Chassis control method and vehicle

Abstract

The application discloses a chassis control method and a vehicle, and applies to the technical field of vehicle control. The method comprises the following steps: acquiring an audio signal output or collected by the vehicle, wherein the audio signal at least comprises beats; and controlling the chassis to perform corresponding actions based on the audio signal, wherein the duration of the actions matches a beat interval between a first beat and a second beat in the audio signal. In this way, the corresponding chassis action instruction can be generated in real time by analyzing any music, and the chassis can be controlled to perform the corresponding chassis action, so that the chassis action is synchronized with the music rhythm, the function of the vehicle dancing with the music when any music is played is realized, and the use experience of the intelligent cabin of the user is improved.

Description

Technical Field

[0001] This application belongs to the field of vehicle control technology, specifically relating to a chassis control method and a vehicle. Background Technology

[0002] With the rapid development of the automotive industry towards intelligence and entertainment, in-cabin entertainment experiences and scenario-based interactive capabilities are gradually becoming key ways to enhance user experience. Playing music while using a vehicle is extremely common. To further improve the comfort of drivers and passengers, a vehicle chassis "dancing" function has been developed. This function refers to the vehicle actively controlling its chassis suspension to synchronize its body posture with the rhythm of the music played on the in-vehicle system, achieving a vehicle entertainment feature where the entire vehicle "dances" to the music.

[0003] Existing technologies for controlling a vehicle's chassis to move in sync with music typically involve simple loops of fixed movements and / or pre-arrangement of fixed tracks. These methods cannot choreograph chassis movements for any track in real time and control the chassis to execute them, thus failing to provide users with the effect of the vehicle moving in sync with any track being played, resulting in a poor user experience. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a chassis control method, electronic device, vehicle, and computer-readable storage medium, capable of analyzing any music track in real time and instantly generating corresponding chassis action commands, thereby controlling the chassis to execute corresponding chassis actions. This achieves the effect of chassis action synchronized with the music rhythm, satisfying the user's desire to experience the vehicle moving in sync with the music while playing any music, and enhancing the user's smart cockpit experience.

[0005] Firstly, this application provides a chassis control method, the chassis control method comprising: Acquire audio signals output or collected by the vehicle, wherein the audio signals include at least a beat; Based on the audio signal, the chassis is controlled to perform corresponding actions, the duration of which matches the beat interval between the first and second beats in the audio signal.

[0006] Secondly, this application provides a vehicle, the vehicle including a chassis, an audio playback system and electronic devices; the electronic devices include a processor and a memory, the memory storing a computer program, and the processor executing the above-described chassis control method by calling the computer program stored in the memory.

[0007] The chassis control method and vehicle provided in this application acquire audio signals of music played in the vehicle, or music played from external devices such as a user's smartphone or speakers. The acquired audio signals are then analyzed to determine the corresponding actions and control the chassis to execute them. Because the duration of the corresponding action matches the beat interval between the first and second beats in the audio signal, the duration of the chassis's actions is synchronized with the music rhythm, ensuring precise synchronization between the chassis's rhythm and the audio signal.

[0008] In this way, any music track can be analyzed in real time and corresponding actions can be generated, so that the chassis movements are synchronized with the music rhythm. This allows users to experience the vehicle moving with the music when they hear any music, thus enhancing the user's smart cockpit experience.

[0009] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0010] 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. Wherein: Figure 1 This is an application scenario diagram of a chassis control method provided in some embodiments of this application; Figure 2 This is a first flowchart illustrating a chassis control method provided in certain embodiments of this application; Figure 3 This is a second flowchart illustrating the chassis control method provided in certain embodiments of this application; Figure 4 This is a third flowchart illustrating the chassis control method provided in certain embodiments of this application; Figure 5 This is a fourth flowchart illustrating the chassis control method provided in certain embodiments of this application; Figure 6 This is an overall schematic diagram of the chassis control method and music playback provided in certain embodiments of this application; Figure 7 This is a first schematic diagram showing the configuration mapping strategy of the chassis control method provided in some embodiments of this application; Figure 8 This is a second schematic diagram showing the configuration mapping strategy of the chassis control method provided in some embodiments of this application; Figure 9This is a schematic flowchart illustrating the safety verification process in a chassis control method provided in certain embodiments of this application; Figure 10 This is a fourth flowchart illustrating the chassis control method provided in certain embodiments of this application; Figure 11 This is a fifth flowchart illustrating the chassis control method provided in certain embodiments of this application; Figure 12 This is a schematic diagram illustrating the changes in chassis movement commands during music adjustment, provided in certain embodiments of this application. Figure 13 This is a schematic diagram of the structure of a chassis control device provided in some embodiments of this application; Figure 14 This is a schematic diagram of the structure of an electronic device provided in some embodiments of this application; Figure 15 This is a schematic diagram of the vehicle structure provided in some embodiments of this application. Detailed Implementation

[0011] 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 some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] In the description of this application, it should be understood that 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, features 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.

[0013] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0014] To address the problems existing in the background art, embodiments of this application provide a chassis control method, an electronic device, a vehicle, and a computer-readable storage medium. For ease of understanding, the background art and its application scenarios of this application are first introduced below: In the current field of vehicle chassis kinetic technology, one method involves extracting the power values ​​of the low / mid / high frequency units of the vehicle's speaker system to classify different motion modes. This is then used to activate four actuators in the vehicle's fully active suspension system to control chassis kinetic movement, achieving a synchronized rhythmic effect across low, mid, and high frequencies. However, this method typically uses a simple loop of fixed movements to achieve a "dancing" effect, without establishing an effective connection with the played music signal, thus failing to achieve precise synchronization between vehicle body movements and the music's rhythm and beat.

[0015] Another method involves pre-setting multiple application scenarios, selecting the appropriate target music based on the scenario mode, and simultaneously controlling the vehicle body to follow the preset music rhythm, achieving the effect of the vehicle dancing to the music in multiple scenarios. However, this method only supports the playback of pre-choreographed fixed music and cannot perform real-time parsing and motion generation for arbitrary music, thus failing to allow users to experience the effect of the vehicle chassis dancing to the music when playing any track.

[0016] Please see Figure 1 , Figure 1 This is an application scenario diagram of a chassis control method provided in certain embodiments of this application. The application scenario provided in this application includes a vehicle 100, which includes a central control display screen 10, a cockpit domain controller 20, an in-vehicle speaker system 30, a chassis domain controller 40, a chassis execution system 50, and a chassis 60. The chassis 60 control method provided in this application can be executed by at least one of the cockpit domain controller 20, the chassis domain controller 40, and the chassis execution system 50.

