Control device and method for controlling at least one electric motor and at least one loudspeaker of a motor vehicle

Abstract

The invention relates to a control device (1) for controlling at least one electric motor (2) and at least one loudspeaker (3) of an electrically driveable motor vehicle (10) for generating a haptic and / or acoustic feedback and an additional acoustic feedback for at least one vehicle occupant of the motor vehicle (10). The control device (1) is designed to detect (S1) a vehicle-dependent state, to actuate (S2) the at least one electric motor (2) to generate the haptic and / or acoustic feedback depending on the detected vehicle-dependent state, and to actuate (S3) the at least one loudspeaker (3) to output the additional acoustic feedback depending on the detected vehicle-dependent state.

Description

[0001] Control device and method for controlling at least one electric motor and at least one loudspeaker of a motor vehicle

[0002] The present disclosure relates to a control device for controlling at least one electric motor and at least one loudspeaker of a motor vehicle to generate haptic and / or acoustic feedback and additional acoustic feedback for at least one vehicle occupant of the motor vehicle, a motor vehicle comprising the control device, and / or a method for controlling at least one electric motor of a motor vehicle to generate haptic and / or acoustic feedback and additional acoustic feedback for at least one vehicle occupant of the motor vehicle. Additionally, or alternatively, a computer program is provided which comprises instructions which, when executed by a computer, cause the computer to at least partially execute the method.Additionally, or alternatively, a computer-readable medium is provided which comprises instructions which, when executed by a computer, cause the computer to at least partially perform the method.

[0003] Feedback on current driving conditions (speed, engine speed, etc.) in vehicles without internal combustion engines is usually provided only through wind and road noise and artificially generated sounds played through loudspeakers. However, playing sounds through loudspeakers sounds very synthetic, as there is no tangible feedback from the respective vehicle, as is common with internal combustion engine vehicles.

[0004] WO 2019 / 214777 A1 describes a method for generating and / or compensating vibrations using electrical machines, wherein actual values ​​for current components are obtained by power electronics and a transformation stage of a control unit in a controlled system. The actual values ​​are compared with predetermined reference variables. The control unit controls the electric motor by at least one torque-generating current component depending on an operating state of the electric motor to generate and / or compensate vibrations. DE 102009 046 166 A1 describes a method and a system for operating an electric automotive motor with first and second components. A desired vibration frequency for the electric motor is selected. A current flow is caused by at least one of the first and second components such that the second component moves relative to the first component.The current is modulated so that the motor vibrates at the desired frequency.

[0005] WO 2023 / 086308 A1 describes an active vibration mitigation system for a vehicle without an internal combustion engine, comprising a sensor system configured to monitor and detect an operating state of the vehicle, a force generator configured to couple to the vehicle and generate vibrations in the vehicle, and a controller in signal communication with the sensor system and configured to receive one or more signals from the sensor system indicative of the detected operating state of the vehicle. The controller is configured, based on the one or more received signals, to actuate the force generator to generate vibrations in the vehicle that mimic vibrations that would be generated by a predetermined internal combustion engine operating in the detected operating state of the vehicle.

[0006] WO 2018 / 041361 A1 describes a method for adapting an acoustic appearance of a means of transport, comprising the steps of: determining a need for generating and / or adapting and / or reducing an external noise of the means of transport, and controlling a multi-phase electric motor of the means of transport by means of an alternating electrical signal, which does not result in a torque of a rotor of the electric motor, in order to generate an oscillation of the electric motor.

[0007] Against the background of this prior art, the object of the present disclosure is to provide a device and / or a method that are each suitable for enriching the prior art. This object is achieved by the features of the independent claims. The subordinate claims and the dependent claims each contain optional developments of the disclosure.

[0008] According to this, the object is achieved by a control device for controlling at least one electric motor and at least one loudspeaker of an electrically driven motor vehicle to generate haptic and / or acoustic feedback and additional acoustic feedback for at least one vehicle occupant of the motor vehicle. The at least one electric motor can comprise at least one drive motor of the motor vehicle.

[0009] The control device is designed to detect a vehicle-dependent condition.

