Control method and device, and carrier

Abstract

A control method and apparatus, and a carrier are provided. The method includes acquiring travel information of the carrier and controlling, based on the travel information, at least two sound-emitting devices in the carrier's cabin to play a first simulated sound wave with a sound image shift when the carrier accelerates or decelerates in response to an instruction from a user inside the carrier. Furthermore, at least one of an optical display device, an air conditioner, a seat, and a steering wheel is controlled based on the first simulated sound wave. The method may be applied to a carrier such as an intelligent vehicle or an electric vehicle. During the carrier's acceleration or deceleration process, a simulated sound wave with a sound image shift effect is played. This helps to improve the human-machine interaction experience and the user's driving and riding experience. The sound-emitting devices are linked to the optical display device, the air conditioner, the seat, and the steering wheel to create acoustic lighting effects, acoustic vibration effects, and acoustic wind effects, so that the user experiences simulated sound waves that change with the carrier's speed from multiple dimensions.

Description

[Technical Field]

[0001] This application claims priority to Chinese Patent Application No. 202211349258.3, entitled "Control Method and Apparatus, and Carrier," filed with the State Intellectual Property Office of China on October 31, 2022, which is incorporated herein by reference in its entirety.

[0002] The present application relates to the field of intelligent cabins, and more particularly to a control method and apparatus, and a carrier. [Background technology]

[0003] In the field of new energy vehicles, the widespread application of electrical assemblies and advances in vehicle noise, vibration, and harshness (NVH) technologies have led to increasingly quiet vehicle cabins, resulting in unsatisfactory driving and riding experiences for users. Due to the lack of sound shielding, such as engine roar, tire noise heard inside the cabin becomes more pronounced during vehicle operation, increasing user annoyance. Additionally, sounds used to emphasize the strength of the vehicle's powertrain are lost, potentially weakening the user's perception of vehicle performance. Furthermore, it is difficult for users to identify the vehicle's dynamic vehicle state (e.g., speed or load) through sound, which weakens the user's human-vehicle interaction experience. Summary of the Invention [Means for solving the problem]

[0004] The embodiments of the present application provide a control method and device, and a carrier. During the carrier's acceleration or deceleration process, a simulated sound wave with a sound image shift effect is generated and played based on the carrier's real-time operating conditions, so that the user experiences the carrier accelerating or decelerating based on the sound image shift. This helps to improve the human-machine interaction experience and the user's driving and riding experience.

[0005] The carrier in this application may include road transportation means, water transportation means, air transportation means, industrial devices, agricultural devices, recreational devices, etc. For example, the carrier may be a vehicle. The vehicle is a vehicle in a broad sense, and may be a transportation means (such as a commercial vehicle, a passenger car, a motorcycle, an aircraft, or a train), an industrial vehicle (such as a pallet truck, a trailer, or a tractor), an engineering vehicle (such as a hydraulic excavator, a bulldozer, or a crane), an agricultural device (such as a lawn mower or a harvester), a recreational device, a toy vehicle, etc. The type of vehicle is not particularly limited in the embodiments of this application. In another example, the carrier may be a transportation means such as an aircraft or a ship.

[0006] According to a first aspect, there is provided a control method, which may be performed by a carrier, a computing platform of the carrier, or a chip or circuit used in the carrier.

[0007] The method includes steps of acquiring driving information of the carrier, and controlling at least two sound emitting devices in a cabin of the carrier to play a first simulated sound wave with a sound image shift based on the driving information when the carrier accelerates or decelerates in response to an instruction from a user in the carrier.

[0008] In the above technical solution, a first simulated sound wave with a sound image shift effect is played during the acceleration or deceleration of the carrier, thereby masking noises that may be bothering the user, such as tire noise, and allowing the user to experience the carrier accelerating or decelerating based on the sound image shift. This helps to improve the human-machine interaction experience and the user's driving and riding experience, and can also improve the sense of science and technology of the carrier.

[0009] For example, the first simulated sound wave may include at least one of a simulated sound of a fuel vehicle engine, a simulated sound of an aircraft engine, a simulated sound of a spacecraft, a simulated sound of wind, and a simulated sound of an animal.

[0010] For example, the driving information may include, but is not limited to, acceleration information, speed information, and steering wheel torque information. The acceleration information may be determined based on an accelerator pedal position signal and / or a brake pedal position signal, and the position signal may include the magnitude of the pedal position and / or the pedal position change rate. Alternatively, the acceleration information may be determined by calculation based on the carrier speed change rate. The speed information may be determined based on a signal from a vehicle speed sensor or a wheel speed sensor, and the steering wheel torque may be determined based on a signal from a torque sensor.

[0011] In some possible implementations, when the carrier accelerates or decelerates in response to a user's instruction during the carrier's running process, the magnitude of acceleration and / or the rate of change of acceleration during the acceleration or deceleration process may be determined based on the running information, and at least two sound emitting devices may be controlled to reproduce a first simulated sound wave with a sound image shift based on the magnitude of acceleration and / or the rate of change of acceleration.

[0012] In some possible implementations, the driving information may further include gear information of the carrier. Further, when the driving information indicates that the carrier is in park or neutral, an accelerator pedal opening signal may be detected, and the at least two sound emitting devices may be controlled to play a first simulated sound wave with a sound image shift based on the accelerator pedal opening signal.

[0013] It should be noted that in this application, a "sound image (or soundstage)" may be understood as a "virtual sound source" or "sensory sound source" formed by sounds emitted by at least two sound-emitting devices, and that a "sound image shift" means that the "virtual sound source" moves from one position to another.

[0014] In some possible implementations, the sound image shift may be implemented based on psychoacoustic principles. For example, two sound emitting devices (including a first sound emitting device and a second sound emitting device) emit a first simulated sound wave with a sound image shift. The sound image shift may also be implemented based on the binaural effect principle. For example, the volume (or level gain) of the first sound emitting device is gradually increased and / or the volume (or level gain) of the second sound emitting device is gradually decreased to control the delay of sound reproduction by the first sound emitting device and the second sound emitting device, so that the sound image of the first simulated sound wave shifts from the second sound emitting device to the first sound emitting device. In addition, the mid- and high-frequency sound components in the first sound emitting device and the second sound emitting device may be controlled based on the Doppler effect principle, so that the sound image shift effect perceived by the user becomes more realistic.

[0015] In some possible implementations, the sound image may be further used to represent one or more of the depth, height, and width of the sound emitted by the sound emitting device. For example, a sound image shift may mean that the sound image position of a sound changes over time or moves in a certain direction. In this way, a simulated sound wave with a sound image shift may allow a user to experience a change in the spatial position of the sound.

[0016] Referring to the first aspect, in some implementations of the first aspect, the step of controlling at least two sound emitting devices in the cabin of the carrier to reproduce a first simulated sound wave with a sound image shift includes a step of controlling a sound image shift speed of the first simulated sound wave based on a magnitude of acceleration of the carrier and / or a jerk of the carrier, wherein the magnitude of acceleration of the carrier and the jerk of the carrier are determined based on the travel information.

[0017] For example, the magnitude of the acceleration indicates whether the carrier is accelerating or decelerating. If the magnitude of the acceleration is negative, the carrier is decelerating. If the magnitude of the acceleration is positive, the carrier is accelerating.

[0018] In some possible implementations, a higher jerk indicates a higher sound image shift rate.

[0019] In the above technical solution, the sound image shift direction and / or sound image shift speed of the first simulated sound wave is controlled based on the actual acceleration of the carrier, so that the simulated sound wave better matches the actual driving state of the carrier, and improves the scientific and technological sense of the carrier and the user's driving and riding experience.

[0020] In relation to the first aspect, in some implementations of the first aspect, the step of controlling at least two sound emitting devices in the cabin of the carrier to reproduce a first simulated sound wave with a sound image shift includes controlling the sound image shift direction of the first simulated sound wave to be a first direction when the carrier is accelerating, or controlling the sound image shift direction of the first simulated sound wave to be a second direction when the carrier is decelerating, where the first direction and the second direction are opposite directions.

[0021] In the aforementioned technical solution, when the carrier is accelerating and decelerating separately, the sound image shift direction of the first simulated sound wave is opposite, so that the user can clearly determine the motion state of the carrier based on the sound image shift direction, which is helpful to improving the user's driving and riding experience.

[0022] Referring to the first aspect, in some implementations of the first aspect, it is determined whether the carrier is accelerating or decelerating based on the travel information.

[0023] In some possible implementations, whether the carrier is accelerating or decelerating is determined based on the magnitude of acceleration of the carrier, which in turn is determined based on the travel information.

[0024] Referring to the first aspect, in some implementations of the first aspect, the first direction is from the rear of the carrier to the front of the carrier, and the second direction is from the front of the carrier to the rear of the carrier.

[0025] Referring to the first aspect, in some implementations of the first aspect, the first direction is an upward direction parallel to the normal direction of the plane on which the carrier is located, and the second direction is a downward direction parallel to the normal direction of the plane on which the carrier is located.

[0026] Referring to the first aspect, in some implementations of the first aspect, the method further includes determining, based on the driving information, that the carrier steers in a third direction, and controlling at least two sound emitting devices in a cabin of the carrier to reproduce a first simulated sound wave with a sound image shift includes controlling a sound image shift direction of the first simulated sound wave based on the magnitude of the acceleration and the third direction.

[0027] For example, the third direction may be the right side of the carrier or the left side of the carrier.

[0028] In some possible implementations, when the magnitude of the acceleration indicates that the carrier is accelerating and steering to the right, the sound image of the first simulated sound wave is controlled to shift from the rear of the carrier to the front of the carrier. When the sound image shifts to a fixed position, the sound image shifts from the fixed position to the right side of the carrier. For example, the fixed position may be the intersection of the rearview mirror of the carrier and the longitudinal symmetry plane of the carrier in a direction perpendicular to the longitudinal symmetry plane of the carrier. When the magnitude of the acceleration indicates that the carrier is accelerating and steering to the left, the sound image of the first simulated sound wave is controlled to shift from the rear of the carrier to the front of the carrier. When the sound image shifts to a fixed position, the sound image shifts from the fixed position to the left side of the carrier.