[0017] The central control display screen 10 is a human-machine interface screen used for displaying vehicle functions and corresponding touch operations. The central control display screen 10 can display the progress of currently playing music, lyrics, and other selectable music content. It can also generate corresponding touch commands in response to user touch operations on the central control display screen 10. Optionally, the central control display screen 10 may include, but is not limited to, a floating central control screen, an embedded central control screen, or a panoramic continuous screen; this embodiment does not limit this type.

[0018] The cockpit domain controller 20 is the core control unit of the entire vehicle cockpit, integrating functions such as audio-visual, human-machine interaction, and instrumentation, and coordinating the operation and signal interaction of various devices in the cockpit. The cockpit domain controller 20 includes a memory module 21, an in-vehicle entertainment host 22, and a processor module 23. The memory module 21 stores the source music signal (original audio) and processing algorithms related to controlling the vehicle 100 chassis 60's motion control function. The in-vehicle entertainment host 22 analyzes and decodes the source music signal and transmits the analyzed and decoded source music signal and corresponding touch commands from user operations to the processor module 23 for processing. Optionally, the source music signal can also originate from external terminal apps, in-vehicle connectivity systems (such as CarPlay, which projects content from the terminal onto the vehicle 100), cloud interaction, external USB drives, etc.

[0019] The processor module 23 is used to call the processing algorithm stored in the memory module 21 to process the analyzed and decoded source music signal and touch commands to obtain the corresponding music signal and chassis action commands. The processor module 23 may integrate a digital-to-analog converter (DAC), a power amplifier processing chip and / or an audio amplifier circuit, etc., to perform digital-to-analog conversion (DA conversion) of the music signal through the DAC and to realize power amplification through the power amplifier processing chip or audio amplifier circuit.

[0020] Optionally, the processor module 23 may include, but is not limited to, a system on a chip (SoC), a digital signal processor (DSP), a microcontroller unit (MCU), a neural processing unit (NPU), a graphics processing unit (GPU), etc., and the embodiments of this application do not limit this.

[0021] The vehicle-mounted speaker system 30 is the terminal sound-emitting device, composed of a speaker, crossover, mounting cavity, and other components. The vehicle-mounted speaker system 30 receives the music signal output from the processor module 23, which has undergone DA conversion and amplification, and converts the music signal into audible sound waves to play music. The vehicle-mounted speaker can also provide navigation announcements and play vehicle alert sounds, thereby enhancing the user experience for drivers and passengers.

[0022] The chassis 60 is the core load-bearing and running gear of the vehicle. The chassis 60 carries the vehicle body, passengers, and loads. The chassis domain controller 40 is the control unit that manages all systems within the chassis 60. The chassis domain controller 40 acquires chassis motion commands output by the processor module 23 and generates corresponding motion commands based on these commands to control the chassis execution system 50 to adjust the chassis attitude.

[0023] The chassis execution system 50 receives motion commands transmitted from the chassis domain controller 40 and converts these commands into mechanical actions to achieve dynamic response of the chassis 60. Optionally, the chassis execution system 50 may include, but is not limited to, a suspension system, a steering system, a vehicle height adjustment mechanism, etc., but this embodiment does not limit the scope of the application.

[0024] Based on the above background technology and related scenarios, this application provides a chassis control method, which will be described in detail below. Please refer to... Figure 2 The chassis control method provided in this application embodiment is implemented by steps 011 and 012, which are described in detail below.

[0025] Step 011: Acquire the audio signal output or collected by the vehicle. The audio signal must include at least the beat. Step 012: Based on the audio signal, control the chassis to perform the corresponding action, and the duration of the action matches the beat interval between the first beat and the second beat in the audio signal.

[0026] Audio signals are electrical signals that carry sound information, such as source music signals; audio signals include at least beats. Beat intervals refer to the time difference between different beats. The first and second beats can be adjacent or non-adjacent, meaning there can be one or more third beats between the first and second beats. Duration refers to the total time the chassis continuously performs a certain action.

[0027] Specifically, the system acquires audio signals of music played in the vehicle via the in-vehicle entertainment system and / or other acquisition devices (such as an in-vehicle microphone), or audio signals of music played from external devices such as the user's smartphone or speakers. The acquired audio signals are then analyzed to determine corresponding actions and control the vehicle's chassis to execute those actions. By ensuring that the duration of the corresponding action matches the beat interval between the first and second beats in the audio signal (i.e., the beat interval is an integer multiple of the action's duration), the duration of the chassis's actions is synchronized with the music rhythm, ensuring precise synchronization between the chassis's vibrations and the audio signal.

[0028] In this way, it can analyze any music track in real time and generate corresponding actions, so as to realize the chassis movement and music rhythm in sync. This allows users to experience the vehicle dancing with the music when they hear any music, thus improving the user's smart cockpit experience.

[0029] In one alternative embodiment, please refer to Figure 3 The chassis control method also includes step 013, which is explained in detail below: Step 013: Adjust the completion time and / or number of repetitions of the action so that the duration of the action is equal to the beat interval.

[0030] The action completion time refers to the duration of completing one complete action. The number of actions refers to the number of times the action is completed within its duration. The product of the action completion time and the number of actions is the duration of the action.

[0031] It is understandable that, since the first and second beats can be adjacent or non-adjacent, the duration of the action mapped from the audio signal may not match the beat interval between the first and second beats. For example, the duration of the action may be less than or greater than the beat interval between the first and second beats. Therefore, the duration of the action needs to be adjusted.

[0032] Specifically, the product of the action completion time and the number of actions is the duration of the action. Therefore, the action completion time or the number of actions can be adjusted (increased or decreased) separately according to the duration of the beat interval, or the action completion time and the number of actions can be adjusted simultaneously to adjust the duration of the action. This ensures that the duration of the action is equal to the beat interval between the first and second beats, achieving precise synchronization between the chassis action and the music beat, and improving the user experience.

[0033] In one alternative embodiment, please continue to refer to Figure 3 The chassis control method also includes step 014, which is explained in detail below: Step 014: Adjust at least one of the action completion time and the number of actions, and / or adjust the number of the third beat between the first and second beats, so that the beat interval is an integer multiple of the action completion time.

[0034] In this sequence, the first beat and the second beat are not adjacent, and there is at least one third beat between the first beat and the second beat.

[0035] Specifically, the duration of an action is determined based on the action completion time and the number of actions. The product of the action completion time and the number of actions is the duration of the action. The scheme of adjusting at least one of the action completion time and the number of actions so that the beat interval is an integer multiple of the action completion time has been described in detail in step 013 and will not be repeated here.

