference signal onto the reference signal to control the target motor of the vehicle includes: The change in the reference signal is superimposed on the reference signal to obtain the target control signal; Based on the target control signal, the target motor of the vehicle is controlled.

7. The method according to claim 6, characterized in that, The step of superimposing the change in the reference signal onto the reference signal to obtain the target control signal includes: The signal parameters of the target control signal are obtained by superimposing the signal parameters of the reference signal with the signal parameters of the signal change amount.

8. The method according to claim 7, characterized in that, The signal parameters include amplitude and / or frequency.

9. The method according to claim 6, characterized in that, The step of controlling the target motor of the vehicle based on the target control signal includes: Based on the target control signal, a current corresponding to the signal parameters of the target control signal is injected into the target motor.

10. The method according to claim 2, characterized in that, The determination of the reference signal based on the feedback strength includes: Based on the feedback intensity and the preset mapping relationship, an associated signal related to the feedback intensity is obtained to determine the reference signal. The preset mapping relationship is used to indicate the associated signals corresponding to each of the multiple feedback intensities.

11. The method according to claim 1, characterized in that, The vehicle mode includes the vehicle's driving mode and / or a custom mode, wherein the custom mode is used to receive instructions related to a custom feedback intensity.

12. The method according to claim 11, characterized in that, The response to the vehicle's vehicle mode, determining the feedback strength, includes: If the instruction related to the custom feedback intensity is detected, the custom feedback intensity is used as the feedback intensity.

13. The method according to claim 11, characterized in that, The response to the vehicle's vehicle mode, determining the feedback strength, includes: In the absence of detected instructions related to the custom feedback intensity, the feedback intensity is determined based on the vehicle's driving mode.

14. The method according to claim 13, characterized in that, Determining the feedback intensity based on the vehicle's driving mode includes: When the vehicle is in energy-saving mode, the first feedback intensity is used as the feedback intensity; and / or When the vehicle is in normal driving mode, the second feedback intensity is used as the feedback intensity; and / or When the vehicle's driving model is in motion mode, the third feedback intensity is used as the feedback intensity. Wherein, the third feedback intensity is greater than the second feedback intensity; and the second feedback intensity is greater than the first feedback intensity.

15. The method according to claim 1, characterized in that, The method of controlling the target motor of the vehicle based on the feedback intensity includes: Based on the feedback intensity, the target motor of the vehicle is controlled to emit sound and / or vibrate.

16. The method according to claim 15, characterized in that, The vehicle includes multiple drive motors, and the control of the target motor of the vehicle to produce sound and / or vibration includes: The sound and / or vibration of the target motor of the vehicle are controlled to achieve sound and / or vibration in a preset direction; the target motor is at least one of the plurality of drive motors.

17. The method according to any one of claims 1 to 16, characterized in that, The method further includes: When the vehicle's driving feedback function is enabled, the step of controlling the vehicle's target motor based on the feedback intensity is performed.

18. The method according to any one of claims 1 to 16, characterized in that, The vehicle's driving information includes at least one of the following: the vehicle's driving status information, road surface status information, and pedal information.

19. The method according to claim 18, characterized in that, The pedal information includes at least one of accelerator pedal information and brake pedal information.

20. The method according to any one of claims 1 to 16, characterized in that, The driving feedback includes providing feedback on at least one of the vehicle's vehicle mode, driving status information, road surface status information, and pedal information.

21. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the driving feedback method according to any one of claims 1 to 20.

22. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer-readable storage medium stores instructions that, when executed by a computer, cause the computer to perform the driving feedback method according to any one of claims 1 to 20.

23. A computer program product, characterized in that, The computer program product stores instructions that, when executed by a computer, cause the computer to implement the driving feedback method according to any one of claims 1 to 20.

24. A vehicle, characterized in that, Includes the electronic device as described in claim 21.

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