[0029] In the above technical solution, on the premise that the sound image shift is controlled based on acceleration, the steering information of the carrier is introduced to control the sound image shift direction, so that the carrier becomes more intelligent, the interaction between the user and the carrier is improved, and the user's driving and riding experience is improved.

[0030] Referring to the first aspect, in some implementations of the first aspect, the step of controlling at least two sound emitting devices in the cabin of the carrier to reproduce a first simulated sound wave with a sound image shift based on the driving information includes the steps of generating a second simulated sound wave based on the driving information, and controlling the at least two sound emitting devices to reproduce the first simulated sound wave with a sound image shift based on the second simulated sound wave.

[0031] In some possible implementations, the step of controlling the at least two sound emitting devices to reproduce a first simulated sound wave with a sound image shift based on the second simulated sound wave includes the steps of: allocating a plurality of audio signals within the second simulated sound wave to at least two audio channels; and designing delays and / or gains of the at least two audio channels by using a digital signal processor (DSP) and / or a power amplifier to control the at least two audio channels to reproduce sound based on the designed delays and / or gains. The sounds may form the first simulated sound wave with a sound image shift, and the at least two audio channels may be implemented using at least two sound emitting devices.

[0032] Referring to the first aspect, in some implementations of the first aspect, the step of controlling at least two sound emitting devices to reproduce a first simulated sound wave with a sound image shift based on the second simulated sound wave includes the step of controlling a sound image shift direction and / or a sound image shift speed of the first simulated sound wave based on a fundamental frequency characteristic of the second simulated sound wave.

[0033] For example, the fundamental frequency characteristic indicates the magnitude of the fundamental frequency of the second simulated sound wave, which may be the fundamental sound frequency or the primary frequency.

[0034] The "fundamental tone" may be the lowest-frequency pure tone in each musical note, and the magnitude of the frequency of the pure tone determines the overall pitch of the note. The term "primary frequency" is used to refer to frequencies that determine the timbre and pitch of a sound, e.g., frequencies that affect the richness of the sound's timbre. For example, if the first simulated sound wave is primarily a horn tone, the primary frequency may range from 60 Hz to 600 Hz, or if the first simulated sound wave is primarily an electric bass tone, the primary frequency may range from 80 Hz to 240 Hz.

[0035] In some possible implementations, the sound image shift speed is controlled based on the magnitude of the fundamental frequency.

[0036] Referring to the first aspect, in some implementations of the first aspect, the step of controlling the sound image shift direction of the first simulated sound wave based on the fundamental frequency characteristic of the second simulated sound wave includes a step of controlling the sound image of the first simulated sound wave to shift from behind the carrier to in front of the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually increases, or a step of controlling the sound image of the first simulated sound wave to shift from in front of the carrier to behind the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually decreases.

[0037] It will be understood that in the acceleration process of the carrier, the fundamental frequency of the second simulated sound wave (or the first simulated sound wave) gradually increases, and in the deceleration process of the carrier, the fundamental frequency of the second simulated sound wave (or the first simulated sound wave) gradually decreases.

[0038] In the above technical solution, the sound image shift of the first simulated sound wave is controlled based on the relevant characteristics of the sound, so that the sound image shift can better match the actual sound, and the possibility of a large deviation between the running state of the carrier and the sound image shift can be effectively reduced.

[0039] Referring to the first aspect, in some implementations of the first aspect, the method further includes controlling a light display device in the cabin to display a light based on the first simulated sound wave.

[0040] In the above-mentioned technical solution, the light display device is linked to the sound emission device, so that during the acceleration or deceleration process of the carrier, the user can experience the real-time status of the carrier in two dimensions: auditory and visual, which is helpful to improve the user's driving and riding experience at an entertainment level.

[0041] Referring to the first aspect, in some implementations of the first aspect, the step of controlling a light display device in the cabin to display light based on the first simulated sound wave includes controlling a gradient direction and / or a gradient speed of the light displayed by the light display device based on a fundamental frequency characteristic of the first simulated sound wave.

[0042] In some possible implementations, the gradient direction of the light displayed by the light display device is controlled to coincide with the sound image shift direction of the first simulated sound wave.

[0043] In some possible implementations, the optical gradient velocity is controlled to increase as the fundamental frequency increases and decrease as the fundamental frequency decreases.

[0044] For example, the carrier is a vehicle. If the light display device is a light strip located on the door armrest of the vehicle, when the fundamental frequency characteristic indicates that the fundamental frequency of the first simulated sound wave gradually increases, the light gradient direction of the light display device is controlled to be from the rear of the vehicle to the front of the vehicle, or when the fundamental frequency characteristic indicates that the fundamental frequency of the first simulated sound wave gradually decreases, the light gradient direction of the light display device is controlled to be from the front of the vehicle to the rear of the vehicle. The aforementioned light gradient may include, but is not limited to, continuous illumination of the light beads, continuous extinguishing of the light beads, and color gradient of the light beads.

[0045] In the above technical solution, the light gradient direction and / or speed of the light display device arranged in an eye-catching position of the carrier (e.g., the door armrest of a vehicle) is controlled, so that when the sound emitting device plays a first simulated sound wave with a sound image shift, the light display device displays light corresponding to the first simulated sound wave, improving the user's sense of the acceleration or deceleration state of the carrier.

[0046] Referring to the first aspect, in some implementations of the first aspect, the step of controlling a light display device in the cabin to display light based on the first simulated sound waves includes controlling the brightness of the light displayed by the light display device based on energy characteristics of the first simulated sound waves.

[0047] For example, the greater the energy of the first simulated sound wave indicated by the energy characteristic, the higher the brightness of the light displayed by the optical display device is controlled to be.

[0048] Referring to the first aspect, in some implementations of the first aspect, the method further includes controlling at least one of a wind direction, a wind force, and a temperature of an air conditioner in the cabin based on the first simulated sound wave.

[0049] In the above-mentioned technical solution, the air conditioner is linked to a sound emitting device, so that during the acceleration or deceleration process of the carrier, the user can experience the real-time state of the carrier in real time from two dimensions: hearing and physical sense; or, since the air conditioner is linked to a sound emitting device and an optical display device, during the acceleration or deceleration process of the carrier, the user can experience the real-time state of the carrier in real time from three dimensions: hearing, physical sense, and vision, which is helpful in improving the user's driving and riding experience at an entertainment level.

[0050] Referring to the first aspect, in some implementations of the first aspect, the step of controlling at least one of the wind direction, wind speed, and temperature of an air conditioner in the cabin based on the first simulated sound wave includes the step of controlling the wind direction and / or wind speed of the air conditioner based on a fundamental frequency characteristic of the first simulated sound wave.

[0051] In some possible implementations, the wind power of the air conditioner is controlled based on the magnitude of the fundamental frequency indicated by the fundamental frequency characteristic, where a higher fundamental frequency indicates a higher wind power.

[0052] In some possible implementations, the airflow direction of the air conditioner is controlled based on a change in fundamental frequency indicated by the fundamental frequency characteristic. For example, when the fundamental frequency gradually increases, the airflow direction of the air conditioner is controlled to be from the front of the carrier to the rear of the carrier, or when the fundamental frequency gradually decreases, the airflow direction is controlled to be from the rear of the carrier to the front of the carrier.

[0053] Referring to the first aspect, in some implementations of the first aspect, the step of controlling at least one of wind direction, wind force, and temperature of an air conditioner in the cabin based on the first simulated sound wave includes controlling the temperature of the air conditioner based on energy characteristics of the first simulated sound wave.

[0054] For example, the greater the energy of the first simulated sound wave indicated by the energy characteristic, the higher the temperature of the air conditioner is controlled to be.

[0055] Referring to the first aspect, in some implementations of the first aspect, the method further includes controlling a seat in the cabin to vibrate based on the first simulated sound waves, and / or controlling a steering wheel in the carrier to vibrate based on the first simulated sound waves.

[0056] In some possible implementations, a seat at a driver's position on the carrier may be controlled to vibrate based on the first simulated sound wave, or alternatively, seats at the driver's position and at positions other than the driver's position on the carrier may be controlled to vibrate based on the first simulated sound wave.

[0057] In the above technical solution, in the acceleration or deceleration process of the carrier, the vibration sensation of the fuel vehicle is simulated, which improves the user's sense of the acceleration or deceleration state and helps to improve the user's driving and riding experience.

[0058] Referring to the first aspect, in some implementations of the first aspect, the step of controlling a seat in the cabin to vibrate based on the first simulated sound wave includes controlling a frequency at which the seat vibrates based on a frequency characteristic of the first simulated sound wave.

[0059] For example, the frequency characteristics may include at least one of a Mel-scale frequency cepstral coefficient and a spectral centroid, and a frequency at which the seat vibrates is controlled based on the Mel-scale frequency cepstral coefficient and / or the spectral centroid of the first simulated sound wave.

[0060] According to a second aspect, there is provided a control method, the method including the steps of acquiring travel information of a carrier, and controlling at least two sound emitting devices in a cabin of the carrier to reproduce a first simulated sound wave with a sound image shift based on the travel information.

[0061] In the above technical solution, a first simulated sound wave with a sound image shift effect is played during the acceleration or deceleration of the carrier, thereby masking noises that may be bothering the user, such as tire noise, and allowing the user to experience the carrier accelerating or decelerating based on the sound image shift. This helps to improve the human-machine interaction experience and the user's driving and riding experience, and can also improve the sense of science and technology of the carrier.

[0062] Referring to the second aspect, in some implementations of the second aspect, the method further includes a step of controlling a sound image shift speed of the first simulated sound wave based on a magnitude of acceleration of the carrier and / or a jerk of the carrier, wherein the magnitude of acceleration of the carrier and the jerk of the carrier are determined based on the travel information.

[0063] In relation to the second aspect, in some implementations of the second aspect, the step of controlling at least two sound emitting devices in the cabin of the carrier to reproduce a first simulated sound wave with a sound image shift includes a step of controlling the sound image shift direction of the first simulated sound wave to be a first direction when the carrier is accelerating, or a step of controlling the sound image shift direction of the first simulated sound wave to be a second direction when the carrier is decelerating, where the first direction and the second direction are opposite directions.

[0064] Referring to the second aspect, in some implementations of the second aspect, the first direction is from the rear of the carrier to the front of the carrier, and the second direction is from the front of the carrier to the rear of the carrier.