[0036] It is understandable that, due to the limitations of the vehicle's physical structure, there is a lower limit to the completion time of an action, which may result in situations where the action takes a relatively long time to complete. If the first and second beats are adjacent and the beat interval is less than the lower limit of the action completion time, it may lead to a situation where even if the number of actions is 1, it is impossible to complete a full action.

[0037] Therefore, it is necessary to adjust the relationship between the first and second beats, that is, to adjust the number of third beats between the first and second beats, so that the first and second beats are not adjacent beats, thereby increasing the value of the beat interval so that the beat interval is an integer multiple of the action completion time, ensuring that the vehicle chassis can complete one or more corresponding actions completely and safely within the corresponding beat interval.

[0038] This avoids problems such as jerking, interruption, or failure of action due to excessively dense beats, and improves the continuity and stability of chassis movements.

[0039] In one alternative embodiment, please refer to Figure 3 Step 012 includes steps 0121 and 0122, or steps 0121, 0123 and 0124, as explained below.

[0040] Step 0121: Based on the audio signal, perform chassis motion mapping to generate multiple chassis motion commands, and there is a timing relationship between the multiple chassis motion commands; Chassis motion mapping is the process of querying the mapping relationship between the relevant characteristics of audio signals and chassis motion. Chassis motion commands are control instructions issued to the chassis execution system to adjust the specific state of the chassis. Multiple chassis motion commands obtained from mapping the same audio signal have a temporal relationship, meaning they are executed in a specific order.

[0041] Optionally, the chassis action command includes at least one of the following: action type, action range, and action completion time. The action type refers to the form of action performed by the chassis, such as precise positioning, lifting, tilting, and buffer adjustment; the action range refers to the magnitude and intensity of the chassis action; and the action completion time refers to the duration required to fully execute a single chassis action.

[0042] Optionally, different chassis movement commands correspond to different actions. Switching between different corresponding actions according to changes in music rhythm and beat can enrich the chassis's movements, avoid monotony, and help users distinguish the movement experience of different beats, thereby enhancing the user's sense of rhythm and the smart cockpit user experience.

[0043] Specifically, audio signals possess audio characteristics, which can be extracted through audio signal analysis. Using a pre-defined mapping relationship between audio characteristics and chassis movements (such as a chassis movement library), the chassis movement corresponding to the audio signal's audio characteristics is queried, and then a corresponding chassis movement command is generated based on the retrieved chassis movement. Then, step 013 or step 014 can be used to ensure that the chassis movement command is in sync with the beat, making the chassis movement precisely synchronized with the music beat, ensuring that the chassis rhythm matches the audio rhythm, and improving the user experience.

[0044] Step 0122: Control the chassis to execute multiple chassis action commands sequentially according to the timing relationship. Specifically, the execution process of the action corresponding to a single chassis action command includes: transmitting the chassis action command to the chassis execution system, the chassis execution system converting the chassis action command into the corresponding mechanical action, and realizing the dynamic adjustment of the chassis through various components (such as the suspension system, steering system, vehicle height adjustment mechanism, etc.) so that the chassis performs the chassis action in accordance with the chassis action command.

[0045] Because multiple chassis action commands mapped from the same audio signal have a temporal relationship, it is necessary to control the chassis to execute the corresponding actions of the chassis action commands sequentially without skipping any steps. This allows for rapid response to chassis action commands, enabling real-time dynamic adjustments to the chassis, avoiding overlapping or conflicting actions, ensuring the synchronization and continuity of chassis rhythm and music playback, and enhancing the user's smart cockpit experience.

[0046] Step 0123: Based on the duration of the action corresponding to the chassis action instruction, update the chassis action instruction so that the duration of the action corresponding to each chassis action instruction matches the beat interval between the corresponding first beat and the second beat. Step 0124: Control the chassis to execute the actions corresponding to each updated chassis action command in sequence.

[0047] It is understandable that the obtained chassis motion commands may not match the beat intervals. This can be addressed by adjusting the duration of the corresponding action to match the beat interval between the first and second beats. The duration of the action can be adjusted by changing the action completion time and / or the number of actions. The specific process has been described in detail in step 013 and will not be repeated here.

[0048] Optionally, if the interval between adjacent beats is too small and the duration of the action corresponding to the chassis action command is large, one or more chassis action commands can be masked to ensure that the duration of the action corresponding to the updated chassis action command matches the interval between the non-adjacent first and second beats. In this case, there are multiple third beats between the first and second beats.

[0049] Optionally, provided that the duration of the updated chassis motion command matches the beat interval between the first and second beats, the duration of the corresponding chassis motion command can be adjusted and at least one chassis motion command can be disabled. Both can be executed simultaneously or selectively. This ensures that each chassis motion command is executed completely, preventing motion interruptions, improving the stability and smoothness of chassis movement, and thus optimizing the user experience.

[0050] For example, an audio signal includes sequential beats 1, 2, 3, and 4. Chassis motion mapping is performed based on this audio signal to generate three sequentially ordered chassis motion commands A, B, and C. Chassis motion command A has a duration greater than the beat interval between beats 1 and 2, but less than the beat interval between beats 1 and 3; chassis motion command B has a duration equal to the beat interval between beats 2 and 3; and chassis motion command C has a duration equal to the beat interval between beats 3 and 4.

[0051] In this case, the duration of the action corresponding to chassis action command A can be reduced to the interval between beats 1 and 2, and then the actions corresponding to chassis action commands A, B, and C can be executed sequentially. Alternatively, the duration of the action corresponding to chassis action command A can be increased to the interval between beats 1 and 3, and the action corresponding to chassis action command B can be disabled, executing only the actions corresponding to chassis action commands A and C sequentially.

[0052] In one alternative embodiment, please continue to refer to Figure 3 The chassis control method also includes step 015, and step 0121 includes step 01211, which are explained in detail below: Step 015: In response to the pattern selection operation, determine the target mapping strategy, which can be any mapping strategy; Step 01211: Perform chassis motion mapping based on audio signals and target mapping strategy to generate multiple chassis motion commands.

[0053] The vehicle's central control display screen can provide a graphical user interface, such as... Figure 7 and Figure 8 As shown, the graphical user interface displays selectable mapping strategies, including an intelligent mode ( Figure 7 302), music style mode ( Figure 7 303 in the middle) and custom mode ( Figure 8 At least one of (304) in the above. The audio signal has audio characteristics. The mapping strategy is a preset matching rule between the audio characteristics and the preset chassis action.

[0054] Among them, the intelligent mode refers to the mode that autonomously analyzes audio features and generates corresponding actions that match the audio features within a preset framework and preset limits; the custom mode is used to customize the limits of parameters such as the amplitude of the chassis movement and the time of action completion (i.e., the speed of the movement).

