An environmental sensing electric drive carrier modulation method, system, device and storage medium

Abstract

This invention discloses an environmentally sensitive electric drive carrier frequency control method, system, device, and storage medium, relating to the field of electric drive system control. The method includes real-time acquisition of the motor load status and external environmental parameters of the electric drive system; assessment of the current environmental noise level based on the external environmental parameters, including road surface smoothness information and / or weather conditions; when the environmental noise level increases, reducing the target carrier frequency to mask electric drive noise using environmental noise; and when the environmental noise level decreases, increasing the target carrier frequency to prioritize optimization of in-vehicle NVH performance. This application assesses the current environmental noise level based on external environmental parameters and dynamically adjusts the target carrier frequency according to the motor load status and environmental noise level, ensuring that the adjustment direction of the target carrier frequency is negatively correlated with the environmental noise level. This solves the technical problem in related technologies where a fixed carrier frequency cannot simultaneously address NVH and electric drive efficiency.

Description

Technical Field

[0001] This application relates to the field of electric drive system control, specifically to an environmental sensing electric drive carrier modulation method, system, device, and storage medium. Background Technology

[0002] With the rapid development of new energy vehicles, the NVH performance of electric drive systems has become a core indicator of user driving experience. Electric drive carrier frequency whine has a sharp and piercing auditory characteristic, which is highly sensitive to the human ear, and is a major challenge in current vehicle NVH development. Existing technologies for addressing electric drive carrier frequency whine mainly involve carrier frequency adjustment and randomization, but these have significant drawbacks: In existing carrier frequency adjustment schemes, fixing a certain carrier frequency cannot simultaneously achieve both NVH and electric drive efficiency: although high carrier frequency can suppress howling and has a good sinusoidal current waveform, it has higher switching losses and lower motor efficiency; although low carrier frequency has lower switching loss rate and higher motor efficiency, it is prone to generating high-frequency noise. Summary of the Invention

[0003] This application provides an environmental sensing electric drive carrier control method, system, device, and storage medium, which solves the technical problem in related technologies that fixed carrier frequency cannot simultaneously take into account NVH and electric drive efficiency.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, embodiments of this application provide an environmental sensing electric drive carrier modulation method, comprising: Real-time acquisition of motor load status and external environmental parameters of the electric drive system; The current environmental noise level is assessed based on the external environmental parameters, which include road surface smoothness information and / or weather condition information. The target carrier frequency of the electric drive system is dynamically adjusted based on the motor load status and the ambient noise level. The direction of adjustment of the target carrier frequency is negatively correlated with the environmental noise level.

[0005] Based on the above technical solution, the real-time acquisition of motor load status and external environmental parameters of the electric drive system includes: The rotor speed, three-phase stator current, DC bus voltage and inverter housing temperature are collected as operating parameters of the electric drive system, and the motor load status is determined based on the operating parameters of the electric drive system. The system collects three-dimensional vibration acceleration signals from the wheel center and road and weather images collected by the vehicle's forward-looking camera as external environmental parameters. All collected data are labeled with a unified timestamp and vehicle location tag.

[0006] Based on the above technical solution, the assessment of the current environmental noise level based on the external environmental parameters includes road surface smoothness identification: Calculate the root mean square (RMS) value of the triaxial vibration acceleration signal at the wheel center; The road surface is initially classified based on RMS. When RMS is less than the first threshold, it is judged as a smooth road surface. When RMS is greater than or equal to the first threshold and less than the second threshold, it is judged as a normal road surface. When RMS is greater than or equal to the second threshold, it is judged as a damaged road surface. The higher the road surface grade coefficient, the higher the corresponding environmental noise level.

[0007] Based on the above technical solutions, the method also includes correcting the road surface smoothness recognition results based on road surface images: Use a vehicle-mounted forward-facing camera to collect road images, identify road damage features, and calculate the road damage rate; When vibration is identified as a smooth road surface but the image damage rate is greater than the first damage rate threshold, it is corrected to a normal road surface. When vibration is identified as a normal road surface but the image recognition damage rate is greater than the second damage rate threshold, it is corrected to a damaged road surface.

[0008] Based on the above technical solution, the assessment of the current environmental noise level based on the external environmental parameters also includes weather condition identification: The vehicle's forward-facing camera captures weather images to identify whether the weather is sunny or cloudy. Among them, the environmental noise level corresponding to non-sunny days is higher than that corresponding to sunny days.

[0009] Based on the above technical solution, the step of dynamically adjusting the target carrier frequency of the electric drive system according to the motor load state and the ambient noise level specifically includes: Construct a comprehensive environmental load model and calculate the comprehensive environmental load value; Based on the range of the comprehensive environmental load value, a preset reference carrier frequency range is matched; The comprehensive environmental load value is positively correlated with the motor load rate, road surface grade coefficient, and weather coefficient.

[0010] Based on the above technical solution, a feedback adjustment step is also included: Real-time acquisition of sound pressure signals inside the vehicle; When the sound pressure signal inside the vehicle exceeds a preset threshold, the target carrier frequency is adjusted upwards. When the sound pressure level inside the vehicle is lower than a preset threshold and remains below a preset period, the target carrier frequency is adjusted downwards.

[0011] Secondly, embodiments of this application provide an environmental sensing electric drive carrier modulation system, comprising: The data acquisition module is used to collect the motor load status and external environmental parameters of the electric drive system in real time. An environment recognition module is used to assess the current environmental noise level based on the external environmental parameters, which include road surface smoothness information and / or weather condition information. The control module is used to dynamically adjust the target carrier frequency of the electric drive system according to the motor load status and the ambient noise level. The control module is configured to make the adjustment direction of the target carrier frequency negatively correlated with the environmental noise level.