[0010] The control device is configured to control the at least one electric motor and generate the haptic and / or acoustic feedback (also referred to as the first feedback) depending on the detected vehicle-dependent state. The haptic and / or acoustic feedback can propagate, for example, as airborne sound and / or structure-borne sound in the motor vehicle and / or in the interior of the motor vehicle, in a manner that is perceptible and / or audible to the at least one vehicle occupant.

[0011] The control device is designed to control the at least one loudspeaker (e.g. simultaneously with the generation of the haptic and / or acoustic feedback) to output the additional acoustic feedback (also: second feedback) depending on the detected vehicle-dependent state.

[0012] The control device described above offers a number of advantages. Among other things, it provides improved technology that allows the driving experience to be significantly enhanced through targeted control of the vehicle's electric motors, generating additional noise and / or vibrations and resulting in tangible and / or audible feedback in addition to the acoustic feedback generated by loudspeakers. This targeted control thus creates a combination of haptic and / or acoustic feedback and additional acoustic feedback for the vehicle occupants, far exceeding what loudspeakers can currently achieve.

[0013] Possible further developments of the control device described above are explained in detail below.

[0014] The control device can be designed to control the at least one electric motor in such a way that the haptic and / or acoustic feedback is generated with at least one frequency (or at least one vibration of the at least one electric motor for generating the haptic and / or acoustic feedback) depending on the detected vehicle-dependent state.

[0015] The at least one electric motor may comprise a plurality of electric motors, wherein the control device for controlling the at least one electric motor may be configured to selectively (or individually) control each of the plurality of electric motors depending on the detected vehicle-dependent state and / or to control the plurality of electric motors such that the haptic and / or acoustic feedback is generated according to a predetermined pattern (or a predetermined sequence) depending on the detected vehicle-dependent state.

[0016] The vehicle-dependent state may correspond to a current driving strategy. The current driving strategy may include a ferry operation of the motor vehicle via at least one front-axle electric motor and / or at least one rear-axle electric motor.

[0017] The vehicle-dependent state may correspond to a current driving state. The current driving state may include braking, acceleration, the current engine speed (e.g., of the motor vehicle's drive engine), and / or the current driving speed of the motor vehicle.

[0018] The control device can be designed to control the at least one electric motor in order to control the at least one electric motor during braking or acceleration of the motor vehicle, to generate the haptic and / or acoustic feedback with at least one (continuously) falling or (continuously) rising or even arbitrary frequency until the braking or acceleration of the motor vehicle is terminated.

[0019] It is conceivable that the at least one electric motor comprises a plurality of wheel-selective drive machines, and the control device can be designed to control the at least one electric motor in order to control the drive machine of the plurality of wheel-selective drive machines that is assigned to a spinning vehicle wheel or a vehicle wheel with loss of grip in order to generate the haptic and / or acoustic feedback when the motor vehicle drifts.

[0020] The vehicle-dependent state can correspond to a current driving mode, whereby the current driving mode provides no to maximum haptic feedback.

[0021] The vehicle-dependent state can indicate a charge level of an electrical energy storage device of the motor vehicle, a gear engaged and / or a warning of an obstacle in the direction of travel of the motor vehicle.

[0022] The engaged gear can indicate a gear for driving forward or a gear for reversing the motor vehicle. It is thus conceivable that the at least one electric motor can comprise at least one electric motor in a front region of the motor vehicle (e.g., the at least one front-axle electric motor) and at least one electric motor in a rear region of the motor vehicle (e.g., the at least one rear-axle electric motor). The control device can be configured to control the at least one electric motor in order to, when the gear for driving forward is engaged, first control the at least one electric motor in the rear region and subsequently the at least one electric motor in the front region and / or to control the at least one electric motor in the front region and the at least one electric motor in the rear region in such a way that the haptic and / or acoustic feedback is provided initially from the rear region and subsequently from the front region.Furthermore, it is conceivable that the control device for controlling the at least one electric motor can be designed so that, when the gear for reversing is engaged, first the at least one electric motor in the front area and then the at least one electric motor in the rear area is controlled and / or the at least one electric motor in the front area and the at least one electric motor in the rear area is controlled such that the haptic and / or acoustic feedback is provided first from the front area and then from the rear area.

[0023] The control device can be designed to receive the vehicle-dependent state from (or via) an on-board network of the motor vehicle.