[0055] Here, "music style mode" refers to mapping based on a preset chassis action library corresponding to a specific music style. Optionally, the music style mode may include, but is not limited to, dynamic, soothing, and other style modes. Different music style modes correspond to different preset chassis action libraries. For any given music style mode, based on all chassis actions that the existing chassis execution system can execute, as well as the corresponding action amplitude threshold and speed threshold for each chassis action, chassis actions that match the music style are determined from all chassis actions, thereby constructing the preset chassis action library corresponding to that music style mode.

[0056] The mode selection operation is a touch operation used to select a target mapping strategy. The mode selection operation can be triggered by the user using a finger, keyboard, or stylus.

[0057] Specifically, the target mapping strategy used in the chassis motion mapping process is determined based on the user's mode selection operation in the graphical user interface. Audio features can be extracted by analyzing audio signals. According to the preset mapping relationship between audio features and chassis motions in the target mapping strategy (such as the chassis motion library of the target mapping strategy), the chassis motion corresponding to the audio features of the audio signal is queried, and then the corresponding chassis motion command is generated based on the mapped chassis motion.

[0058] In one alternative embodiment, please refer to Figure 4 Step 01211 includes steps 01212 and 01213, which are explained in detail below: Step 01212: Extract features from the audio signals output or collected by the vehicle to obtain audio features; Audio features are quantized parameters such as rhythm, volume, and spectrum extracted from audio signals. Audio features include at least beat, which is an important benchmark for the tempo of music. Optionally, audio features may also include volume and frequency bands. Volume characterizes the overall loudness of the audio; frequency bands are used to distinguish high and low frequency sounds and identify musical rhythm.

[0059] Specifically, the audio signals acquired by the vehicle can be processed by the processor module of the in-vehicle entertainment system and the cockpit domain controller, and then played synchronously through the in-vehicle speaker system to enhance the user's auditory experience. For the acquired audio signals, preset audio feature analysis algorithms are used to perform feature analysis, such as extracting volume through short-time energy analysis, identifying beats through time-domain energy change analysis, and extracting frequency bands through spectrum analysis, thereby extracting various audio features of the audio signal.

[0060] In this way, various audio features can be accurately extracted, providing a precise basis for subsequent chassis motion mapping.

[0061] In one alternative embodiment, please refer to Figure 5 Step 01212 includes steps 01217, 01218, and 01219, which are explained in detail below: Step 01217: Perform short-time energy analysis on the audio signal of the current frame to obtain the volume corresponding to the audio signal of the current frame; Short-time energy analysis refers to calculating the energy value of a single frame signal using short audio frames as the unit.

[0062] Specifically, the continuous audio signal of the currently playing music is divided into individual frames. A short-time energy analysis is performed on the current frame to obtain its energy value. The energy intensity of the audio signal is positively correlated with the loudness of the sound. Based on the mapping relationship between energy value and volume, the volume corresponding to the audio signal of the current frame is determined. Optionally, short-time energy analysis is performed on each audio signal of the currently playing music separately to obtain the corresponding volume for each.

[0063] In this way, by capturing the dynamic changes in the volume of music, real-time volume data can be provided for the chassis's rhythm.

[0064] Step 01218: Analyze the temporal energy change of the audio signal in the current frame to determine whether the current frame is a beat frame; Among them, temporal energy refers to the real-time energy value of an audio signal as it changes over time, which can intuitively reflect the instantaneous intensity of the sound. A beat frame refers to a specific data frame in the audio signal that corresponds to a musical downbeat or drumbeat; the temporal energy of a beat frame is a peak.

[0065] Specifically, step 01212 allows obtaining the volume / energy values ​​of the audio signals of the current frame and previous historical frames. By analyzing the temporal energy changes of the audio signal in the current frame using a preset beat detection algorithm (such as traditional signal processing beat detection methods, AI beat detection methods, etc.), and by comparing the presence of energy spikes with the temporal energy changes of historical frames, it can be determined whether the current frame corresponds to a drum beat or an overbeat.

[0066] In one alternative embodiment, please continue to refer to Figure 5 Step 01218 includes step 01220, which are explained in detail below: Step 01220: Analyze the temporal energy changes of the cached multi-frame audio signals to determine whether the current frame is a beat frame; The cached multi-frame audio signal includes the current frame and future frames following the current frame; or, the cached multi-frame audio signal includes historical frames preceding the current frame. Optionally, the cached multi-frame audio signal includes the current frame, as well as historical frames before and after the current frame and future frames.

[0067] It is understandable that by analyzing the temporal energy changes of the audio signals of the current frame and several adjacent frames (before and / or after), it is possible to accurately determine whether the current frame is a beat frame. However, since the beat detection algorithm needs to combine the temporal energy changes of the audio signals before and after the current frame, and the beat detection algorithm requires a certain amount of time to perform calculations, usually by the time the current frame is detected as a beat frame and the chassis is controlled to perform the corresponding action, the beat portion of the currently playing music has already passed.

[0068] Optionally, the entire audio signal of the currently playing music is acquired and buffered. The buffer space consists of the audio signals corresponding to previously played music, the currently playing music, and the music to be played in the future, and its composition is continuously updated as the music plays. Before the current frame is played, the beat detection algorithm analyzes the audio signals corresponding to historical frames, the current frame, and future frames to determine the beat frames in all frames, achieving a synchronized effect between the chassis movement and the music.

[0069] Optionally, by statistically analyzing past historical frames, the historical frames that are beat frames are identified, and the timing of the upcoming beat is predicted. The number of frames of the audio signal corresponding to this timing point is the beat frame, thereby achieving the effect of the chassis movement being synchronized with the music.

[0070] Step 01219: Perform spectrum analysis on the audio signal of the current frame to obtain the frequency band of the audio signal of the current frame.

[0071] Among them, spectrum analysis refers to decomposing a time-domain audio signal into different frequency components and quantifying the energy distribution of each frequency band.

[0072] Specifically, a short-time Fourier transform is first performed on the audio signal of the current frame, converting the time-varying audio signal into frequency-dimensional spectral data to generate a time-frequency spectrum and a Mel spectrum. Then, according to a preset frequency range, the spectrum is divided into different frequency bands such as low frequency, mid frequency, and high frequency, and the energy range of each frequency band is quantified. For example, the preset frequency range can be divided into: a low-frequency range of 20Hz-200Hz, a mid-frequency range of 200Hz-2000Hz, and a high-frequency range of 2000Hz-20kHz.

[0073] Step 01213: Perform chassis motion mapping based on audio features and target mapping strategy to obtain chassis motion commands, which are matched with beat intervals.