[0065] Referring to the second aspect, in some implementations of the second aspect, the first direction is an upward direction parallel to the normal direction of the plane on which the carrier is located, and the second direction is a downward direction parallel to the normal direction of the plane on which the carrier is located.

[0066] Referring to the second aspect, in some implementations of the second aspect, the method further includes determining, based on the driving information, that the carrier steers in a third direction. The step of controlling at least two sound emitting devices in a cabin of the carrier to reproduce a first simulated sound wave with a sound image shift includes controlling a sound image shift direction of the first simulated sound wave based on the magnitude of the acceleration and the third direction.

[0067] Referring to the second aspect, in some implementations of the second aspect, the step of controlling at least two sound emitting devices in the cabin of the carrier to reproduce a first simulated sound wave with a sound image shift based on the driving information includes the steps of generating a second simulated sound wave based on the driving information, and controlling the at least two sound emitting devices to reproduce the first simulated sound wave with a sound image shift based on the second simulated sound wave.

[0068] Referring to the second aspect, in some implementations of the second aspect, the step of controlling at least two sound emitting devices to reproduce a first simulated sound wave with a sound image shift based on the second simulated sound wave includes the step of controlling a sound image shift direction and / or a sound image shift speed of the first simulated sound wave based on a fundamental frequency characteristic of the second simulated sound wave.

[0069] Referring to the second aspect, in some implementations of the second aspect, the step of controlling the sound image shift direction of the first simulated sound wave based on the fundamental frequency characteristic of the second simulated sound wave includes a step of controlling the sound image of the first simulated sound wave to shift from behind the carrier to in front of the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually increases, or a step of controlling the sound image of the first simulated sound wave to shift from in front of the carrier to behind the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually decreases.

[0070] Referring to the second aspect, in some implementations of the second aspect, the method further includes controlling a light display device in the cabin to display light based on the first simulated sound wave.

[0071] Referring to the second aspect, in some implementations of the second aspect, the step of controlling a light display device in the cabin to display light based on the first simulated sound wave includes controlling a gradient direction and / or a gradient speed of the light displayed by the light display device based on a fundamental frequency characteristic of the first simulated sound wave.

[0072] Referring to the second aspect, in some implementations of the second aspect, the step of controlling a light display device in the cabin to display light based on the first simulated sound waves includes controlling the brightness of the light displayed by the light display device based on energy characteristics of the first simulated sound waves.

[0073] Referring to the second aspect, in some implementations of the second aspect, the method further includes controlling at least one of a wind direction, a wind force, and a temperature of an air conditioner in the cabin based on the first simulated sound wave.

[0074] Referring to the second aspect, in some implementations of the second aspect, the step of controlling at least one of the wind direction, wind speed, and temperature of the air conditioner in the cabin based on the first simulated sound wave includes the step of controlling the wind direction and / or wind speed of the air conditioner based on a fundamental frequency characteristic of the first simulated sound wave.

[0075] Referring to the second aspect, in some implementations of the second aspect, the step of controlling at least one of the wind direction, wind force, and temperature of the air conditioner in the cabin based on the first simulated sound wave includes the step of controlling the temperature of the air conditioner based on the energy characteristics of the first simulated sound wave.

[0076] Referring to the second aspect, in some implementations of the second aspect, the method further includes controlling a seat in the cabin to vibrate based on the first simulated sound waves, and / or controlling a steering wheel in the carrier to vibrate based on the first simulated sound waves.

[0077] Referring to the second aspect, in some implementations of the second aspect, the step of controlling a seat in the cabin to vibrate based on the simulated sound waves includes controlling a frequency at which the seat vibrates based on a frequency characteristic of the first simulated sound wave.

[0078] According to a third aspect, there is provided a control device including an acquisition unit and a first processing unit. The acquisition unit is configured to acquire travel information of a carrier, and the first processing unit is configured to control at least two sound emitting devices in a cabin of the carrier to reproduce a first simulated sound wave with a sound image shift based on the travel information when the carrier accelerates or decelerates in response to an instruction from a user on the carrier.

[0079] Referring to the third aspect, in some implementations of the third aspect, the first processing unit is configured to control the sound image shift speed of the first simulated sound wave based on the magnitude of acceleration of the carrier and / or the acceleration jerk of the carrier, and the magnitude of acceleration of the carrier and the acceleration jerk of the carrier are determined based on the travel information.

[0080] Referring to the third aspect, in some implementations of the third aspect, the first processing unit is configured to: control a sound image shift direction of the first simulated sound wave to be a first direction when the carrier is accelerating; or control a sound image shift direction of the first simulated sound wave to be a second direction when the carrier is decelerating, wherein the first direction and the second direction are opposite directions.

[0081] Referring to the third aspect, in some implementations of the third aspect, the first direction is from the rear of the carrier to the front of the carrier, and the second direction is from the front of the carrier to the rear of the carrier.

[0082]

[0013] Referring to the third aspect, in some implementations of the third aspect, the device further includes a second processing unit configured to determine, based on the driving information, that the carrier steers in a third direction. The first processing unit is configured to control, based on the magnitude of the acceleration and the third direction, a sound image shift direction of the first simulated sound wave.

[0083]

[0013] Referring to the third aspect, in some implementations of the third aspect, the device further includes a generating unit configured to generate a second simulated sound wave based on the driving information, and the first processing unit is configured to control the at least two sound emitting devices to reproduce a first simulated sound wave with a sound image shift based on the second simulated sound wave.

[0084] Referring to the third aspect, in some implementations of the third aspect, the first processing unit is configured to control a sound image shift direction and / or a sound image shift speed of the first simulated sound wave based on a fundamental frequency characteristic of the second simulated sound wave.

[0085] Referring to the third aspect, in some implementations of the third aspect, the first processing unit is configured to: control the sound image of the first simulated sound wave to shift from behind the carrier to in front of the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually increases; or control the sound image of the first simulated sound wave to shift from in front of the carrier to behind the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually decreases.

[0086] Referring to the third aspect, in some implementations of the third aspect, the apparatus further includes a third processing unit configured to control a light display device in the cabin to display a light based on the first simulated sound wave.

[0087] Referring to the third aspect, in some implementations of the third aspect, the third processing unit is configured to control a gradient direction and / or a gradient velocity of the light displayed by the light display device based on a fundamental frequency characteristic of the first simulated sound wave.

[0088] Referring to the third aspect, in some implementations of the third aspect, the third processing unit is configured to control the brightness of the light displayed by the light display device based on the energy characteristics of the first simulated sound wave.

[0089] Referring to the third aspect, in some implementations of the third aspect, the apparatus further includes a fourth processing unit configured to control at least one of a wind direction, a wind force, and a temperature of an air conditioner in the cabin based on the first simulated sound wave.

[0090] Referring to the third aspect, in some implementations of the third aspect, the fourth processing unit is configured to control the wind direction and / or wind power of the air conditioner based on the fundamental frequency characteristics of the first simulated sound wave.

[0091] Referring to the third aspect, in some implementations of the third aspect, the fourth processing unit is configured to control a temperature of an air conditioner based on an energy characteristic of the first simulated sound wave.

[0092] Referring to the third aspect, in some implementations of the third aspect, the apparatus further includes a fifth processing unit configured to control a seat in the cabin to vibrate based on the first simulated sound waves, and / or control a steering wheel in the carrier to vibrate based on the first simulated sound waves.

[0093] Referring to the third aspect, in some implementations of the third aspect, the fifth processing unit is configured to control the frequency at which the seat vibrates based on the frequency characteristics of the first simulated sound wave.

[0094] According to a fourth aspect, there is provided a control device including an acquisition unit and a first processing unit, wherein the acquisition unit is configured to acquire travel information of a carrier, and the first processing unit is configured to control at least two sound emitting devices in a cabin of the carrier to reproduce a first simulated sound wave with a sound image shift based on the travel information.

[0095] According to a fifth aspect, there is provided a control device, the device comprising: a memory configured to store a computer program; and a processor configured to execute the computer program stored in the memory to enable the device to perform a method according to any possible implementation of the first or third aspect.

[0096] According to a sixth aspect, there is provided a control system, comprising at least two sound emitting devices and a computing platform, the computing platform comprising a device according to any possible implementation of the third to fifth aspects.

[0097] According to a seventh aspect, there is provided a carrier comprising an apparatus according to any possible embodiment of the third to fifth aspects and at least two sound emitting devices, or the carrier comprising a control system according to any possible embodiment of the sixth aspect.

[0098] Referring to the seventh aspect, in some embodiments of the seventh aspect, the carrier further includes an optical display device and / or an air conditioner.

[0099] Referring to the seventh aspect, in some embodiments of the seventh aspect, the carrier is a vehicle.

[0100] According to an eighth aspect, there is provided a computer program product, the computer program product comprising computer program code which, when executed on a computer, enables the computer to carry out a method according to any possible implementation of the first or third aspect.

[0101] It should be noted that the computer program code may be completely or partially stored in the first storage medium, which may be encapsulated together with the processor or separately from the processor.

[0102] According to a ninth aspect, there is provided a computer-readable medium storing instructions that, when executed by a processor, enable the processor to perform a method according to any possible implementation of the first or third aspect.

[0103] According to a tenth aspect, there is provided a chip, the chip comprising a circuit, the circuit configured to perform a method according to any possible implementation of the first or third aspect.