[0012] Thirdly, embodiments of this application provide an environment-aware electric drive carrier control device, the environment-aware electric drive carrier control device including a processor, a memory, and an environment-aware electric drive carrier control program stored in the memory and executable by the processor, wherein when the environment-aware electric drive carrier control program is executed by the processor, it implements the steps of the environment-aware electric drive carrier control method described in the first aspect.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing an environment-aware electric drive carrier modulation program, wherein when the environment-aware electric drive carrier modulation program is executed by a processor, it implements the steps of the environment-aware electric drive carrier modulation method as described in the first aspect.

[0014] Compared with the prior art, the advantages of the present invention are as follows: (1) The present invention provides an environmental sensing electric drive carrier control method, system, device and storage medium that collects motor load status and external environmental parameters in real time, evaluates the current environmental noise level based on the external environmental parameters, and dynamically adjusts the target carrier frequency according to the motor load status and environmental noise level, and makes the adjustment direction of the target carrier frequency negatively correlated with the environmental noise level, thus solving the technical problem in the related technology that fixed carrier frequency cannot take into account both NVH and electric drive efficiency.

[0015] (2) The present invention provides an environmental sensing electric drive carrier control method, system, device and storage medium that utilizes the negative correlation between environmental noise level and carrier frequency to adjust the target carrier frequency when the environmental noise level increases, thereby using environmental noise to mask electric drive noise in order to prioritize electric drive efficiency. When the environmental noise level decreases, the target carrier frequency is increased to prioritize optimizing in-vehicle NVH performance, thereby achieving a dynamic optimal balance between NVH performance and electric drive efficiency under all operating conditions, and avoiding high carrier frequency efficiency loss or low carrier frequency howling interference caused by a single fixed frequency. Attached Figure Description

[0016] 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 accompanying 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.

[0017] Figure 1 This is a flowchart illustrating an embodiment of an environmental sensing electric drive carrier modulation method, system, device, and storage medium according to the present invention. Figure 2 This is another flowchart of an embodiment of the environmental sensing electric drive carrier modulation method, system, device and storage medium of the present invention; Figure 3 This is a schematic diagram of the system composition in an embodiment of an environmental sensing electric drive carrier modulation method, system, device and storage medium of the present invention; Figure 4 This is a schematic diagram of the device hardware structure in an embodiment of an environmental sensing electric drive carrier modulation method, system, device and storage medium of the present invention. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0019] First, some of the technical terms used in this application will be explained to help those skilled in the art understand this application.

[0020] NVH performance: refers to noise, vibration and harshness, which are core indicators for measuring vehicle ride comfort. In this application, it mainly refers to the in-vehicle sound pressure level and the effect of suppressing electric drive howling.

[0021] Carrier frequency: refers to the switching frequency of the inverter power device in the motor controller. High frequency can reduce howling but increase switching losses, while low frequency can reduce losses but is prone to generating high-frequency noise.

[0022] Electric drive system: including motor, motor controller and transmission mechanism, responsible for converting electrical energy into mechanical energy to drive the vehicle, and is the target of carrier frequency adjustment in this application.

[0023] Environmental load sensing: refers to the technical means of simultaneously collecting motor load status (speed, current, etc.) and external environmental parameters (road surface, weather) and comprehensively evaluating the working conditions.

[0024] Acoustic masking principle: refers to the auditory psychoacoustic effect of using environmental background noise (such as road noise) to mask target noise (such as motor whistling). This application is used to reduce the carrier frequency to improve efficiency under high road noise.

[0025] Dual closed-loop feedback regulation: refers to a control mechanism that simultaneously monitors in-vehicle sound pressure (NVH) and electric drive efficiency, and performs bidirectional fine-tuning of the carrier frequency.

[0026] Random spread spectrum: refers to the technique of generating pseudo-random frequencies within a preset percentage range of the reference carrier frequency to uniformly spread concentrated harmonic energy across a wide bandwidth in order to reduce peak noise.

[0027] Road surface smoothness grade: The road surface condition is assessed based on the root mean square value of wheel center vibration acceleration and the road surface image damage rate, and is divided into smooth road surface, general road surface and damaged road surface.

[0028] Existing technologies employ segmented carrier frequency strategies that are fixed and cannot be adjusted in real time based on motor speed and external environment. For example, on smooth roads, NVH performance is of greater concern to the driver, and low carrier frequencies can worsen comfort; on damaged roads, due to the masking effect of road noise, electric drive efficiency becomes more critical, and high carrier frequencies would result in unnecessary efficiency losses. Therefore, there is an urgent need for an electric drive control method that uses real-time control of the electric drive carrier frequency based on environmental conditions and motor load. Based on this, this application proposes an environmentally aware electric drive carrier frequency control method and system.

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0030] In a first aspect, embodiments of this application provide an environmental sensing electric drive carrier modulation method.

[0031] In one embodiment, reference is made to Figure 1 , Figure 1 This is a schematic flowchart illustrating an embodiment of an environmental sensing electric drive carrier modulation method, system, device, and storage medium according to this application. Figure 1 As shown, an environmental sensing electric drive carrier modulation method includes: 101. Real-time acquisition of motor load status and external environmental parameters of the electric drive system; 102. Assess the current environmental noise level based on external environmental parameters, including road surface smoothness information and / or weather conditions information; 103. The target carrier frequency of the electric drive system is dynamically adjusted according to the motor load status and the ambient noise level; wherein the adjustment direction of the target carrier frequency is negatively correlated with the ambient noise level.

[0032] Specifically, when the ambient noise level increases, the target carrier frequency is reduced to mask the electric drive noise using ambient noise; when the ambient noise level decreases, the target carrier frequency is increased to prioritize the optimization of in-vehicle NVH performance.