[0024] The control device can be designed to detect an acoustic and / or haptic interference signal on and / or in the motor vehicle (e.g. in an interior of the motor vehicle).

[0025] The control device can be configured to control the at least one electric motor and generate a compensation signal as the haptic and / or acoustic feedback depending on the detected interference signal (and depending on the detected vehicle-dependent state) to reduce the detected interference signal. Thus, disturbing noises and / or vibrations in the form of the haptic and / or acoustic feedback can be reduced or eliminated by targeted control of the at least one electric motor and thus reduced to a level that is no longer disturbing or even imperceptible for the at least one vehicle occupant.

[0026] The additional acoustic feedback may include (or correspond to) a vibration sound, e.g., a vibration sound dependent on (or adapted to) the haptic and / or acoustic feedback.

[0027] The generation of the haptic and / or acoustic feedback may comprise a generation and / or compensation of oscillations (or vibrations) by means of the at least one electric motor, e.g. according to the method described in WO 2019 / 214777

[0028] Procedures described in A1.

[0029] The control device can comprise power electronics and a transformation stage, wherein the control device can be designed to obtain actual values ​​for current components in a control system by means of the power electronics and the transformation stage.

[0030] The control device can be designed to compare the actual values ​​with predetermined reference variables.

[0031] The control device can be designed to control the at least one electric motor by at least one torque-generating current component depending on an operating state of the electric motor for generating and / or compensating vibrations.

[0032] The control device can be designed to first supply a current variable and / or at least one actual value of a current variable to a pre-control according to a pre-set function and to (directly) detect the resulting control variables for the at least one torque-generating current component, e.g. by means of a control unit or a current control of the control device, and then supply them as voltage variables to the power electronics and transformation stage for generating phase voltages for the at least one electric motor.

[0033] This advantageously allows only one degree of utilization to be calculated, wherein phase voltages for controlling the at least one electric motor can be varied in a controlled manner based on the degree of utilization, which in turn can be used to generate different vibration states of the at least one electric motor for haptic and / or acoustic feedback. This makes it possible to achieve control-technical independence from the primary function of the electric motor, which consequently counteracts interactions with the main functions of the electric motor. The main function can be, for example, driving the motor vehicle and / or an electric motor-driven steering system. Furthermore, the development or implementation of the main function can thus be designed independently of the function for generating and / or compensating for vibrations by means of the at least one electric motor.For example, existing actuators or drive motors can be used to generate and / or compensate for vibrations in addition to their original function, without affecting their core functionality. This allows for savings in components, weight, and installation space, which, among other things, increases cost-effectiveness.

[0034] Furthermore, by controlling the at least one electric motor by at least one torque-generating voltage or current component, vibrations are advantageously generated or compensated for by directly influencing the rotor of the at least one electric motor. Vibration generation or compensation solely via the housing of the at least one electric motor can thus be advantageously avoided.

[0035] The control device can be designed to calculate the degree of utilization in the power electronics and transformation stage (optionally taking into account a measured motor speed of the at least one electric motor), wherein the calculated degree of utilization can be used for the controlled variation of the phase voltages or currents for controlling the at least one electric motor.

[0036] The generation and / or compensation of vibrations can be realized (e.g. mainly) by controlling the rotor of the at least one electric motor.

[0037] The at least one electric motor may be a synchronous motor and / or an asynchronous motor with a torque-generating current, which is driven and / or controlled by the control device, for example, using pulse pattern modulation.

[0038] The at least one electric motor can be a direct current machine with a torque-generating current, which is driven and / or controlled, for example, by the control device. The control device can be configured to determine a vibration value using a sensor at at least one measuring point and to use this to determine control variables for the at least one torque-generating current component.

[0039] The detected vibrations can be interfered at the measuring point by the generated vibrations, which arise on the basis of the control variables for the at least one torque-generating current component, using a suitable control algorithm.

[0040] The control device can be designed to vary the generated vibrations in their vibration intensity, vibration frequency, vibration stochasticity and / or vibration phase.

[0041] The above description can be summarized in other words and in a possible more concrete embodiment of the disclosure as described below, whereby the following description is not to be interpreted as limiting the disclosure.