[0104] In an embodiment of the present application, simulated sound waves with a sound image shift effect are played during the acceleration or deceleration of the carrier, thereby masking noises that may be annoying to the user, such as tire noise, and allowing the user to experience the carrier accelerating or decelerating based on the sound image shift. This helps improve the human-machine interaction experience and the user's driving and riding experience, and can improve the scientific and technological feel of the carrier. Specifically, the sound image shift direction and / or sound image shift speed of the simulated sound waves can be controlled based on the actual acceleration of the carrier, so that the simulated sound waves better match the actual driving state of the carrier, improving the scientific and technological feel of the carrier and the user's driving and riding experience. When the carrier accelerates and decelerates separately, the sound images of the simulated sound waves are controlled to shift in opposite directions, so that the user can clearly determine the carrier's motion state based on the direction of the sound image shift, which helps improve the user's driving and riding experience. Furthermore, assuming that the sound image shift is controlled based on acceleration, carrier steering information is introduced to control the direction of the sound image shift, making the carrier more intelligent, improving the interaction between the user and the carrier, and improving the user's driving and riding experience. In addition, one or more of the optical display device, air conditioner, seat, and steering wheel may be further controlled based on the simulated sound waves linked to the sound emitting device to create acoustic lighting effects, acoustic vibration effects, and acoustic wind effects, so that the user can experience simulated sound waves that change with the carrier's speed from multiple dimensions. For example, because the optical display device is linked to the sound emitting device, during the carrier's acceleration or deceleration process, the user can experience the real-time state of the carrier in two dimensions: auditory and visual, which helps to improve the user's driving and riding experience at an entertainment level.The light gradient direction and / or speed of a light display device located in a conspicuous position on the carrier (e.g., a vehicle door armrest) is controlled based on the simulated sound waves. As a result, when the sound emitting device plays the simulated sound waves accompanied by a sound image shift, the light display device displays light corresponding to the simulated sound waves, improving the user's sense of the carrier's acceleration or deceleration state. The air conditioner is linked to the sound emitting device, so that during the carrier's acceleration or deceleration process, the user can experience the carrier's real-time state in two dimensions: hearing and physical sensation. Alternatively, the air conditioner is linked to the sound emitting device and the light display device, so that during the carrier's acceleration or deceleration process, the user can experience the carrier's real-time state in three dimensions: hearing, physical sensation, and vision. During the carrier's acceleration or deceleration process, the vibration sensation of a fuel vehicle is simulated, improving the user's sense of the acceleration or deceleration state, further contributing to improving the user's driving and riding experience. [Brief explanation of the drawings]

[0105] [Figure 1] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application. [Figure 2] FIG. 2 is a diagram of audio channels distributed within a cabin according to an embodiment of the present application. [Figure 3] FIG. 1 is a block diagram of the system architecture required to implement a control method according to an embodiment of the present application. [Figure 4] 1 is a schematic flowchart of a control method according to an embodiment of the present application. [Figure 5] FIG. 2 is a distribution diagram of a sound emitting device according to an embodiment of the present application. [Figure 6(a)] 1 is a diagram of an application scenario of a control method according to an embodiment of the present application; [Figure 6(b)] FIG. 2 is another diagram of an application scenario of the control method according to an embodiment of the present application; [Figure 6(c)]FIG. 2 is yet another diagram of an application scenario of the control method according to an embodiment of the present application. [Figure 6(d)] FIG. 2 is yet another diagram of an application scenario of the control method according to an embodiment of the present application. [Figure 7] 1 is a diagram of an application scenario of a control method according to an embodiment of the present application; [Figure 8] FIG. 2 is a block diagram of a control device according to an embodiment of the present application. [Figure 9] FIG. 2 is another block diagram of a control device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0106] In the description of the embodiments of the present application, " / " means "or" unless otherwise specified. For example, A / B can refer to A or B. In this specification, "and / or" describes an association relationship between associated objects and indicates that three relationships may exist. For example, A and / or B can refer to the following three cases: when only A is present, when both A and B are present, and when only B is present. In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of a single item or multiple items. For example, "at least one item (part) of a, b, or c" can refer to a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural.

[0107] The prefixes such as "first" and "second" in the embodiments of the present application are intended merely to distinguish between different objects and do not impose any limitations on the position, order, priority, number, content, etc. of the described objects. The use of prefixes such as ordinal numbers used to distinguish between described objects in the embodiments of the present application does not constitute limitations on the described objects. For a description of the described objects, please refer to the claims or the description of the context of the embodiments, and the use of such prefixes should not constitute redundant limitations.

[0108] In the field of new energy vehicles, such as electric vehicles, vehicle cabins are becoming increasingly quiet due to the widespread use of electrical assemblies and advances in NVH technology. The absence of sounds such as engine roar can lead to negative sound-related vehicle usage experiences. Because sounds such as engine roar are not shielded, high-frequency sounds generated by the motor during vehicle operation can be heard by users inside the cabin, and tire noise heard inside the cabin becomes more pronounced, increasing user annoyance. Sounds intended to emphasize the strength of the vehicle's powertrain are lost, potentially weakening the user's perception of vehicle performance. It is difficult for users to identify the vehicle's dynamic vehicle state (e.g., speed or load) through sound, which weakens the user's human-vehicle interaction experience.

[0109] In consideration of this, the present application provides a control method and device, as well as a carrier. During the carrier's acceleration or deceleration process, simulated sound waves with a sound image shift effect can be played, thereby masking noises that may be annoying to the user, such as tire noise, and allowing the user to experience the carrier's acceleration or deceleration state based on the sound image shift. This helps improve the human-machine interaction experience and the user's driving and riding experience, and can enhance the carrier's sense of science and technology. Furthermore, at least one of an optical display device, an air conditioner, a seat, and a steering wheel may be further controlled based on the simulated sound waves. In this way, the sound emitting device is linked to the optical display device, the air conditioner, the seat, and the steering wheel to create acoustic lighting effects, acoustic vibration effects, and acoustic wind effects, allowing the user to experience simulated sound waves that change with the carrier's speed from multiple dimensions.

[0110] The following describes the technical solutions of the embodiments of the present application with reference to the accompanying drawings.

[0111] 1 is a functional block diagram of a vehicle 100 according to an embodiment of the present application. The vehicle 100 may include a sensing system 120, a display device 130, a sound emitting device 140, and a computing platform 150. The sensing system 120 may include one or more types of sensors that sense ambient environmental information of the vehicle 100. For example, the sensing system 120 may include one or more of a positioning system, an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, a visual sensor, and a camera device. The positioning system may be a global positioning system (GPS), a BeiDou system, or another positioning system.

[0112] The sensing system 120 may further include one or more of a pedal position sensor, a speed sensor (eg, a wheel speed sensor), and a torque sensor.

[0113] The display device 130 in this embodiment of the present application mainly includes a light display device configured to display light. For example, the light display device may be a breathing light or an atmospheric light including a light emitting diode (LED) light strip, and an LED light strip (hereinafter referred to as a light strip) may include a plurality of LED light beads. Alternatively, the light display device may be other types of light. Alternatively, the light display device may be disposed in an in-vehicle display, such as a central control display or a rearview mirror display, or a display behind the headrests of the front seats or a front center armrest. Alternatively, the light display device may further include an in-vehicle display or a head-up display (HUD), or may further include other devices capable of displaying light.

[0114] In some possible implementations, when the carrier is a vehicle, the light display device may further include the vehicle's front lights, rear lights, brake lights, etc.

[0115] The sound emitting device 140 may implement one or more sound channels inside the cabin and / or one or more sound channels outside the cabin, where one sound channel is implemented by one or more sound emitting devices (such as speakers or sound boxes). Figure 2 is a diagram of sound channels distributed inside the cabin according to one embodiment of the present application. As shown in FIG. 2 , the cabin may include seven surround sound channels: a center (C) sound channel (1), a front left (FL) sound channel (2), a front right (FR) sound channel (3), a surround left (SL) sound channel (6), a surround right (SR) sound channel (7), a surround back left (SBL) sound channel (10), and a surround back right (SBR) sound channel (11); four Sky sound channels: a top front left (TFL) sound channel (4), a top front right (TFR) sound channel (5), a top rear left (TRL) sound channel (8), and a top rear right (TRR) sound channel (9); and a subwoofer (SW) sound channel (12).

[0116] Some or all of the functions of vehicle 100 may be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n (n is a positive integer). A processor is a circuit having signal processing capabilities. In one embodiment, a processor may be a circuit having the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may also be understood as a microprocessor), or a DSP. In another embodiment, a processor may implement a specific function based on the logical relationships of a hardware circuit. The logical relationships of the hardware circuit may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of a processor loading a configuration document to implement a hardware circuit configuration may be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. Additionally, the processor may alternatively be a hardware circuit designed for artificial intelligence and may be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), or a deep learning processing unit (DPU). Additionally, the computing platform 150 may further include a memory. The memory is configured to store instructions.Some or all of processors 151 through 15n may retrieve instructions in memory and execute the instructions to implement the corresponding functionality.

[0117] In this embodiment of the present application, the processor may obtain driving information from the sensing system 120, where the driving information includes one or more of pedal opening information, speed information, and steering wheel torque information, synthesize simulated sound waves based on the driving information, and control the sound emitting device 140 to play the simulated sound waves. The processor may further control another component in the cabin based on the simulated sound waves. For example, the processor may control the display device 130 to display a light based on the simulated sound waves, or may control the airflow of an air conditioning system based on the simulated sound waves, or may control the seat and / or steering wheel to vibrate based on the simulated sound waves. In some possible implementations, the simulated sound waves may alternatively be stored in a memory in the computing platform 150 in the form of data.

[0118] It should be understood that the above operations may be performed by the same processor or by one or more processors, which is not specifically limited in the embodiments of the present application.

[0119] FIG. 3 is a diagram of a system architecture of a control method according to an embodiment of the present application. The system includes a sensing module, a sound wave generation module, a sound processing module, a sound emission module, another component control module, and another component module. For example, the sensing module may include one or more sensors in the sensing system 120 shown in FIG. 1 , such as one or more of a pedal position sensor, a speed sensor, and a torque sensor. The sound emission module may include the sound wave generation module, the sound processing module, and another component control module, and may include one or more processors in the computing platform 150 shown in FIG. 1. The other component module may include one or more optical display devices in the display device 130 shown in FIG. 1, and the other component module may further include one or more of a seat, a steering wheel, and an air conditioner. The sound wave generation module may synthesize simulated sound waves based on data signals obtained from the sensing module, the data signals including one or more of a pedal position signal, a speed signal, and a torque signal. The sound processing module may obtain the simulated sound waves generated by the sound wave generation module, perform audio channel allocation based on the simulated sound waves, control the sound emitting module to play sounds, and perform delay control and gain control on the sounds played by each audio channel, so that the sounds played by the sound emitting module can form a three-dimensional flow effect.The other component control module may obtain the simulated sound waves generated by the sound wave generation module and extract acoustic characteristics from the acoustic data of the simulated sound waves, for example, one or more of the following characteristics of the acoustic data: energy characteristics such as root-mean-square energy, time-domain characteristics such as voice onset time (VOT), frequency characteristics such as Mel-scale frequency cepstral coefficients (MFCCs) or spectrum centroid, and musical characteristics such as fundamental frequency. Furthermore, the other component control module may control another component module linked to the simulated sound waves, including one or more of an optical display device, an air conditioner, a seat, and a steering wheel, based on one or more of the aforementioned characteristics.