[0033] In this embodiment, the carrier frequency is adaptively adjusted based on operating conditions through dual-dimensional perception of environmental load. This ensures that the adjustment direction of the target carrier frequency is negatively correlated with the environmental noise level, solving the technical problem in related technologies where fixed carrier frequency or segmented fixed strategies cannot simultaneously address NVH and electric drive efficiency. This application utilizes a negative correlation adjustment strategy between environmental noise level and carrier frequency. When the environmental noise level increases, the target carrier frequency is reduced to mask electric drive noise and prioritize electric drive efficiency. When the environmental noise level decreases, the target carrier frequency is increased to prioritize optimizing in-vehicle NVH performance. This achieves a dynamic optimal balance between NVH performance and electric drive efficiency under all operating conditions, avoiding high carrier frequency efficiency loss or low carrier frequency howling interference caused by a single fixed frequency, perfectly meeting users' psychological expectations and actual needs under different road conditions.

[0034] Furthermore, in one embodiment, the real-time acquisition of the motor load status and external environmental parameters of the electric drive system includes: The rotor speed, three-phase stator current, DC bus voltage and inverter housing temperature are collected as operating parameters of the electric drive system, and the motor load status is determined based on the operating parameters of the electric drive system. The system collects three-dimensional vibration acceleration signals from the wheel center and road and weather images collected by the vehicle's forward-looking camera as external environmental parameters. All collected data are labeled with a unified timestamp and vehicle location tag.

[0035] In this embodiment, distributed sensors synchronously collect operating parameters of the electric drive system, environmental parameters, and in-vehicle sound pressure signals. All collected data are tagged with a unified timestamp and vehicle location label, solving the technical problems of inaccurate operating condition identification caused by asynchronous multi-source data and missing location information in related technologies. A high sampling frequency of 20kHz is used for the three-phase stator current to ensure accurate capture of motor status, and a 30fps frame rate is used for environmental parameters to ensure real-time road and weather images. This provides a precise, synchronous, and traceable data foundation for subsequent environmental noise level assessment, improving the overall system response speed and control accuracy.

[0036] Furthermore, in one embodiment, the current environmental noise level is assessed based on external environmental parameters, including road surface smoothness identification: Calculate the root mean square (RMS) value of the triaxial vibration acceleration signal at the wheel center; The road surface is initially classified based on RMS. When RMS is less than the first threshold, it is judged as a smooth road surface. When RMS is greater than or equal to the first threshold and less than the second threshold, it is judged as a normal road surface. When RMS is greater than or equal to the second threshold, it is judged as a damaged road surface. The higher the road surface grade coefficient, the higher the corresponding environmental noise level.

[0037] In this embodiment, the road surface smoothness is initially classified using the root mean square (RMS) value of the three-dimensional vibration acceleration signal at the wheel center. This solves the technical problem of low road surface recognition accuracy caused by relying solely on a single sensor or empirical judgment in related technologies. Using 0.1 m / s² and 0.3 m / s² as classification thresholds, the road surface is divided into three levels: smooth road surface, general road surface, and damaged road surface. This quantitatively assesses the environmental noise level, providing objective and quantifiable road surface data for dynamic adjustment of the carrier frequency, avoiding control deviations caused by subjective judgment, and improving system robustness and consistency.

[0038] Furthermore, in one embodiment, the method further includes correcting the road surface smoothness recognition result based on the road surface image: Use a vehicle-mounted forward-facing camera to collect road images, identify road damage features, and calculate the road damage rate; When vibration is identified as a smooth road surface but the image damage rate is greater than the first damage rate threshold, it is corrected to a normal road surface. When vibration is identified as a normal road surface but the image recognition damage rate is greater than the second damage rate threshold, it is corrected to a damaged road surface.

[0039] In this embodiment, road surface images acquired by an onboard forward-facing camera are used to correct vibration recognition results, solving the technical problem in related technologies where a single vibration sensor is easily affected by vehicle vibration, leading to misjudgments of the road surface. When the vibration is identified as a smooth road surface but the image recognition damage rate is greater than 5%, it is corrected to a normal road surface; when the vibration is identified as a normal road surface but the image recognition damage rate is greater than 20%, it is corrected to a damaged road surface. This dual verification mechanism of vibration and image significantly improves the accuracy and reliability of road surface recognition, ensuring that the carrier frequency adjustment strategy is based on accurate road condition information and avoiding NVH deterioration or efficiency loss due to road surface misjudgment.

[0040] Furthermore, in one embodiment, assessing the current ambient noise level based on external environmental parameters also includes weather condition identification: The vehicle's forward-facing camera captures weather images to identify whether the weather is sunny or cloudy. Among them, the environmental noise level corresponding to non-sunny days is higher than that corresponding to sunny days.

[0041] In this embodiment, weather images are captured by an onboard forward-facing camera to identify sunny or cloudy days, solving the technical problem in related technologies that only consider road surface factors while ignoring the environmental impact of weather. Road surface noise and tire noise are typically higher on cloudy days (rainy days, snowy days, etc.) than on sunny days. Incorporating a weather coefficient into the environmental noise level assessment system makes the carrier frequency adjustment strategy more comprehensive and precise. The weather coefficient W is set to 0.3 on sunny days and 0.7 on cloudy days, quantifying the differences in environmental noise under different weather conditions and further improving the system's adaptability and control accuracy to environmental changes.

[0042] Furthermore, in one embodiment, the target carrier frequency of the electric drive system is dynamically adjusted according to the motor load state and the ambient noise level, specifically including: Construct a comprehensive environmental load model and calculate the comprehensive environmental load value; Match the preset reference carrier frequency range based on the range of the comprehensive environmental load value; Among them, the comprehensive value of environmental load is positively correlated with motor load rate, road surface grade coefficient and weather coefficient.

[0043] In this embodiment, an environmental load comprehensive model is constructed to calculate the comprehensive environmental load value. A preset reference carrier frequency range is then matched based on the interval containing the comprehensive value. This solves the technical problem in related technologies where segmented carrier frequency strategies are fixed and cannot be adjusted in real-time according to motor speed and external environment. By weighting and integrating motor load rate, road surface grade coefficient, and weather coefficient, a unified operating condition evaluation index is formed. This transforms carrier frequency adjustment from a single dimension to a multi-dimensional integration, achieving true operating condition adaptive control and ensuring the selection of the optimal carrier frequency under different loads, road conditions, and weather conditions.