[0074] Specifically, such as Figure 6 As shown, the user-configured policy (i.e., mapping policy) plays a crucial role in the chassis motion mapping process after audio features are identified. Chassis motion mapping queries the corresponding chassis motions based on the mapping relationships between the obtained audio features and the user-pre-configured policy, thereby generating the corresponding chassis motion commands. This approach balances standardized and personalized usage needs, adapts to different music styles, and enhances the flexibility of chassis motion mapping.

[0075] Optionally, please refer to Figure 7 and Figure 8 The central control display shows information related to the mapping strategy. Users can switch and customize the mapping strategy by touching the central control display. The vehicle responds to the user's touch operation and adjusts the mapping strategy adopted for chassis motion mapping.

[0076] like Figure 7 As shown, the UI interface of the central control display screen shows the switch button 301 for the vehicle chassis dancing function. When the switch button 301 is turned on, the audio of the music that is playing or about to play will be extracted to determine the corresponding chassis action command. Then, the chassis action is controlled according to the chassis action command to realize the function of dancing with the music.

[0077] When the vehicle chassis dancing function is activated, the default mapping strategy is intelligent mode (corresponding to control 302). Control 303 offers selectable music style modes (dynamic and soothing). The triggering of controls 302, 303, and 304 is mutually exclusive. For example... Figure 7As shown, control 304 corresponds to the custom mode. By triggering control 304, the user can adjust the amplitude of the action through control 305 and adjust the action completion time (i.e., the speed of the action) through control 306.

[0078] Optionally, the range of motion and speed can be adjusted by first setting the maximum and minimum values ​​for the range of motion / speed, and then selecting any value within the set range through stepless adjustment. Alternatively, different speed levels (e.g., weak, medium, strong, or slow, medium, fast) can be set to control the range of motion / speed, with the corresponding values ​​being calibrated fixed values.

[0079] In one alternative embodiment, please refer to Figure 5 Step 01213 includes steps 01214, 01215 and 01216. Based on the user's touch selection, the mapping strategy can be adjusted at any time to meet the user's needs. The details are explained below.

[0080] Step 01214: When the mapping strategy is in intelligent mode, perform chassis motion mapping based on audio features to obtain chassis motion commands; Specifically, the chassis motion mapping is based entirely on real-time audio features. A preset algorithm autonomously analyzes each audio feature and selects the corresponding chassis motion. Optionally, the corresponding music style is determined based on volume and frequency band mapping. The combination of multiple preset sequence chassis motions from the chassis motion library corresponding to the music style constitutes the motion type. The motion amplitude is mapped based on volume level, and the motion completion time is mapped based on frequency band values. This ensures that the chassis motion mapping logic is clear and accurate, guaranteeing that the chassis motion closely matches the musical details.

[0081] Step 01215: When the mapping strategy is music style mode, perform chassis action mapping based on audio features and the chassis action library corresponding to the configured music style to obtain chassis action commands; Specifically, based on the user-selected music style mode, the system calls the corresponding preset chassis action library for mapping. This library typically contains multiple different chassis actions, which are executed sequentially (or cyclically) according to a preset order. The system determines the matching chassis action based on audio characteristics, thereby generating the corresponding chassis action command. Optionally, when the mapping strategy is music style mode, the action type is determined based on the chassis action library mapping corresponding to the music style; the combination of multiple preset-order chassis actions in the library constitutes the action type. The action amplitude is determined based on volume and music style mapping, and the action completion time is determined based on frequency band and music style mapping. This ensures that the continuity of the chassis actions matches the corresponding music style, thereby improving the user experience.

[0082] Step 01216: When the mapping strategy is in custom mode, perform chassis motion mapping based on audio features and configured custom amplitude and custom completion time to obtain chassis motion commands.

[0083] Specifically, similar to the intelligent mode, the chassis motion mapping is based entirely on real-time audio features. It autonomously analyzes various audio features according to a preset algorithm and selects the corresponding chassis motion. Then, the amplitude and completion time of the corresponding chassis motion are adjusted based on custom amplitude and completion time settings. Optionally, in the custom mapping mode, the corresponding music style is determined based on volume and frequency band mapping. The combination of multiple preset sequence chassis motions from the chassis motion library corresponding to this music style constitutes the motion type; the motion amplitude is determined based on a custom amplitude mapping, and the motion completion time is determined based on a custom completion time mapping. This ensures that the amplitude and completion time of the chassis motions match user needs, guaranteeing a superior user experience.

[0084] In one optional embodiment, the chassis motion command further includes the number of motions and the duration, wherein the number of motions is determined based on the beat interval corresponding to the current frame and the motion completion time, and the duration is determined based on the beat interval; The beat interval is determined based on the time interval between the current frame and the previous frame that is a beat frame in time sequence, or the beat interval is determined based on the previously determined beat interval.

[0085] For example, if the current frame is a beat frame, the time interval between it and the previous beat frame will be calculated as the beat interval. If the current frame is not a beat frame, the previously determined beat interval will be used as the beat interval for the current frame. When the current frame is initially determined to be a beat frame during music playback, since there is no previous beat frame or previously determined beat interval, a preset empirical value will be used as the initial value for the beat interval. For example, the beats per minute (BPM) of a song is an important parameter for measuring the tempo of music; a higher BPM value indicates a faster tempo, and a lower BPM value indicates a slower tempo. Most songs have a BPM between 60 and 180, so a beat interval of 0.5 seconds corresponding to 120 BPM can be selected as the initial value for the beat interval.

[0086] The number of actions refers to the number of times a complete chassis movement is executed during the beat interval. It's understood that different types of chassis movements may require different completion times, thus affecting the number of actions that can be completed during the beat interval. Therefore, the number of actions is determined by dividing the beat interval corresponding to the current frame by the movement completion time.

[0087] The duration refers to the time required to fully execute a complete chassis movement command. To ensure that the overall rhythm of the chassis is synchronized with the beat of the music, the duration is determined based on the beat interval. The duration can be equal to the beat interval, or the beat interval can be an integer multiple of the duration.

[0088] Optionally, based on the obtained action type, action amplitude, number of actions, and duration, the specific action posture of the chassis within a certain period of time can be determined, and then a corresponding chassis action command can be generated. Since the action type corresponds to a preset action completion time, the action completion time can also be incorporated into the composition of the chassis action command.

[0089] In one optional embodiment, the chassis motion command includes motion type, motion amplitude, motion completion time, number of motions, and duration. The chassis control method further includes step 016, which is described in detail below.

[0090] Step 016: Based on the threshold range corresponding to the action type, adjust the action amplitude, number of actions, and duration so that the action amplitude is within the amplitude range and the action completion time is within the completion time range.