[0120] It should be understood that the above-mentioned modules and devices are merely examples. In practical applications, the above-mentioned modules and devices can be added or removed according to practical requirements. In one example, the sound wave generating module and the sound wave processing module in FIG. 3 can be combined into one module. In other words, the functions of the two modules are realized in one module.

[0121] 4 is a schematic flowchart of a control method according to an embodiment of the present application. The method may be applied to the vehicle 100 shown in FIG. 1 and may be executed by the system shown in FIG. 3, which is not specifically limited in the embodiment of the present application. Specifically, the method 400 may include the following steps:

[0122] S401: Carrier travel information is acquired.

[0123] For example, the driving information may include, but is not limited to, acceleration information, speed information, and steering wheel torque information.

[0124] In some possible implementations, a first opening signal of a first pedal may be obtained, and acceleration information of the carrier may be determined based on the first opening signal.

[0125] For example, the first pedal may be an accelerator pedal or a brake pedal.

[0126] In some possible implementations, the acceleration information may alternatively be determined based on the speed information of the carrier or based on another signal, which is not specifically limited in the embodiments of the present application.

[0127] In some possible implementations, the travel information further includes carrier gear information.

[0128] S402: When the carrier accelerates or decelerates in response to an instruction from a user inside the carrier, at least two sound emitting devices inside the cabin of the carrier are controlled to reproduce a first simulated sound wave with a sound image shift based on the driving information.

[0129] Optionally, the first simulated sound waves may include at least one of a simulated sound of a fuel vehicle engine, a simulated sound of an aircraft engine, a simulated sound of a spacecraft, a simulated sound of wind, and a simulated sound of an animal.

[0130] In one example, during the carrier's running process, when the carrier accelerates or decelerates in response to a user's instruction, the magnitude of acceleration and / or the rate of change of acceleration during the acceleration or deceleration process may be determined based on the running information, and at least two sound emitting devices may be controlled to reproduce a first simulated sound wave with a sound image shift based on the magnitude of acceleration and / or the rate of change of acceleration.

[0131] In another example, when the driving information indicates that the carrier is in park or neutral, an accelerator pedal opening signal may be detected, and the at least two sound emitting devices may be controlled to play a first simulated sound wave with a sound image shift based on the accelerator pedal opening signal.

[0132] In some possible implementations, "controlling at least two sound emitting devices in a cabin of the carrier based on the travel information to play a first simulated sound wave with a sound image shift" includes controlling a first sound channel in the cabin of the carrier to play a first sound based on the travel information, and controlling a second sound channel in the cabin to play a second sound, where the first simulated sound wave includes the first sound and the second sound, and a sound image formed by the first sound and the second sound shifts from a first position in the cabin to a second position. The first sound channel and the second sound channel are implemented by at least two sound emitting devices.

[0133] For example, the first audio channel (and / or the second audio channel) may be one of the audio channels shown in FIG.

[0134] For example, the shift of the sound image from the first position to the second position may be implemented based on the binaural effect, whereby a listener (e.g., a user at the driver's position) perceives a shift of the sound image center from the first position to the second position through a first sound reproduced by a first audio channel and a second sound reproduced by a second audio channel.

[0135] As shown in (a) of FIG. 5, for example, the first and second audio channels are realized by speakers 501 and 502, respectively. In this case, the playback delay and / or sound gain of the first and second sounds are designed based on the binaural effect, so that a user 503 at the driver's position can sense that the sound image shifts from the front of the vehicle to the rear of the vehicle, or from the rear of the vehicle to the front of the vehicle. As shown in (b) of FIG. 5, for example, the first and second audio channels are realized by speakers 504 and 505, respectively. In this case, the playback delay and / or sound gain of the first and second sounds are designed based on the Doppler effect, so that a user 503 at the driver's position can sense that the sound image shifts from left to right or from right to left.

[0136] In some possible implementations, the sound image shift direction is controlled based on the magnitude of acceleration. For example, when the carrier is accelerating, the sound image shift direction of the first simulated sound wave is controlled to a first direction, or when the carrier is decelerating, the sound image shift direction of the first simulated sound wave is controlled to a second direction, where the first direction and the second direction are opposite to each other.

[0137] For example, the magnitude of acceleration is determined based on a first pedal position signal of a first pedal. If the first pedal is an accelerator pedal and the first pedal position signal is greater than 0, the first position may be a rear position of the vehicle, and the second position may be a front position of the vehicle. If the first pedal is a brake pedal and the first pedal position signal is greater than 0, the first position may be a front position of the vehicle, and the second position may be a rear position of the vehicle. The above-mentioned first and second positions are merely examples for explanation. In a specific implementation process, the first and second positions may alternatively be other positions. This is not specifically limited in the embodiments of the present application.

[0138] For example, the carrier is a vehicle. As shown in Fig. 6(a), when the vehicle accelerates in response to an instruction generated by a user by pressing an accelerator pedal, the speakers 601 and 602 are controlled to play a first simulated sound wave in which a sound image shifts from the rear of the vehicle to the front of the vehicle. As shown in Fig. 6(b), when the vehicle decelerates in response to an instruction generated by a user by pressing a brake pedal, the speakers 601 and 602 are controlled to play a first simulated sound wave in which a sound image shifts from the front of the vehicle to the rear of the vehicle.

[0139] When the accelerator pedal opening signal is not 0, the vehicle speed may be 0 (ie, the vehicle is in a parked state) or may not be 0 (ie, the vehicle is in a running state).

[0140] In some possible implementations, the driving information may further include steering wheel torque information, and it may be determined that the carrier steers left or right based on the driving information. Further, the step of controlling the sound image shift direction of the first simulated sound wave based on the magnitude of acceleration includes the step of controlling the sound image shift direction of the first simulated sound wave based on the magnitude of acceleration and the steering direction of the carrier.

[0141] For example, the carrier is a vehicle. As shown in FIG. 6(c), in the acceleration process of the vehicle, the user rotates the steering wheel clockwise, causing the vehicle to steer to the right. In this case, the speakers 601 to 604 are controlled to play a first simulated sound wave in which a sound image shifts from the rear of the vehicle to the front of the vehicle and gradually deflects to the right during the shifting process. As shown in FIG. 6(d), in the deceleration process of the vehicle, the user rotates the steering wheel counterclockwise, causing the vehicle to steer to the left. In this case, the speakers 601 to 604 are controlled to play a first simulated sound wave in which a sound image shifts from the left side of the front of the vehicle to the rear of the vehicle. Alternatively, in the acceleration process of the vehicle, the user rotates the steering wheel clockwise, causing the vehicle to steer to the right. In this case, the at least two sound emitting devices may alternatively be controlled to play a first simulated sound wave in which a sound image shifts from the rear of the vehicle to the front of the vehicle on the right side of the user at the driver's position. In the deceleration process of the vehicle, when the user rotates the steering wheel counterclockwise to steer the vehicle to the left, the at least two sound emitting devices may alternatively be controlled to play a first simulated sound wave in which the sound image shifts from the front of the vehicle to the left of the user at the driver's position to the rear of the vehicle.

[0142] It should be understood that the positions and numbers of the speakers shown in Figures 6(a) to 6(d) are merely examples for explanation. In a specific implementation process, different positions and / or different numbers of sound emitting devices may be used to control the reproduction of the first simulated sound wave. This is not specifically limited in the embodiments of the present application.

[0143] In some possible implementations, the speed of the sound image shift is controlled based on the jerk, for example, a larger jerk indicates a faster sound image shift speed.

[0144] In some possible implementations, the second simulated sound wave is generated based on the driving information, the second simulated sound wave includes the first sound and the second sound, and the first simulated sound wave with the sound image shift is controlled and played based on the second simulated sound wave.

[0145] In some possible implementations, the second simulated sound wave may alternatively be generated based on the acceleration of the carrier and the velocity of the carrier. For example, the fundamental frequency of the second simulated sound wave may be determined based on the magnitude of the velocity, and the amplitude of the second simulated sound wave may be determined based on the magnitude of the acceleration.

[0146] For example, the real-time second simulated sound wave (or the first simulated sound wave) may be generated by calculation based on a simulated sound wave algorithm, such as a sample synthesis algorithm, a granular synthesis algorithm, or a sequential synthesis algorithm.

[0147] In some possible implementations, multiple audio signals within the second simulated sound wave are assigned to a first audio channel and a second audio channel, delays and / or gains are designed for the first audio channel and the second audio channel, and a digital signal processor (DSP) and / or a power amplifier are used to control the first audio channel and the second audio channel to reproduce sound based on the designed delays and / or gains. The sound may form a first simulated sound wave with a sound image shift, and the first audio channel and the second audio channel may be realized using at least two sound emitting devices.

[0148] For example, possible design methods for the first and second audio channels will be described with reference to the audio channels shown in FIG. 2. The first and second audio channels may be FL and SL audio channels, respectively, or the first and second audio channels may be FL and SBL, respectively. In some possible implementations, alternatively, the first and second audio channels may each include multiple audio subchannels. For example, the first audio channel may include FL, FR, and C, and the second audio channel may include SL and SR (or SBL and SBR), or the first audio channel may include FL and the second audio channel may include SL and SBL, or the first audio channel may include FL and FR, and the second audio channel may include SBL and SBR. In the above case, playback delay and / or level gain control may be performed on the first and second audio channels, so that the sound images of the sounds reproduced by the first and second audio channels can be shifted in a direction parallel to the longitudinal symmetry plane of the carrier. Furthermore, based on the principle of the Doppler effect, the sound components reproduced by the first and second audio channels may be adjusted, so that the sound image shift effect perceived by the user becomes more realistic. For example, when the first audio channel includes the FL and the second audio channel includes the SL and SBL, if the sound image shift direction is from the SBL to the FL, the high-frequency sound components in the SBL, SL, and FL audio channels may be adjusted to be reduced.