[0044] Furthermore, in one embodiment, the calculation formula for the comprehensive environmental load model is: R = 0.4L + 0.3P + 0.3W; Where R is the comprehensive value of environmental load; L is the motor load rate; P is the road surface grade coefficient, the more damaged the road surface, the larger the P value; W is the weather coefficient, the W value is greater on non-sunny days than on sunny days; The preset reference carrier frequency range includes four priority intervals. As the R value increases, the corresponding reference carrier frequency range gradually decreases.

[0045] In this embodiment, the environmental load comprehensive value is quantitatively calculated through the environmental load comprehensive model formula R=0.4L+0.3P+0.3W, and the operating conditions are divided into four priority intervals, which solves the technical problem that there is no clear quantitative standard for carrier frequency adjustment in the related art. For interval 1 (R≤0.36), the preset reference carrier frequency is 14-16kHz to prioritize ensuring NVH performance; for interval 2 (0.36<R≤0.54), the preset carrier frequency is 12-14kHz to balance NVH and efficiency; for interval 3 (0.54<R≤0.78), the preset carrier frequency is 10-12kHz to focus on efficiency while taking NVH into account; for interval 4 (R>0.78), the preset carrier frequency is 8-10kHz to prioritize ensuring efficiency. The four intervals cover all operating condition scenarios from light load on flat roads to heavy load on damaged roads, and the carrier frequency switching adopts a smooth transition mode to avoid current impact and torque fluctuation caused by sudden carrier change, ensuring a stable and reliable control process.

[0046] Further, in one embodiment, a feedback adjustment step is further included: Collect the in-vehicle sound pressure signal in real time; When the in-vehicle sound pressure signal exceeds the preset threshold, finely adjust the target carrier frequency upward; When the in-vehicle sound pressure signal is lower than the preset threshold and lasts for a preset period, finely adjust the target carrier frequency downward.

[0047] In this embodiment, a NVH-electric drive efficiency double closed-loop feedback adjustment mechanism is constructed by collecting the in-vehicle sound pressure signal in real time, which solves the technical problem that open-loop control in the related art cannot cope with individual differences and system aging. The preset thresholds of 45dB(A), 47dB(A), 49dB(A) and 52dB(A) are set for interval 1 to interval 4 respectively. When the sound pressure level exceeds the threshold by 1-3dB, the carrier frequency is finely adjusted upward by 0.5-1kHz; when the sound pressure level is more than 2dB lower than the threshold and lasts for 3 cycles, the carrier frequency is finely adjusted downward by 0.5kHz, so as to realize dynamic and fine correction of the carrier frequency, ensure that the system always maintains the optimal control effect throughout the whole life cycle, and at the same time re-judge the operating condition interval and adopt the double closed-loop feedback adjustment when the road surface or weather conditions change, so as to ensure the system's rapid response capability to environmental changes.

[0048] Further, in one embodiment, a carrier frequency randomization step is further included: Generate a pseudo-random frequency within a preset percentage range of the target carrier frequency; Uniformly diffuse the concentrated harmonic energy to a wide frequency band.

[0049] In this embodiment, by generating pseudo-random frequencies within ±10% to ±15% of the target carrier frequency, the concentrated harmonic energy is uniformly diffused across a wide frequency band, solving the technical problem in related technologies where fixed carrier frequencies lead to concentrated harmonic energy and prominent noise peaks at specific frequencies. The synergistic suppression of carrier frequency randomization and dynamic adjustment of the reference carrier frequency further reduces the sharpness and harshness of electric drive whistling, improving in-vehicle acoustic comfort, while not affecting the electric drive efficiency optimization effect, achieving dual protection of NVH performance.

[0050] Figure 2 This is another schematic diagram of the environmental sensing electric drive carrier modulation method of this application; such as Figure 2 As shown, the specific process of the environmental perception electric drive carrier modulation method is as follows: S1. Real-time acquisition and preprocessing of multi-source data: The system synchronously acquires the operating parameters of the electric drive system, environmental parameters and in-vehicle sound pressure signals through distributed sensors, and performs filtering and preprocessing. The operating parameters of the electric drive system include rotor speed, three-phase stator current, and DC bus voltage. The sampling frequency of the three-phase stator current is 20kHz, and the sampling frequency of the other parameters is 100Hz. Environmental parameters include road and weather images captured by the vehicle's forward-facing camera at a frame rate of 30fps. The in-vehicle sound pressure level (SPL) signal includes data from the driver's seat and rear seats, with a sampling frequency of 48kHz. Preprocessing specifically includes: adding a uniform timestamp and vehicle location tag to all collected data, and filtering the SPL signal to remove environmental noise interference.

[0051] S2. Road surface smoothness and weather image recognition: The road surface is initially classified based on the root mean square value of the triaxial vibration acceleration of the wheel center, and then corrected by combining the road surface image results collected by the vehicle-mounted front-view camera. The road surface is divided into three levels: smooth road surface, general road surface and damaged road surface. On this basis, weather images are also collected by the vehicle-mounted front-view camera to classify the weather as sunny or cloudy.

[0052] The specific steps are as follows: S2.1 Calculate the triaxial vibration acceleration signal a of the wheel center. i The root mean square (RMS) value: ; S2.2 Preliminary classification: When RMS < 0.1 m / s², it is judged as a smooth road surface; when 0.1 m / s² ≤ RMS < 0.3 m / s², it is judged as a general road surface; when RMS ≥ 0.3 m / s², it is judged as a damaged road surface. S2.3 processes road surface and weather images to identify damage features such as potholes, cracks, bumps, and manhole covers, calculates the road damage rate, and identifies whether the weather is sunny. S2.4 Result correction: When the vibration recognition result is a flat road surface but the image recognition damage rate is greater than 5%, the result is corrected to a general road surface; when the vibration recognition result is a general road surface but the image recognition damage rate is greater than 20%, the result is corrected to a damaged road surface; when the vibration recognition result is inconsistent with the image recognition result, the vibration recognition result shall prevail.