[0091] The threshold range corresponding to each action type is an adjustable range determined by the chassis's physical structure. Both the amplitude range and the completion time range are preset values ​​set based on the chassis's physical structure. It is understood that the chassis's posture cannot be adjusted indefinitely; therefore, safety verification of the chassis action commands is necessary to ensure that these commands can be safely and effectively executed by the chassis execution system, thus guaranteeing the safety of the vehicle's chassis swaying function.

[0092] When the amplitude of the movement is outside the range, or the completion time of the movement is outside the range, the chassis execution system needs to adjust the current chassis movement command according to safety and music rhythm. That is, adjust the amplitude, number of movements and / or duration of the chassis movement command to ensure that the adjusted chassis movement command can meet the requirements of sequential connection and synchronization between movement and beat.

[0093] In one alternative embodiment, please refer to Figure 9 Step 016, which verifies the safety of chassis action commands, includes the following specific steps: Step 0161: Determine if the range of motion is within the acceptable range; Step 0162: If the range of motion is within the range, determine whether the completion time of the motion is within the completion time range; Step 0163: If the action completion time is within the completion time range, do not adjust the chassis action command; Step 0164: If the action completion time is not within the completion time range, determine whether the number of actions is greater than 1; Step 0165: If the number of actions is greater than 1, reduce the number of actions; Step 0166: Increase the duration if the number of actions is no more than 1; Step 0167: If the range of motion is not within the acceptable range, reduce the range of motion.

[0094] Specifically, the judgment is made based on information such as the action type, action range, action completion time, number of actions, and duration in the chassis action command. First, it is determined whether the action range is within the acceptable range, that is, whether the chassis can be safely adjusted to the action range specified in the chassis action command. If the action range is outside the acceptable range, the action range is reduced to bring it within the acceptable range, ensuring safe implementation.

[0095] After ensuring the amplitude of the movement is within the acceptable range, the completion time of the movement is then checked to ensure it falls within the acceptable time range. This prevents abnormal completion times for chassis movements and guarantees safe and stable chassis operation. For chassis movement commands whose completion times fall outside the acceptable time range, the number of movements is assessed to determine whether to reduce the number of movements or increase the duration. The increase in duration is an integer multiple of the beat interval to enhance synchronization between chassis movements and the beat.

[0096] After reducing the number of actions and / or increasing the duration, it is determined again whether the action completion time is within the completion time range. If it is, the chassis action command is no longer adjusted. If it is not, the number of actions and / or the duration is adjusted again until the action completion time is within the completion time range.

[0097] In one alternative embodiment, please refer to Figure 10 The chassis motion commands include motion type, motion amplitude, motion completion time, number of motions, and duration. The chassis control method also includes steps 017, 018, 019, and 020, which are explained in detail below.

[0098] Step 017: Determine whether the first moment of the current frame is earlier than the target moment; Step 018: If the first moment is not earlier than the target moment, determine whether the current frame is a beat frame; Step 019: If yes, update the target time based on the duration corresponding to the current frame; Step 020: If the first moment is earlier than the target moment or the current frame is not a beat frame, then adjust the action type corresponding to the current frame to the preset action type.

[0099] Here, the first moment refers to the starting moment of the chassis motion command execution. The target moment is the moment when the previous chassis motion command was completed. In the case of the first execution of a chassis motion command, both the first moment and the target moment are 0. The preset motion type is a chassis motion based on experience, such as remaining stationary or slight cyclical movement.

[0100] Understandably, to ensure the accurate and orderly execution of each chassis motion command, it is necessary to ensure that the execution of one chassis motion command is completed before proceeding to the next chassis motion command. This is achieved by determining whether the first moment of the chassis motion command corresponding to the current frame is earlier than the target moment, thus ensuring proper timing. If the first moment is not earlier than the target moment, it indicates that the previous chassis motion command has been completed, and the next chassis motion command corresponding to the current frame can be executed.

[0101] Before executing the chassis motion command corresponding to the current frame, it's necessary to determine if the current frame is a beat frame. This is because the chassis motion commands for beat frames need to be synchronized with the music beat to improve the user experience. For chassis motion commands in a beat frame, no adjustments are made before execution. Once the chassis motion command for the current frame is executed, the target time changes, updating to the completion time of the current frame's chassis motion command. Therefore, the sum of the original target time and the duration corresponding to the current frame's chassis motion command is the updated target time.

[0102] For the current frame that is not a beat frame, the corresponding chassis action does not need to be executed to avoid the chassis action being out of sync with the music beat and affecting the user experience. Therefore, the action type in the chassis action instruction of the current frame in this case is updated to the preset action type. For each subsequent frame, steps 017 to 020 are executed sequentially to ensure that the chassis action instructions are executed in an orderly manner and synchronized with the beat throughout the music playback process.

[0103] In one alternative embodiment, please refer to Figure 11 The chassis action command includes the action type, and the chassis control method also includes steps 021, 022 and 023, which are explained in detail below.

[0104] Step 021: Before the music plays, adjust the motion type of the chassis motion command for each frame to the preset motion type; Step 022: In response to music playback, progress adjustment, or music switching operations, perform beat detection to obtain beat frames; Step 023: Before a beat frame is detected, adjust the motion type of the chassis motion command for each frame to the preset motion type.

[0105] Among them, music playback, progress adjustment, and music switching are all operations performed by the user according to their needs. For example... Figure 12 As shown, during the entire process of a user playing music in the vehicle, after activating the vehicle chassis dancing function, the user's operations may include not playing music, pausing music, switching music, and switching configuration mapping strategies (such as smart mode and music style mode).

[0106] Specifically, before the music plays, the chassis does not need to be synchronized with the music's rhythm. Therefore, the motion type of the chassis motion command in each frame is adjusted to a preset motion type (such as...). Figure 12 (As shown, keep it stationary) to avoid chassis malfunctions, lay the foundation for subsequent chassis movements that accurately match the music beat, and ensure the stability of overall control.

[0107] In response to a music playback operation and when music playback is started, such as Figure 12 As shown, after the music stream composed of the source music signal is input, the beat needs to be detected first to synchronize the start and end of the chassis action commands with the beat. During music playback, each chassis action command is executed sequentially according to the set timing, forming an execution stream. The execution stream is synchronized with the music beat, ensuring that the next chassis action does not interrupt the current one. For example, when playing music 1, if the chassis is controlled to execute the corresponding action according to action command 2, since the action corresponding to action command 2 has a corresponding duration, even if action command 3 is received during the execution of the action corresponding to action command 2, the action corresponding to action command 2 will still be completed, instead of switching to the action corresponding to action command 3. After completing the action corresponding to action command 2, if a new action command 4 is received, the action corresponding to action command 4 will be executed, instead of the old action corresponding to action command 3. In this way, the continuity and real-time performance of chassis actions can be guaranteed, improving the user's smart cockpit experience.