[0149] In some possible implementations, the first and second audio channels may alternatively be FL and FR, respectively, or SL and SR, respectively. Alternatively, the first and second audio channels may each include multiple audio subchannels. For example, the first audio channel may include FL and SL, and the second audio channel may include FR and SR, or the first audio channel may include FL, SL, and SBL, and the second audio channel may include FR, SR, and SBR. In the above cases, playback delay and / or level gain control may be performed on the first and second audio channels, so that the sound images of the sounds reproduced by the first and second audio channels may be shifted in a direction perpendicular to the longitudinal symmetry plane of the carrier.

[0150] For example, to achieve the effect of the simulated sound wave shifting in a direction parallel to the longitudinal symmetry plane of the carrier, the delay and level gain of each audio channel shown in FIG. 2 can be designed, which can be specifically shown in Table 1. t can be 0 milliseconds (ms), and t a ~t d The specific value of the level gain g can be determined based on the amplitude of the simulated sound wave. a ~g d may be a specific value between 0 decibels (dB) and 15 decibels, and may be specifically determined based on the acoustic wave shift speed that needs to be implemented.

[0151] [Table 1]

[0152] It should be understood that the delay and level gain designs shown in Table 1 are merely examples for illustrative purposes. In a specific implementation, the required audio channels may include at least two of the audio channels, such as FL, SL, and SBL, FL and SL, or FL and SBL. Alternatively, the sound wave shift effect may be achieved by other forms of delay and level gain designs, which are not specifically limited in the embodiments of the present application.

[0153] In some possible implementations, the magnitude of the fundamental frequency of the first simulated sound wave may be determined based on the size of the opening, and the rate of change of the fundamental frequency of the first simulated sound wave may be determined based on the rate of change of the opening.

[0154] In some possible implementations, the carrier may store a mapping relationship between the user's instructions and the sound emitting devices (or audio channels), and the method further includes determining at least two sound emitting devices (or audio channels) based on the mapping relationship and the driving information.

[0155] In one example, when only the carrier accelerates or decelerates in response to a user's instruction, the FL, SL, and SBL are controlled to reproduce a first simulated sound wave, and the sound image of the first simulated sound wave shifts in a direction parallel to the longitudinal symmetry plane of the carrier, or the FL, SL, SBL, FR, SR, and SBR are controlled to reproduce a first simulated sound wave, and the sound image of the first simulated sound wave shifts in a direction parallel to the longitudinal symmetry plane of the carrier.

[0156] In another example, when the carrier steers to the right in response to a user's instruction during an acceleration process, the FL, C, FR, SL, and SBL may be controlled to play a first simulated sound wave in which a sound image shifts from the rear of the vehicle to the front of the vehicle and gradually deflects to the right in the shifting process. When the carrier steers to the left in response to a user's instruction during an acceleration process, the FL, C, FR, SL, and SBL may be controlled to play a first simulated sound wave in which a sound image shifts from the rear of the vehicle to the front of the vehicle and gradually deflects to the left in the shifting process. When the carrier steers to the right in response to a user's instruction during a deceleration process, the FL, C, FR, SL, and SBL may be controlled to play a first simulated sound wave in which a sound image shifts from the right side of the front of the vehicle to the rear of the vehicle. When the carrier steers left in the deceleration process in response to a user instruction, the FL, C, FR, SL, and SBL may be controlled to play a first simulated sound wave that shifts from the left side in front of the vehicle to the rear of the vehicle.

[0157] In some possible implementations, a light display device within the cabin is controlled to display a light based on the first simulated sound wave.

[0158] Optionally, a fundamental frequency characteristic of the first simulated sound wave is determined, and the light gradient direction and / or light gradient speed of the light display device are controlled based on the fundamental frequency characteristic. The fundamental frequency characteristic indicates the magnitude of the fundamental frequency and / or the changing state of the magnitude of the fundamental frequency. In one example, the light gradient speed increases as the fundamental frequency increases and decreases as the fundamental frequency decreases. In another example, if the light display device is a light strip placed in a vehicle door armrest, when the fundamental frequency characteristic indicates that the fundamental frequency of the first simulated sound wave gradually increases, the light gradient direction of the light display device is controlled to be from the rear of the carrier to the front of the carrier, or when the fundamental frequency characteristic indicates that the fundamental frequency of the first simulated sound wave gradually decreases, the light gradient direction of the light display device is controlled to be from the front of the carrier to the rear of the carrier. The aforementioned light gradient may include, but is not limited to, continuous illumination of the light beads, continuous extinguishing of the light beads, and a color gradient of the light beads. It can be understood that in the process of accelerating the carrier, the fundamental frequency of the formed simulated sound wave gradually increases, and in the process of decelerating the carrier, the fundamental frequency of the formed simulated sound wave gradually decreases.

[0159] For example, the carrier is a vehicle. The light display device includes a light strip arranged on the vehicle's door armrest, such as light strip 710, light strip 720, and light strip 730 shown in FIG. 7. Each light strip includes multiple light beads. Light strip 710 is used as an example to describe the light gradient direction of the light display device. When the fundamental frequency characteristics indicate that the fundamental frequency of the simulated sound wave gradually decreases, the light gradient direction of the light strip can be from light bead 712 to light bead 711. When the fundamental frequency characteristics indicate that the fundamental frequency of the simulated sound wave gradually increases, the light gradient direction of the light strip can be from light bead 711 to light bead 712. The speed at which the light changes can be reflected by the duration. For example, a shorter duration required for continuous illumination from light bead 712 to light bead 711 indicates a faster light change speed.

[0160] In some implementations, the dynamic effect created by the time-dimensional light may be reflected by the time that light strips 710 through 730 display light. In one example, the light strips on both sides of the vehicle may be controlled to display light simultaneously. For example, light strips 710 and 730 display light simultaneously. In another example, the light strips on one side of the vehicle may be controlled to display light sequentially. For example, light strips 710 and 720 are controlled to display light sequentially. For example, light strip 710 displays light, and then light strip 720 displays light.

[0161] Optionally, an energy characteristic of the first simulated sound wave is determined, and the light brightness of the light display device is controlled based on the energy characteristic. For example, the energy characteristic may indicate the magnitude of the root mean square energy (hereinafter referred to as energy) of the simulated sound wave, or may further indicate the change situation of the magnitude of the root mean square energy. For example, the greater the energy of the simulated sound wave, the higher the light brightness.

[0162] In some possible implementations, one or more of a wind direction, a wind exhaust flow rate, and a temperature of an air conditioner in the cabin are controlled based on the first simulated sound waves.

[0163] Optionally, the airflow direction and / or the air exhaust flow rate of the air conditioner is controlled based on a fundamental frequency characteristic of the first simulated sound wave. In one example, if the fundamental frequency of the first simulated sound wave gradually increases, the airflow direction is controlled to be in a third direction, or if the fundamental frequency of the first simulated sound wave gradually decreases, the airflow direction is controlled to be in a fourth direction. In another example, the airflow rate increases as the fundamental frequency increases and decreases as the fundamental frequency decreases.

[0164] For example, the third direction may be from the rear of the carrier to the front of the carrier, and the fourth direction may be from the front of the carrier to the rear of the carrier.

[0165] Optionally, the temperature of the air conditioner is controlled based on an energy characteristic of the simulated sound waves, for example, a greater energy of the simulated sound waves as indicated by the energy characteristic indicates a higher temperature of the air conditioner.

[0166] In some possible implementations, the seat and / or the steering wheel are controlled to vibrate based on the simulated sound waves. For example, a vibrator disposed in and connected to the vehicle seat may be used to control the seat to vibrate, and a vibrator disposed in the steering wheel may be used to control the steering wheel to vibrate. For example, the frequency at which the seat vibrates and / or the frequency at which the steering wheel vibrates may be controlled based on the frequency characteristics of the simulated sound waves.

[0167] For example, the frequency characteristics may include at least one of MFCCs and spectral centroids. Furthermore, the frequency at which the seat vibrates is controlled based on the MFCCs and / or spectral centroids of the first simulated sound wave. The frequency at which the seat vibrates is considered to be mostly in the low frequency range (less than 50 Hz), and the first simulated sound wave may have a portion with a frequency much higher than 50 Hz. In this case, the MFCCs of the first simulated sound wave may be mapped to the frequency range at which the seat vibrates, and the seat may be controlled to vibrate based on the mapped frequency. For example, if the MFCC range of the first simulated sound wave is 1 Mel to 5000 Mel (Mel means Mel scale), 1 Mel to 1000 Mel may be mapped to the 1 Hz to 10 Hz range where the seat will vibrate, 1001 Mel to 2000 Mel may be mapped to the 11 Hz to 20 Hz range where the seat will vibrate, 2001 Mel to 3000 Mel may be mapped to the 21 Hz to 30 Hz range where the seat will vibrate, 3001 Mel to 4000 Mel may be mapped to the 31 Hz to 40 Hz range where the seat will vibrate, and 4001 Mel to 5000 Mel may be mapped to the 41 Hz to 50 Hz range where the seat will vibrate.

[0168] It should be understood that the above-described method of controlling the seat to vibrate based on the frequency characteristics of the first simulated sound wave is merely an example for explanation. In a specific implementation process, the mapping relationship between the MFCCs of the first simulated sound wave and the frequency range in which the seat vibrates may be in a different form, or the seat may be controlled to vibrate based on another frequency characteristic of the first simulated sound wave. This is not specifically limited in the embodiments of the present application.

[0169] According to the control method provided in the embodiment of the present application, the simulated sound waves with sound image shifts can be controlled based on the running information of the carrier to be played. During the acceleration process, the user in the cabin can sense the effect of the sound source shifting from rear to front (or from a first position to a second position). During the deceleration process, the user in the cabin can sense the effect of the sound source shifting from front to rear (or from a second position to the first position). This helps to improve the user's driving and riding experience. In addition, based on the simulated sound waves, one or more components of the atmosphere light, air conditioner, seat, and steering wheel in the cabin can be further controlled to realize a link between sound and light, wind effects, physical sensations, etc. During the vehicle acceleration or deceleration process, the user can sense the carrier's acceleration or deceleration from multiple dimensions, such as hearing, vision, and touch.

[0170] In the embodiments of the present application, unless otherwise specified or there is no logical contradiction, the terms and / or descriptions between the embodiments are consistent and may be cross-referenced, and the technical features of different embodiments may be combined into new embodiments based on their internal logical relationships.