[0053] S3. Dynamic adjustment of reference carrier frequency: A comprehensive environmental load model is established based on the current electric drive rotational speed, road surface grade and environmental weather, the operating conditions are divided into four priority intervals, and the corresponding reference carrier frequency strategy is executed; The comprehensive environmental load model is: R=0.4L+0.3P+0.3W; Wherein, R is the comprehensive environmental load value, with a value range of 0-1; L is the motor load rate, L=T / T_max, T is the current motor rotational speed, and T_max is the rated motor rotational speed; P is the road surface grade coefficient, P=0.3 for flat road surfaces, P=0.6 for general road surfaces, and P=1.0 for damaged road surfaces; W is the weather coefficient, W=0.3 for sunny days, and W=0.7 for non-sunny days.

[0054] The operating condition interval division and carrier strategy are as follows: Interval 1: R≤0.36, the preset reference carrier frequency is 14-16kHz, giving priority to ensuring the in-vehicle NVH performance; Interval 2: 0.36<R≤0.54, the preset reference carrier frequency is 12-14kHz, aiming to balance NVH and electric drive efficiency; Interval 3: 0.54<R≤0.78, the preset reference carrier frequency is 10-12kHz, focusing on electric drive efficiency while taking into account the in-vehicle NVH performance; Interval 4: R>0.78, the preset reference carrier frequency is 8-10kHz, giving priority to ensuring electric drive efficiency; Wherein the carrier frequency switching adopts a smooth transition mode to avoid current impact and torque fluctuation caused by sudden carrier change.

[0055] S4. Carrier frequency randomization: A pseudo-random frequency is generated within the range of ±10% to ±15% of the reference carrier frequency, so that the concentrated harmonic energy is uniformly spread to a wide frequency band.

[0056] S5. Double closed-loop feedback adjustment: Collect in-vehicle sound pressure signals in real time, construct an NVH-electric drive efficiency double closed-loop feedback adjustment mechanism, and dynamically correct control parameters; The specific adjustment method is as follows: S5.1 Calculate the average value of the in-vehicle sound pressure at multiple positions, and compare it with the preset threshold of the corresponding working condition: the threshold of interval 1 is 45dB(A), the threshold of interval 2 is 47dB(A), the threshold of interval 3 is 49dB(A), and the threshold of interval 4 is 52dB(A); S5.2 Carrier frequency adjustment: If the sound pressure level exceeds the threshold by 1-3dB, fine-tune the reference carrier frequency upward by 0.5-1kHz; if the sound pressure level is more than 2dB below the threshold and lasts for 3 cycles, fine-tune the reference carrier frequency downward by 0.5kHz. S5.3 When the sound pressure level is less than the threshold of 2dB, it means that the carrier frequency parameter is suitable for the current operating condition and the parameter should be maintained.

[0057] S5.4 When the road surface or weather conditions change during driving, the operating condition range is re-evaluated through step S3. Once the current operating condition range is determined, the dual closed-loop feedback adjustment mechanism of S5 is re-implemented.

[0058] Medium-load, medium-speed operating conditions on suburban expressways: This embodiment corresponds to a typical scenario where a vehicle is cruising at medium speed and continuously driving under medium load on suburban first-class highways or expressways. Under this condition, the vehicle's driving status is stable but with slight fluctuations. The road surface is mainly well paved but interspersed with a few expansion joints and repaired roads. This is one of the challenging conditions for balancing NVH and efficiency of the electric drive system.

[0059] The vehicle maintained a medium-speed cruising speed on the suburban expressway under clear weather conditions. The electric drive controller continuously collected data on motor output torque, rotor speed, three-phase stator current, DC bus voltage, and inverter housing temperature. The data showed that the motor was operating stably, with torque and speed fluctuating only slightly due to following the vehicle in front. The wheel center sensors only showed brief, small peaks when passing over road expansion joints. The onboard forward-facing camera captured real-time images of the road surface within a 100-meter radius ahead at a fixed frame rate, clearly showing road markings, expansion joints, and minor repair areas, while the weather conditions were good. Microphones in two locations inside the vehicle simultaneously collected sound pressure signals, which remained at a low level overall.

[0060] The system only showed a momentary rise when passing through expansion joints, initially indicating a well-paved road surface. Subsequent processing of road surface images captured by the forward-looking camera identified multiple transverse expansion joints and a few small repair areas, but no obvious damage features such as potholes, cracks, or bumps were found, indicating an extremely low road surface damage rate. The vibration recognition and image recognition results corroborated each other, ultimately determining the current road surface to be a generally smooth road surface.

[0061] Based on the current moderate load and generally smooth road surface, the system calculates a moderate environmental load value, determining it as the NVH and efficiency balance control range. The system automatically selects a moderately ranged reference carrier frequency. This frequency range is optimized to effectively suppress electric drive noise while maintaining a certain level of electric drive efficiency, achieving an initial balance between the two. The carrier frequency is also randomized. During cruising, when the vehicle accelerates slightly and the electric drive operating frequency increases, the system automatically fine-tunes the reference carrier frequency upwards, pushing more energy to the higher frequency band to ensure noise reduction. Conversely, when the vehicle's electric drive operating frequency decreases and road conditions are poor, the system automatically fine-tunes the reference carrier frequency downwards to improve efficiency, prioritizing electric drive efficiency while minimizing NVH performance degradation.