[0108] In response to music playback or when the user pauses music 1, the action corresponding to the currently executing chassis action instruction 12 will not be interrupted directly. Instead, after the execution is completed, the action type of each frame of chassis action instruction will be adjusted to the preset action type, so that the chassis remains stationary until new music is played.

[0109] like Figure 12As shown, by responding to user progress adjustment operations (such as switching from music 2 to music 3) or music switching operations (such as switching from music 1 to music 2), functions such as playing or pausing music, switching music, and dragging the progress bar can be implemented. When responding to progress adjustment operations (such as switching from mapping strategy 1 to mapping strategy 2) or music switching operations, and adjusting music playback, the chassis action commands are synchronized with the rhythm of the newly played music by timely detecting changes in the beat.

[0110] Optionally, when the user interacts with the system to configure a mapping strategy (such as intelligent mode or music style mode), the system can output chassis action commands in real time according to changes in the mapping strategy, thereby achieving seamless switching of chassis action styles and improving the user experience. When the user disables the vehicle chassis dancing function, after the chassis has completed the currently executing chassis action, the system controls the chassis to return to a preset action type (such as a stationary state) for later restart.

[0111] All of the above technical solutions can be combined in any way to form optional embodiments of this application, and will not be described in detail here.

[0112] To facilitate better implementation of the chassis control method of this application, this application also provides a chassis control device. Please refer to... Figure 13 , Figure 13 This is a schematic diagram of the structure of a chassis control device provided in certain embodiments of this application. The chassis control device 400 includes: The audio acquisition module 401 acquires the audio signal output or collected by the vehicle, and the audio signal includes at least the beat. The chassis control module 402 is used to control the chassis to perform corresponding actions, the duration of which matches the beat interval between the first and second beats in the audio signal.

[0113] Each module or unit in the aforementioned chassis control device can be implemented entirely or partially through software, hardware, or a combination thereof. Each of these units can be embedded in or independent of the processor in the electronic device in hardware form, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each unit.

[0114] This application also provides an electronic device, including a processor and a memory. The memory stores a computer program. The processor calls the computer program stored in the memory to implement the various processes of the above-described chassis control method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0115] In one optional embodiment, the processor includes a cockpit domain controller and a chassis domain controller. The cockpit domain controller receives chassis motion commands, and the chassis domain controller controls the chassis to perform corresponding actions based on these commands. The chassis actions are controlled by a motion execution system, the specific processes of which have been described in detail in the various processes of the aforementioned chassis control method embodiments and will not be repeated here. The motion execution system includes at least one of a suspension system and a steering system. The suspension system can adjust the chassis to achieve posture actions such as lifting, cushioning, and tilting; the steering system can adjust the chassis to achieve fine-tuning of lateral posture. The coordinated response of the suspension system and steering system ensures that the chassis vibrations of the entire vehicle are synchronized with the music being played.

[0116] Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may be a terminal or a server. Figure 14 As shown, 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. Those skilled in the art will understand that the electronic device structure shown in the figures does not constitute a limitation on the electronic device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0117] The processor 501 is the control center of the electronic device 500. It connects various parts of the electronic device 500 through various interfaces and lines. By running or loading software programs and / or modules stored in the memory 502, and calling data stored in the memory 502, it executes various functions of the electronic device 500 and processes data, thereby performing overall processing of the electronic device 500.

[0118] Optionally, such as Figure 14 As shown, the electronic device 500 may further include: a 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 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 14 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0119] The 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 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 GUIs of the electronic device, which can be composed of graphics, text, icons, video, and any combination thereof. 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.

[0120] 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 may 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 display screen 503 to achieve input and output functions. However, in some embodiments, the touch panel and the display screen 503 can be implemented as two independent components to achieve input and output functions. That is, the display screen 503 can also be used as part of the input unit 506 to achieve input functions.

[0121] The radio frequency circuit 504 can be used to transmit and receive radio frequency signals to establish wireless communication with network devices or other electronic devices, and to transmit and receive signals with network devices or other electronic devices.

[0122] Audio circuit 505 can be used to provide an audio interface between a user and an electronic device via a speaker and a microphone. Audio circuit 505 can convert received audio data into electrical signals and transmit them to the speaker, where the speaker converts them into sound signals for output. Conversely, the microphone converts collected sound signals into electrical signals, which are then received by audio circuit 505, converted back into audio data, and then processed by processor 501 before being transmitted via radio frequency circuit 504 to, for example, another electronic device, or output to memory 502 for further processing. Audio circuit 505 may also include an earphone jack to provide communication between peripheral headphones and electronic devices.

[0123] The input unit 506 can be used to receive input numbers, characters, or object feature 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.

[0124] Power supply 507 is used to supply power to the various components of electronic device 500. Optionally, power supply 507 can be logically connected to processor 501 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. Power supply 507 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0125] although Figure 14 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.

[0126] This application also provides a vehicle, including a chassis, an audio playback system, and the electronic device described in any of the above embodiments. Please refer to... Figure 15 , Figure 15 This is a schematic diagram of the structure of a vehicle provided in certain embodiments of this application. The vehicle 600 includes a chassis 610, an audio playback system 620, and an electronic device 500. The audio playback system 620 is used to play music selected by the user. The electronic device 500 controls and adjusts the posture of the chassis 610 to ensure that the rhythm of the chassis 610 is synchronized with the played music, thereby achieving a chassis-dancing function that is not limited to any particular track and moves in sync with the music, thus enhancing the user experience. The process by which the electronic device 500 controls and adjusts the posture of the chassis 610 has been described in detail in the various processes of the above-described embodiments of the chassis control method, and achieves the same technical effect; therefore, it will not be repeated here.

[0127] This application also provides a computer-readable storage medium for storing a computer program. This computer-readable storage medium can be applied to electronic devices in a vehicle, and the computer program causes the electronic devices to execute corresponding processes in the chassis control method of the embodiments of this application; for brevity, these will not be elaborated further here.

[0128] This application also provides a computer program product including computer instructions stored in a computer-readable storage medium. A processor of an electronic device in a vehicle reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the corresponding processes in the chassis control method of this application embodiment. For simplicity, further details are omitted here.