[0171] Above, the method provided in the embodiment of the present application has been described in detail with reference to FIGS. 2 to 7. Hereinafter, the device provided in the embodiment of the present application will be described in detail with reference to FIGS. 8 and 9. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, for the contents not described in detail, please refer to the method embodiment. For the sake of brevity, the details will not be described again here.

[0172] 8 is a block diagram of a control device 900 according to an embodiment of the present application. The device 900 includes an acquiring unit 910 and a first processing unit 920.

[0173] The apparatus 900 may include units configured to perform the method of Figure 3. In addition, the units in the apparatus 900 and other operations and / or functions described above may be used separately to implement corresponding steps of the method embodiment of Figure 4.

[0174] When the apparatus 900 is configured to perform the method 400 of FIG. 4, the acquisition unit 910 may be configured to perform S401 of the method 400, and the first processing unit 920 may be configured to perform S402 of the method 400.

[0175] Specifically, the acquisition unit 910 is configured to acquire driving information of the carrier, and the first processing unit 920 is configured to control at least two sound emitting devices in the cabin of the carrier to play a first simulated sound wave with a sound image shift based on the driving information when the carrier accelerates or decelerates in response to an instruction from a user on the carrier.

[0176] Optionally, the first processing unit 920 is configured to control a sound image shift speed of the first simulated sound wave based on a magnitude of acceleration of the carrier and / or a jerk of the carrier. Based on the traveling information, a magnitude of acceleration of the carrier and a jerk of the carrier are determined.

[0177] Optionally, the first processing unit 920 is configured to control the sound image shift direction of the first simulated sound wave to be in a first direction when the carrier is accelerating, or to control the sound image shift direction of the first simulated sound wave to be in a second direction when the carrier is decelerating, wherein the first direction and the second direction are opposite directions.

[0178] Optionally, the first direction is from the rear of the carrier to the front of the carrier, and the second direction is from the front of the carrier to the rear of the carrier.

[0179] Optionally, the apparatus further includes a second processing unit configured to determine, based on the driving information, to steer the carrier in a third direction. The first processing unit 920 is configured to control, based on the magnitude of the acceleration and the third direction, a sound image shift direction of the first simulated sound wave.

[0180] In some possible implementations, the first processing unit and the second processing unit are the same processing unit.

[0181] Optionally, the apparatus further includes a generating unit configured to generate a second simulated sound wave based on the driving information. The first processing unit 920 is configured to control the at least two sound emitting devices to reproduce a first simulated sound wave with a sound image shift based on the second simulated sound wave.

[0182] Optionally, the first processing unit 920 is configured to control the sound image shift direction and / or the sound image shift speed of the first simulated sound wave based on the fundamental frequency characteristics of the second simulated sound wave.

[0183] Optionally, the first processing unit 920 is configured to control the sound image of the first simulated sound wave to shift from behind the carrier to in front of the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually increases, or to control the sound image of the first simulated sound wave to shift from in front of the carrier to behind the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually decreases.

[0184] Optionally, the apparatus further comprises a third processing unit configured to control a light display device in the cabin to display a light based on the first simulated sound wave.

[0185] In some possible implementations, the first processing unit and the third processing unit are the same processing unit.

[0186] Optionally, the third processing unit is configured to control a gradient direction and / or a gradient velocity of the light displayed by the light display device based on a fundamental frequency characteristic of the first simulated sound wave.

[0187] Optionally, the third processing unit is configured to control a brightness of light displayed by the light display device based on the energy characteristics of the first simulated sound wave.

[0188] Optionally, the apparatus further includes a fourth processing unit configured to control at least one of a wind direction, a wind power, and a temperature of an air conditioner in the cabin based on the first simulated sound wave.

[0189] In some possible implementations, the first processing unit and the fourth processing unit are the same processing unit.

[0190] Optionally, the fourth processing unit is configured to control a wind direction and / or a wind power of the air conditioner based on a fundamental frequency characteristic of the first simulated sound wave.

[0191] Optionally, the fourth processing unit is configured to control a temperature of an air conditioner based on an energy characteristic of the first simulated sound wave.

[0192] Optionally, the apparatus further includes a fifth processing unit configured to control a seat in the cabin to vibrate based on the first simulated sound waves, and / or control a steering wheel in the carrier to vibrate based on the first simulated sound waves.

[0193] In some possible implementations, the first processing unit and the fifth processing unit are the same processing unit.

[0194] Optionally, the fifth processing unit is configured to control a frequency at which the seat vibrates based on a frequency characteristic of the first simulated sound wave.

[0195] For example, at least one of the third to fifth processing units may include another component control module shown in Figure 3. The generation unit may include the sound wave generation module shown in Figure 3. The first processing unit may include the sound wave processing module shown in Figure 3. At least two sound emitting devices may be included in the sound emitting module shown in Figure 3.

[0196] It should be understood that the division of the device into units described above is merely a logical division of function, and that in actual implementation, all or some of the units may be integrated into a physical entity, or the units may be physically separated. Additionally, the units within the device may be implemented in the form of software called by a processor. For example, the device may include a processor connected to a memory, which stores instructions, and the processor calls the instructions stored in the memory to perform any one of the methods described above or to perform the functions of the units within the device. The processor may be a general-purpose processor such as a CPU or microprocessor, and the memory may be memory within the device or memory external to the device. Alternatively, the units within the device may be implemented in the form of hardware circuits, and some or all of the functions of the units may be implemented by designing the hardware circuits. The hardware circuits may be understood as one or more processors. For example, in one embodiment, the hardware circuit is an ASIC, and some or all of the functions of the units described above are implemented by designing logical relationships between elements within the circuit. As another example, in another embodiment, the hardware circuits may be implemented by using a PLD. An FPGA is used as an example. The hardware circuit may include a number of logic gate circuits, and the connections between the logic gate circuits are configured using a configuration file to implement the functions of some or all of the aforementioned units. All of the units in the aforementioned device may be implemented in the form of software called by a processor, or in the form of hardware circuits, or some of the units may be implemented in the form of software called by a processor, and the remaining units may be implemented in the form of hardware circuits.

[0197] In an embodiment of the present application, a processor is a circuit having signal processing capabilities. In one embodiment, the processor may be a circuit capable of reading and executing instructions, such as a CPU, microprocessor, GPU, or DSP. In another embodiment, the processor may implement a specific function based on the logical relationships of a hardware circuit. The logical relationships of the hardware circuit may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration may be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. In addition, the processor may alternatively be a hardware circuit designed for artificial intelligence, such as an ASIC, such as an NPU, TPU, or DPU.

[0198] It will be appreciated that the units in the aforementioned apparatus may be one or more processors (or processing circuits) configured to perform the aforementioned methods, such as a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0199] Additionally, all or some of the units in the device may be integrated or implemented independently. In one embodiment, the units may be integrated and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor configured to implement any one of the methods or to implement the functions of the units of the device. The at least one processor may be of different types, for example, a CPU and an FPGA, a CPU and an artificial intelligence processor, or a CPU and a GPU.

[0200] In a particular implementation, the operations performed by the acquisition unit 910 and the first processing unit 920 may be performed by the same processor or different processors, for example, separately by multiple processors. In a particular implementation, the one or more processors may be processors disposed in the computing platform 150 shown in FIG. 1 , or the device 900 may be a chip disposed in the vehicle 100.

[0201] FIG. 9 is a block diagram of a control device according to an embodiment of the present application. The control device 1000 shown in FIG. 9 may include a processor 1010, a transceiver 1020, and a memory 1030. The processor 1010, the transceiver 1020, and the memory 1030 are connected via an internal connection path. The memory 1030 is configured to store instructions. The processor 1010 is configured to execute the instructions stored in the memory 1030. The transceiver 1020 receives / transmits some parameters. Optionally, the memory 1030 may be coupled to the processor 1010 via an interface or may be integrated with the processor 1010.

[0202] It should be noted that the transceiver 1020 may include, but is not limited to, a transceiver device such as an input / output interface to implement communication between the apparatus 1000 and another device or communication network.

[0203] The memory 1030 may be a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).

[0204] The transceiver 1020 uses a transceiver device, for example but not limited to a walkie-talkie, to implement communication between the apparatus 1000 and another device or a communication network.

[0205] In a particular implementation, the apparatus 1000 may be located on the computing platform 150 shown in FIG.

[0206] An embodiment of the present application further provides a control system, which may include the aforementioned device 900 or the aforementioned device 1000 and at least two sound emitting devices.

[0207] An embodiment of the present application further provides a carrier, which includes the aforementioned device 900, the aforementioned device 1000, or the aforementioned control system.

[0208] In some possible implementations, the carrier may be a vehicle.

[0209] An embodiment of the present application further provides a computer program product, which includes computer program code, which, when executed on a computer, enables the computer to perform the method in the embodiment of the present application.

[0210] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions, which, when executed on a computer, enable the computer to perform the method in the embodiment of the present application.

[0211] An embodiment of the present application further provides a chip including circuitry configured to perform the method in an embodiment of the present application.

[0212] In the implementation process, the steps in the above-mentioned method can be implemented using hardware integrated logic circuits in a processor or using instructions in the form of software. The methods disclosed with reference to the embodiments of the present application may be directly executed by a hardware processor, or may be executed by a combination of hardware and software modules in a processor. The software modules may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, or a register. The storage medium is located in the memory, and the processor reads the information in the memory and cooperates with the processor's hardware to complete the steps of the above-mentioned method. To avoid repetition, details will not be described again here.

[0213] Those skilled in the art can realize that, in combination with the examples described in the embodiments disclosed herein, the units and algorithm steps can be implemented by electronic hardware or by a combination of computer software and electronic hardware. Whether a function is implemented by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can implement the described functions using various methods for each specific application, but the implementation should not be considered as going beyond the scope of this application.

[0214] For the purpose of easy description, it is clearly understood by those skilled in the art that the detailed working processes of the aforementioned systems, devices and units should be referred to the corresponding processes of the aforementioned method embodiments, and the details will not be repeated here.

[0215] In some embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the described device embodiments are merely examples. For example, the division into units is merely a logical division of function. In actual implementation, other division schemes may be used. For example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or discussed mutual couplings or direct couplings or communication connections may be realized using some interfaces. Indirect couplings or communication connections between devices or units may be realized in electronic, mechanical, or other forms.