[0062] The environmental load comprehensive model adopted in this application is a linear weighted formula, which has low computational complexity, requires no iterative optimization, significantly reduces the computational load on the vehicle controller, avoids the risk of MCU overload, and ensures the real-time response speed of the control strategy. Through the synergistic effect of dynamically adjusting the reference carrier frequency and carrier frequency randomization, both dynamic adjustment achieves the optimal balance of adaptive operating conditions, and randomization diffuses harmonic energy. The combined effect of these two factors further reduces the sharpness of electric drive whistling, achieving dual protection of NVH performance.

[0063] Secondly, embodiments of this application also provide an environmental sensing electric drive carrier control system.

[0064] In one embodiment, reference is made to Figure 3 , Figure 3 This is a schematic diagram of the environmental sensing electric-driven carrier control system of this application. Figure 3 As shown, the environmental sensing electric drive carrier control system includes: The data acquisition module is used to collect the motor load status and external environmental parameters of the electric drive system in real time; specifically, it includes vibration signal processing unit 1 and vibration signal processing unit 2, as well as a controller communication interface for collecting electric drive operating parameters and an on-board camera for collecting image information. The environmental identification module, specifically the environmental analysis unit, is used to assess the current environmental noise level based on external environmental parameters, including road surface smoothness information and / or weather condition information. The control module, or control system, is used to dynamically adjust the target carrier frequency of the electric drive system according to the motor load status and ambient noise level; specifically, the carrier adjustment module adjusts the rear electric drive system.

[0065] The control module is configured to make the adjustment direction of the target carrier frequency negatively correlated with the ambient noise level. When the ambient noise level increases, the target carrier frequency is reduced to mask the electric drive noise with the ambient noise. When the ambient noise level decreases, the target carrier frequency is increased to prioritize the optimization of in-vehicle NVH performance.

[0066] In this embodiment, the hardware implementation of an environmental perception electric drive carrier control system is achieved through the coordinated operation of an environmental recognition module, a carrier frequency adjustment module, and a data acquisition module, solving the technical problem of the difficulty in engineering application of algorithmic solutions in related technologies. The environmental recognition module integrates a vibration signal processing unit, a road surface image analysis unit, and a weather image analysis unit to achieve accurate identification of road surface smoothness and weather conditions. The carrier frequency adjustment module includes a reference carrier calculation unit and a random spread spectrum unit, performing reference carrier frequency adjustment and generating random carrier spread spectrum. The control module constructs a comprehensive environmental load model based on multi-source data and determines and generates the target carrier frequency. The entire system realizes a complete closed loop from data acquisition, environmental recognition, frequency decision-making to execution control, possessing high integration, high reliability, and strong engineering applicability. It can be quickly adapted to different vehicle models and electric drive platforms, facilitating large-scale mass production applications.

[0067] Furthermore, in one embodiment, the data acquisition module is specifically used for: The rotor speed, three-phase stator current, DC bus voltage, and inverter housing temperature are collected as operating parameters of the electric drive system, and the motor load status is determined based on the operating parameters of the electric drive system. The wheel center three-dimensional vibration acceleration signal, road surface and weather images collected by the vehicle-mounted forward-looking camera are collected as external environmental parameters. All collected data are stamped with a unified timestamp and vehicle location tag.

[0068] In this embodiment, the data acquisition module collects operating parameters of the electric drive system, environmental parameters, and in-vehicle sound pressure signals in a distributed manner. All collected data is tagged with a unified timestamp and vehicle location label, solving the technical problems of inaccurate operating condition identification caused by asynchronous time distribution and missing location information in related technologies. A high sampling frequency of 20kHz is used for the three-phase stator current to ensure accurate capture of motor status, and a 30fps frame rate is used for environmental parameters to ensure real-time road and weather images. This provides a precise, synchronous, and traceable data foundation for subsequent environmental noise level assessment, improving the overall system response speed and control accuracy.

[0069] Furthermore, in one embodiment, the environment recognition module is specifically used for: Calculate the root mean square (RMS) value of the triaxial vibration acceleration signal at the wheel center; perform preliminary classification based on RMS: when RMS is less than the first threshold, it is judged as a smooth road surface; when RMS is greater than or equal to the first threshold and less than the second threshold, it is judged as a general road surface; when RMS is greater than or equal to the second threshold, it is judged as a damaged road surface; where the larger the road surface grade coefficient, the higher the corresponding environmental noise level.

[0070] In this embodiment, the root mean square (RMS) value of the three-dimensional vibration acceleration signal at the wheel center is calculated by the vibration signal processing unit of the environmental recognition module to perform preliminary classification of road surface smoothness. This solves the technical problem of low road surface recognition accuracy caused by relying solely on a single sensor or experience-based judgment in related technologies. Using 0.1 m / s² and 0.3 m / s² as classification thresholds, the road surface is divided into three levels: smooth road surface, general road surface, and damaged road surface. This quantitatively assesses the environmental noise level, providing objective and quantifiable road surface data for dynamic adjustment of the carrier frequency, avoiding control deviations caused by subjective judgment, and improving system robustness and consistency.

[0071] Furthermore, in one embodiment, the environment recognition module is also used for: The system uses a vehicle-mounted forward-facing camera to collect road surface images, identify road damage features, and calculate the road damage rate. When vibration is identified as a smooth road surface but the image recognition damage rate is greater than the first damage rate threshold, it is corrected to a normal road surface. When vibration is identified as a normal road surface but the image recognition damage rate is greater than the second damage rate threshold, it is corrected to a damaged road surface.

[0072] In this embodiment, the vibration recognition result is corrected by the road image analysis unit of the environment recognition module, solving the technical problem in related technologies where a single vibration sensor is easily affected by the vehicle's own vibration, leading to misjudgment of the road surface. When the vibration is identified as a smooth road surface but the image recognition damage rate is greater than 5%, it is corrected to a normal road surface; when the vibration is identified as a normal road surface but the image recognition damage rate is greater than 20%, it is corrected to a damaged road surface. This dual verification mechanism of vibration and image significantly improves the accuracy and reliability of road surface recognition, ensuring that the carrier frequency adjustment strategy is based on accurate road condition information and avoiding NVH deterioration or efficiency loss due to road surface misjudgment.