[0129] It should be understood that the processor in this application may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method embodiments can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor described above can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0130] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0131] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0132] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0133] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0134] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0135] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0136] In addition, the functional units in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0137] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer or a server) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0138] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A chassis control method, characterized in that, include: Acquire audio signals output or collected by the vehicle, wherein the audio signals include at least a beat; Based on the audio signal, the chassis is controlled to perform corresponding actions, the duration of which matches the beat interval between the first and second beats in the audio signal.

2. The chassis control method according to claim 1, characterized in that, Also includes: Adjust the completion time and / or number of times of the action so that the duration of the action is equal to the beat interval.

3. The chassis control method according to claim 1, characterized in that, The duration of the action is determined based on the completion time and the number of actions, and there is at least one third beat between the first beat and the second beat. The method further includes: Adjust at least one of the action completion time and the number of actions, and / or adjust the number of the third beats between the first beat and the second beat, so that the beat interval is an integer multiple of the action completion time.

4. The chassis control method according to any one of claims 1-3, characterized in that, The step of controlling the chassis to perform corresponding actions based on the audio signal includes: Based on the audio signal, chassis motion mapping is performed to generate multiple chassis motion commands, and there is a timing relationship between the multiple chassis motion commands. Control the chassis to sequentially execute actions corresponding to multiple chassis action commands according to the timing relationship; or Based on the duration of the action corresponding to the chassis action command, update the chassis action command so that the duration of the action corresponding to each chassis action command matches the beat interval between the corresponding first beat and second beat. The chassis is controlled to sequentially execute the actions corresponding to each of the updated chassis action commands.

5. The chassis control method according to claim 4, characterized in that, The vehicle provides a graphical user interface that displays selectable mapping strategies, including at least one of intelligent mode, music style mode, and custom mode. The method further includes: In response to the mode selection operation, a target mapping strategy is determined, wherein the target mapping strategy is any mapping strategy; The process of mapping chassis motion based on the audio signal to generate multiple chassis motion commands includes: Based on the audio signal and the target mapping strategy, chassis motion mapping is performed to generate multiple chassis motion commands.

6. The chassis control method according to claim 5, characterized in that, The chassis motion mapping is performed based on the audio signal and the target mapping strategy to generate multiple chassis motion commands, including: Feature extraction is performed on the audio signals output or collected by the vehicle to obtain audio features; Chassis motion mapping is performed based on the audio features and the target mapping strategy to obtain chassis motion commands, which are matched with the beat interval.

7. The chassis control method according to claim 6, characterized in that, The custom mode is used to customize the amplitude and completion time of the action. The process of mapping chassis actions based on the audio features and the target mapping strategy to obtain chassis action commands includes: When the target mapping strategy is in intelligent mode, chassis motion mapping is performed based on the audio features to obtain the chassis motion commands; When the target mapping strategy is music style mode, chassis action mapping is performed based on the audio features and the chassis action library corresponding to the configured music style to obtain the chassis action command; When the target mapping strategy is in custom mode, chassis motion mapping is performed based on the audio features and the configured custom motion amplitude and custom motion completion time to obtain the chassis motion command.

8. The chassis control method according to claim 7, characterized in that, The audio features also include volume and frequency band, and the chassis action commands include at least one of action type, action amplitude and action completion time; When the target mapping strategy is in intelligent mode, the action type is determined based on the volume and frequency band, the action amplitude is determined based on the volume, and the action completion time is determined based on the frequency band. When the target mapping strategy is a music style mode, the action type is determined based on the chassis action library corresponding to the music style, the action amplitude is determined based on the volume and the music style, and the action completion time is determined based on the frequency band and the music style. When the target mapping strategy is in custom mode, the action type is determined based on the volume and frequency band, the action amplitude is determined based on the custom amplitude, and the action completion time is determined based on the custom completion time.

9. The chassis control method according to any one of claims 6-8, characterized in that, The audio features also include volume and frequency band. The feature extraction from the audio signal output or acquired by the vehicle to obtain the audio features includes: Perform short-time energy analysis on the audio signal of the current frame to obtain the volume corresponding to the audio signal of the current frame; Analyze the temporal energy changes of the audio signal in the current frame to determine whether the current frame is a beat frame; Perform spectral analysis on the audio signal of the current frame to obtain the frequency band of the audio signal of the current frame.

10. The chassis control method according to claim 9, characterized in that, The chassis motion command also includes the number of motions and the duration. The number of motions is determined based on the beat interval corresponding to the current frame and the motion completion time. The duration is determined based on the beat interval. The beat interval is determined based on the time interval between the current frame and the previous frame that is a beat frame before the current frame, or the beat interval is determined based on the previously determined beat interval.

11. The chassis control method according to any one of claims 6-10, characterized in that, The chassis motion commands include motion type, motion range, motion completion time, number of motions, and duration; The method further includes: Based on the threshold range corresponding to the action type, the action amplitude, number of actions, and duration are adjusted so that the action amplitude is within the amplitude range and the action completion time is within the completion time range.

12. The chassis control method according to claim 11, characterized in that, The step of adjusting the amplitude, number of actions, and duration of an action based on a threshold range corresponding to the action type, so that the amplitude of the action is within the amplitude range and the completion time of the action is within the completion time range, includes: Determine whether the amplitude of the movement is within the amplitude range; If the amplitude of the action is within the amplitude range, determine whether the completion time of the action is within the completion time range; If the completion time of the action is within the specified completion time range, the chassis action command will not be adjusted. If the completion time of the action is not within the specified completion time range, then it is determined whether the number of actions is greater than 1. If the number of actions is greater than 1, reduce the number of actions. If the number of actions is no more than 1, increase the duration; If the range of motion is not within the range of motion, reduce the range of motion.

13. The chassis control method according to any one of claims 6-10, characterized in that, The chassis action commands include the action type and duration; The method further includes: Determine whether the first moment of the current frame is earlier than the target moment, where the target moment is the moment when the previous chassis action command was completed; If the first moment is not earlier than the target moment, determine whether the current frame is a beat frame; If so, the target time is updated based on the duration of the chassis action command corresponding to the current frame; If the first moment is earlier than the target moment or the current frame is not a beat frame, then the action type corresponding to the current frame is adjusted to a preset action type.

14. The chassis control method according to claim 4, characterized in that, The chassis motion command includes a motion type, and the method further includes: Before the music plays, adjust the action type of the chassis motion command in each frame to the preset action type; In response to music playback, progress adjustment, or music switching operations, beat detection is performed to obtain beat frames. Before the beat frame is detected, the action type of the chassis action command in each frame is adjusted to a preset action type.

15. A vehicle, characterized in that, The system includes a chassis, an audio playback system, and electronic devices; the electronic devices include a processor and a memory, the memory storing a computer program, and the processor executing the chassis control method according to any one of claims 1-14 by calling the computer program stored in the memory.

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