[0216] The units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units, and may be located in one place or distributed over multiple network units. Some or all of the units may be selected according to actual requirements to achieve the objectives of the solutions of the embodiments.

[0217] In addition, the functional units of the embodiments of the present application may be integrated into one processing unit, and each of the units may exist physically alone, or two or more units may be integrated into one unit.

[0218] When functions are realized in the form of software functional units and sold or used as independent products, the functions may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application as essential components, or part of the technical solutions, may be implemented in the form of a software product. A computer software product includes several instructions stored in a storage medium, instructing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes any medium capable of storing program code, such as a USB flash drive, a removable hard disk, a ROM, a RAM, a magnetic disk, an optical disk, etc.

[0219] The above description is merely a specific implementation of the present application and is not intended to limit the scope of protection of the present application. Any variations or replacements that can be easily conceived by those skilled in the art within the technical scope disclosed in the present application shall fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims. [Explanation of symbols]

[0220] 100 vehicles 120 Sensing System 130 Display device 140 Sound emitting device 150 Computing Platforms 151 processors 15n processor 501 Speaker 502 Speaker 503 users 504 Speaker 505 Speaker 601 Speaker 602 Speaker 603 Speaker 604 Speaker 710 Light Strip 711 Light Beads 712 Light Beads 720 Light Strip 730 Light Strip 900 equipment 910 Acquired Units 920 first processing unit 1000 devices 1010 processor 1020 Transceiver 1030 memory

Claims

1. acquiring carrier running information; When the carrier accelerates or decelerates in response to an instruction from a user inside the carrier, controlling at least two sound emitting devices inside a cabin of the carrier based on the driving information to reproduce a first simulated sound wave with a sound image shift; A control method comprising:

2. The method comprises: a step of controlling a sound image shift speed of the first simulated sound wave based on a magnitude of acceleration of the carrier and / or a jerk of the carrier, wherein the magnitude of acceleration of the carrier and the jerk of the carrier are determined based on the traveling information; The method of claim 1 further comprising:

3. the step of controlling at least two sound emitting devices in a cabin of the carrier to reproduce a first simulated sound wave with a sound image shift, controlling a sound image shift direction of the first simulated sound wave to be in a first direction when the carrier is accelerating; or controlling a sound image shift direction of the first simulated sound wave to be in a second direction when the carrier is decelerating, the first direction and the second direction being opposite directions; The method of claim 1 , comprising:

4. The method of claim 3 , wherein the first direction is from the rear of the carrier to the front of the carrier and the second direction is from the front of the carrier to the rear of the carrier.

5. The method comprises: determining, based on the travel information, that the carrier steers in a third direction; further comprising The step of controlling at least two sound emitting devices in a cabin of the carrier to reproduce a first simulated sound wave with a sound image shift includes: controlling a sound image shift direction of the first simulated sound wave based on the magnitude of the acceleration and the third direction; Including, 5. The method according to any one of claims 1 to 4.

6. The step of controlling at least two sound emitting devices in a cabin of the carrier to reproduce a first simulated sound wave with a sound image shift based on the driving information, generating a second simulated sound wave based on the driving information; controlling the at least two sound emitting devices to reproduce the first simulated sound wave with the sound image shift based on the second simulated sound wave; 6. The method of claim 1, comprising:

7. the step of controlling the at least two sound emitting devices to reproduce the first simulated sound wave with the sound image shift based on the second simulated sound wave, controlling the direction of the sound image shift and / or the speed of the sound image shift of the first simulated sound wave based on the fundamental frequency characteristics of the second simulated sound wave The method of claim 6, comprising:

8. the step of controlling the direction of the sound image shift of the first simulated sound wave based on the fundamental frequency characteristic of the second simulated sound wave, controlling the sound image of the first simulated sound wave to shift from behind the carrier to in front of the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually increases; or controlling the sound image of the first simulated sound wave to shift from in front of the carrier to behind the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually decreases; The method of claim 7, comprising:

9. The method comprises: controlling a light display device within the cabin to display a light based on the first simulated sound wave.

9. The method of claim 1, further comprising:

10. controlling a light display device within the cabin to display a light based on the first simulated sound wave; controlling a gradient direction and / or a gradient velocity of the light displayed by the optical display device based on a fundamental frequency characteristic of the first simulated sound wave.

10. The method of claim 9, comprising:

11. controlling a light display device within the cabin to display a light based on the first simulated sound wave; controlling the brightness of the light displayed by the optical display device based on the energy characteristics of the first simulated sound wave.

11. The method of claim 9 or 10, comprising:

12. The method comprises: controlling at least one of a wind direction, a wind force, and a temperature of an air conditioner in the cabin based on the first simulated sound wave; 12. The method of claim 1, further comprising:

13. The step of controlling at least one of a wind direction, a wind force, and a temperature of an air conditioner in the cabin based on the first simulated sound wave includes: Controlling the wind direction and / or the wind power of the air conditioner based on the fundamental frequency characteristics of the first simulated sound wave.

13. The method of claim 12, comprising:

14. The step of controlling at least one of a wind direction, a wind force, and a temperature of an air conditioner in the cabin based on the first simulated sound wave includes: controlling the temperature of the air conditioner based on the energy characteristics of the first simulated sound wave.

14. The method of claim 12 or 13, comprising:

15. The method comprises: controlling a seat in the cabin to vibrate based on the first simulated sound wave; and / or controlling a steering wheel within the carrier to vibrate based on the first simulated sound waves.

15. The method of any one of claims 1 to 14, further comprising:

16. controlling a seat in the cabin to vibrate based on the first simulated sound wave, controlling the frequency at which the seat vibrates based on the frequency characteristics of the first simulated sound wave.

16. The method of claim 15, comprising:

17. A control device comprising an acquisition unit and a first processing unit, The acquisition unit is configured to acquire running information of a carrier; The first processing unit is configured to control at least two sound emitting devices in a cabin of the carrier to reproduce a first simulated sound wave with a sound image shift based on the driving information when the carrier accelerates or decelerates in response to an instruction from a user on the carrier. Control device.

18. The first processing unit: A sound image shift speed of the first simulated sound wave is controlled based on the magnitude of acceleration of the carrier and / or the jerk of the carrier, and the magnitude of acceleration of the carrier and the jerk of the carrier are determined based on the traveling information.

18. The apparatus of claim 17, configured to:

19. The first processing unit: When the carrier is accelerating, a sound image shift direction of the first simulated sound wave is controlled to be in a first direction; or When the carrier is decelerating, a sound image shift direction of the first simulated sound wave is controlled to be in a second direction, and the first direction and the second direction are opposite directions.

18. The apparatus of claim 17, configured to:

20. 20. The apparatus of claim 19, wherein the first direction is from the rear of the carrier to the front of the carrier and the second direction is from the front of the carrier to the rear of the carrier.

21. the apparatus further comprising a second processing unit configured to determine, based on the driving information, that the carrier steers in a third direction; the first processing unit is configured to control the sound image shift direction of the first simulated sound wave based on the magnitude of the acceleration and the third direction.

21. Apparatus according to any one of claims 17 to 20.

22. The apparatus further comprises a generating unit, the generating unit comprising: generating a second simulated sound wave based on the driving information; It is configured as follows: the first processing unit is configured to control the at least two sound emitting devices to reproduce the first simulated sound wave with the sound image shift based on the second simulated sound wave.

22. Apparatus according to any one of claims 17 to 21.

23. The first processing unit: Controlling the sound image shift direction and / or the sound image shift speed of the first simulated sound wave based on the fundamental frequency characteristics of the second simulated sound wave.

23. The apparatus of claim 22, configured to:

24. The first processing unit: When the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually increases, controlling the sound image of the first simulated sound wave to shift from the rear of the carrier to the front of the carrier; or controlling a sound image of the first simulated sound wave to shift from the front of the carrier to the rear of the carrier when the fundamental frequency characteristic indicates that the fundamental frequency of the second simulated sound wave gradually decreases; 24. The apparatus of claim 23, configured to:

25. The device, controlling a light display device within the cabin to display a light based on the first simulated sound wave.

25. The apparatus of any one of claims 17 to 24, further comprising a third processing unit configured to:

26. the third processing unit: controlling a gradient direction and / or a gradient velocity of the light displayed by the optical display device based on a fundamental frequency characteristic of the first simulated sound wave; 26. The apparatus of claim 25, configured to:

27. the third processing unit: controlling the brightness of the light displayed by the optical display device based on the energy characteristics of the first simulated sound wave; 27. The apparatus of claim 25 or 26, configured to:

28. The device, and controlling at least one of a wind direction, a wind force, and a temperature of an air conditioner in the cabin based on the first simulated sound wave.

28. The apparatus of claim 17, further comprising a fourth processing unit configured to:

29. The fourth processing unit: The airflow direction and / or the airflow force of the air conditioner is controlled based on the fundamental frequency characteristic of the first simulated sound wave.

29. The apparatus of claim 28, configured to:

30. The fourth processing unit: Controlling the temperature of the air conditioner based on the energy characteristics of the first simulated sound wave.

30. The apparatus of claim 28 or 29, configured to:

31. The device, controlling a seat in the cabin to vibrate based on the first simulated sound wave; and / or controlling a steering wheel within the carrier to vibrate based on the first simulated sound wave; 31. The apparatus of any one of claims 17 to 30, further comprising a fifth processing unit configured to:

32. The fifth processing unit: Controlling the frequency at which the seat vibrates based on the frequency characteristics of the first simulated sound wave.

32. The apparatus of claim 31 configured to:

33. A control device, a memory configured to store a computer program; a processor configured to execute the computer program stored in the memory to enable the device to perform the method of any one of claims 1 to 16; A control device comprising:

34. 34. A control system comprising at least two sound emitting devices and a computing platform, the computing platform comprising a device according to any one of claims 17 to 33.

35. A carrier comprising an apparatus according to any one of claims 17 to 33 or a system according to claim 34.

36. 36. The carrier of claim 35, wherein the carrier is a vehicle.

37. 17. A computer-readable storage medium storing instructions that, when executed by a processor, enable the processor to perform the method of any one of claims 1 to 16.

38. A chip, said chip comprising circuitry, said circuitry configured to perform the method of any one of claims 1 to 16.

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