[0073] Furthermore, in one embodiment, the environment recognition module is also used for: Weather images are captured by a vehicle-mounted forward-facing camera to identify whether the weather is sunny or cloudy; the ambient noise level for cloudy weather is higher than that for sunny weather.

[0074] In this embodiment, the weather image analysis unit of the environmental recognition module collects weather images to identify sunny or cloudy days, solving the technical problem in related technologies that only consider road surface factors while ignoring the environmental impact of weather. Road surface noise and tire noise are typically higher on cloudy days (rainy days, snowy days, etc.) than on sunny days. Incorporating the weather coefficient into the environmental noise level assessment system makes the carrier frequency adjustment strategy more comprehensive and precise. The weather coefficient W is set to 0.3 on sunny days and 0.7 on cloudy days, quantifying the differences in environmental noise under different weather conditions and further improving the system's adaptability and control accuracy to environmental changes.

[0075] Furthermore, in one embodiment, the control module is specifically used for: Construct a comprehensive environmental load model and calculate the comprehensive environmental load value; match the preset reference carrier frequency range according to the interval where the comprehensive environmental load value is located; the comprehensive environmental load value is positively correlated with the motor load rate, road surface grade coefficient and weather coefficient.

[0076] In this embodiment, an environmental load comprehensive model is constructed by the control module to calculate the comprehensive environmental load value. A preset reference carrier frequency range is then matched based on the interval containing the comprehensive value. This solves the technical problem in related technologies where segmented carrier frequency strategies are only fixed strategies and cannot be adjusted in real time according to motor speed and external environment. By weighting and integrating motor load rate, road surface grade coefficient, and weather coefficient, a unified operating condition evaluation index is formed. This transforms carrier frequency adjustment from a single dimension to a multi-dimensional integration, achieving true operating condition adaptive control and ensuring that the optimal carrier frequency can be selected under different loads, road conditions, and weather conditions.

[0077] Furthermore, in one embodiment, the calculation formula for the comprehensive environmental load model is: R = 0.4L + 0.3P + 0.3W; Where R is the comprehensive environmental load value; L is the motor load rate; P is the road surface grade coefficient, the more damaged the road surface, the larger the P value; W is the weather coefficient, the W value is greater on non-sunny days than on sunny days; the preset reference carrier frequency range includes four priority intervals, and as the R value increases, the corresponding reference carrier frequency range gradually decreases.

[0078] In this embodiment, the control module uses the environmental load comprehensive model formula R=0.4L+0.3P+0.3W to quantitatively calculate the environmental load comprehensive value, and divides the operating conditions into four priority intervals, which solves the technical problem that there is no clear quantitative standard for carrier frequency adjustment in the related art. Interval 1 (R≤0.36) presets a reference carrier frequency of 14-16kHz to prioritize NVH performance, interval 2 (0.36<R≤0.54) presets 12-14kHz to balance NVH and efficiency, interval 3 (0.54<R≤0.78) presets 10-12kHz to focus on efficiency while taking NVH into account, and interval 4 (R>0.78) presets 8-10kHz to prioritize efficiency. The four intervals cover all operating condition scenarios from light load on flat roads to heavy load on damaged roads, and the carrier frequency switching adopts a smooth transition method to avoid current shock and torque fluctuation caused by sudden carrier change, ensuring a stable and reliable control process.

[0079] Further, in one embodiment, a feedback adjustment module is further included, configured to: Collect the in-vehicle sound pressure signal in real time; when the in-vehicle sound pressure signal exceeds the preset threshold, fine-tune the target carrier frequency upward; when the in-vehicle sound pressure signal is lower than the preset threshold for a preset period, fine-tune the target carrier frequency downward.

[0080] In this embodiment, the feedback adjustment module collects the in-vehicle sound pressure signal in real time to construct a dual closed-loop feedback adjustment mechanism for NVH-electric drive efficiency, which solves the technical problem that open-loop control in the related art cannot cope with individual differences and system aging. The preset thresholds of 45dB(A), 47dB(A), 49dB(A) and 52dB(A) are set for interval 1 to interval 4 respectively. When the sound pressure level exceeds the threshold by 1-3dB, the target carrier frequency is fine-tuned upward by 0.5-1kHz; when the sound pressure level is more than 2dB lower than the threshold and lasts for 3 cycles, the target carrier frequency is fine-tuned downward by 0.5kHz, so as to realize dynamic and fine correction of the carrier frequency, ensure that the system always maintains the optimal control effect throughout the full life cycle, and at the same time re-perform operating condition interval judgment and adopt dual closed-loop feedback adjustment when the road surface or weather conditions change, so as to ensure the system's rapid response capability to environmental changes.

[0081] Further, in one embodiment, a random spread spectrum module is further included, configured to: Generate a pseudo-random frequency within a preset percentage range of the target carrier frequency; uniformly spread the concentrated harmonic energy to a wide frequency band.

[0082] In this embodiment, a pseudo-random frequency is generated within ±10% to ±15% of the target carrier frequency using a random spread spectrum module. This uniformly diffuses the concentrated harmonic energy across a wide bandwidth, solving the technical problem in related technologies where a fixed carrier frequency leads to concentrated harmonic energy and prominent noise peaks at specific frequencies. The combined suppression of carrier frequency randomization and dynamic adjustment of the reference carrier frequency further reduces the sharpness and harshness of electric drive whistling, improving in-vehicle acoustic comfort, while maintaining the electric drive efficiency optimization effect, thus achieving dual protection of NVH performance.

[0083] The functions of each module in the above-mentioned environmental perception electric drive carrier control system correspond to the steps in the above-mentioned environmental perception electric drive carrier control method embodiment, and their functions and implementation processes will not be described in detail here.

[0084] Thirdly, embodiments of this application provide an environmental sensing electric drive carrier control device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0085] Reference Figure 4 , Figure 4 This is a schematic diagram of the hardware structure of the environmental sensing electric drive carrier modulation device involved in the embodiments of this application. In the embodiments of this application, the environmental sensing electric drive carrier modulation device may include a processor, a memory, a communication interface, and a communication bus.

[0086] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0087] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal components of the environment-aware electric carrier control equipment, as well as interfaces used for interconnecting the environment-aware electric carrier control equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0088] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0089] The processor can be a general-purpose processor, which can call the environment-aware electric drive carrier modulation program stored in the memory and execute the environment-aware electric drive carrier modulation method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the environment-aware electric drive carrier modulation program is called can be referred to in the various embodiments of the environment-aware electric drive carrier modulation method of this application, and will not be repeated here.

[0090] Those skilled in the art will understand that Figure 4 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0091] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0092] The present application stores an environment-aware electric drive carrier modulation program on a computer-readable storage medium, wherein when the environment-aware electric drive carrier modulation program is executed by a processor, it implements the steps of the environment-aware electric drive carrier modulation method described above.

[0093] The method implemented when the environmental sensing electric drive carrier control program is executed can be referred to in various embodiments of the environmental sensing electric drive carrier control method of this application, and will not be repeated here.

[0094] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0095] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0096] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0097] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0098] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0100] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for controlling an environmentally sensitive electric drive carrier wave, characterized in that, include: Real-time acquisition of motor load status and external environmental parameters of the electric drive system; The current environmental noise level is assessed based on the external environmental parameters, which include road surface smoothness information and / or weather condition information. The target carrier frequency of the electric drive system is dynamically adjusted based on the motor load status and the ambient noise level; wherein the adjustment direction of the target carrier frequency is negatively correlated with the ambient noise level.

2. The environmental sensing electric drive carrier modulation method as described in claim 1, characterized in that, The real-time acquisition of motor load status and external environmental parameters of the electric drive system includes: The rotor speed, three-phase stator current, DC bus voltage and inverter housing temperature are collected as operating parameters of the electric drive system, and the motor load status is determined based on the operating parameters of the electric drive system. The system collects three-dimensional vibration acceleration signals from the wheel center and road and weather images collected by the vehicle's forward-looking camera as external environmental parameters. All collected data are labeled with a unified timestamp and vehicle location tag.

3. The environmental sensing electric drive carrier modulation method as described in claim 1, characterized in that, The assessment of the current environmental noise level based on the external environmental parameters includes road surface smoothness identification: Calculate the root mean square (RMS) value of the triaxial vibration acceleration signal at the wheel center; The road surface is initially classified based on RMS. When RMS is less than the first threshold, it is judged as a smooth road surface. When RMS is greater than or equal to the first threshold and less than the second threshold, it is judged as a normal road surface. When RMS is greater than or equal to the second threshold, it is judged as a damaged road surface. The higher the road surface grade coefficient, the higher the corresponding environmental noise level.

4. The environmental sensing electric drive carrier modulation method as described in claim 3, characterized in that, It also includes correcting the road surface smoothness recognition results based on road surface images: Use a vehicle-mounted forward-facing camera to collect road images, identify road damage features, and calculate the road damage rate; When vibration is identified as a smooth road surface but the image damage rate is greater than the first damage rate threshold, it is corrected to a normal road surface. When vibration is identified as a normal road surface but the image recognition damage rate is greater than the second damage rate threshold, it is corrected to a damaged road surface.

5. The environmental sensing electric drive carrier modulation method as described in claim 2, characterized in that, The assessment of the current environmental noise level based on the external environmental parameters also includes weather condition identification: The vehicle's forward-facing camera captures weather images to identify whether the weather is sunny or cloudy. Among them, the environmental noise level corresponding to non-sunny days is higher than that corresponding to sunny days.

6. The environmental sensing electric drive carrier modulation method as described in claim 1, characterized in that, The step of dynamically adjusting the target carrier frequency of the electric drive system based on the motor load state and the ambient noise level specifically includes: Construct a comprehensive environmental load model and calculate the comprehensive environmental load value; Based on the range of the comprehensive environmental load value, a preset reference carrier frequency range is matched; The comprehensive environmental load value is positively correlated with the motor load rate, road surface grade coefficient, and weather coefficient.

7. The environmental sensing electric drive carrier modulation method as described in claim 1, characterized in that, It also includes feedback adjustment steps: Real-time acquisition of sound pressure signals inside the vehicle; When the sound pressure signal inside the vehicle exceeds a preset threshold, the target carrier frequency is adjusted upwards. When the sound pressure level inside the vehicle is lower than a preset threshold and remains below a preset period, the target carrier frequency is adjusted downwards.

8. An environmental sensing electric-driven carrier control system, characterized in that, include: The data acquisition module is used to collect the motor load status and external environmental parameters of the electric drive system in real time. An environment recognition module is used to assess the current environmental noise level based on the external environmental parameters, which include road surface smoothness information and / or weather condition information. The control module is used to dynamically adjust the target carrier frequency of the electric drive system according to the motor load status and the ambient noise level. The control module is configured to make the adjustment direction of the target carrier frequency negatively correlated with the environmental noise level.

9. An environmental sensing electrically driven carrier modulation device, characterized in that, The environmental sensing electric drive carrier control device includes a processor, a memory, and an environmental sensing electric drive carrier control program stored in the memory and executable by the processor, wherein when the environmental sensing electric drive carrier control program is executed by the processor, it implements the steps of the environmental sensing electric drive carrier control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an environment-aware electric drive carrier modulation program, wherein when the environment-aware electric drive carrier modulation program is executed by a processor, it implements the steps of the environment-aware electric drive carrier modulation method as described in any one of claims 1 to 7.

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