[0042] By controlling an electric motor in a targeted manner, noise and vibrations can be generated in addition to the rotation of the rotor. These noises and vibrations can be generated without feedback. They can be used specifically to generate additional noise and vibrations and / or to reduce interference. A preset can be generated from the electric motor control system for generating the noise or vibrations. To cancel them out, the frequencies of the existing interference signals must be measured and can be reduced by appropriate phase shifts with additionally generated compensation signals.

[0043] In an electric vehicle, the occupants' experience can be significantly enhanced through a combination of loudspeaker playback and the generation of additional, possibly similar, sounds via electric motors. Targeted control of some of the electric motors in the vehicle (whether the drive motor or another actuator) enables haptic and / or acoustic feedback for the occupants that goes far beyond what loudspeakers can currently achieve. For example, the current driving strategy (operation via front axle electric motor(s) or rear axle electric motor(s) or both) can be tangibly and audibly reported back to the occupants by targeted control of the active motor(s). In addition, generated frequencies can also provide feedback on the driving status (acceleration, braking, high or low speed).low driving speed) and other boundary conditions (charge level of the electrical energy storage device, engaged gear, warning of obstacles). The levels of disturbing noises originating from the vehicle / drive system can be reduced or minimized by targeted control of electric motors, thus reducing them to a level that is no longer disturbing or even imperceptible for the occupants.

[0044] Furthermore, a motor vehicle is provided, wherein the motor vehicle is electrically driven. The motor vehicle comprises the control device described above, the at least one electric motor, and the at least one loudspeaker.

[0045] The at least one electric motor can be designed for a primary function (e.g. for driving the motor vehicle) in the motor vehicle, wherein the generation of the haptic and / or acoustic feedback represents a secondary function in the motor vehicle.

[0046] The at least one electric motor can be designed to generate the haptic and / or acoustic feedback by generating a vibration (or vibrations).

[0047] The at least one electric motor can, optionally exclusively, comprise at least one drive unit of the motor vehicle, e.g., at least one front-axle electric motor and at least one rear-axle electric motor. The at least one front-axle electric motor can expediently be designed to drive a front axle of the motor vehicle and / or the at least one rear-axle electric motor can expediently be designed to drive a rear axle of the motor vehicle. The motor vehicle can comprise multiple electric motors. The multiple electric motors can comprise at least one front-axle electric motor and at least one rear-axle electric motor. Alternatively, or additionally, the multiple electric motors can be distributed within the motor vehicle.

[0048] The at least one electric motor can be designed to generate the haptic and / or acoustic feedback without any feedback.

[0049] The at least one electric motor can comprise several wheel-selective drive machines of the motor vehicle.

[0050] The motor vehicle may be a passenger car, in particular an automobile, or a commercial vehicle, such as a truck.

[0051] What has been described above with reference to the control device also applies analogously to the motor vehicle and vice versa.

[0052] Furthermore, a method for controlling at least one electric motor and at least one loudspeaker of an electrically driven motor vehicle to generate a haptic feedback of an additional acoustic feedback for at least one vehicle occupant of the motor vehicle is provided.

[0053] The method includes detecting a vehicle-dependent condition.

[0054] The method comprises controlling the at least one electric motor to generate the haptic and / or acoustic feedback (also: first feedback) depending on the detected vehicle-dependent state.

[0055] The method comprises controlling the at least one loudspeaker to output the additional acoustic feedback (also: second feedback) depending on the detected vehicle-dependent state.

[0056] The (control) method may be a computer-implemented method, i.e. one, several or all steps of the method may be carried out at least partially by a computer or a data processing device, optionally the control device.

[0057] What has been described above with reference to the control device and the motor vehicle also applies analogously to the method and vice versa.

[0058] Furthermore, a computer program is provided, comprising instructions which, when the program is executed by a computer, cause the computer to at least partially carry out or implement the method described above.

[0059] A program code of the computer program may be in any code, in particular in a code suitable for motor vehicle controls.

[0060] What has been described above with reference to the control device, the motor vehicle and the method also applies analogously to the computer program and vice versa.

[0061] Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium comprises instructions which, when executed by a computer, cause the computer to at least partially execute or carry out the method described above.

[0062] This means that a computer-readable medium can be provided that contains a computer program as defined above. The computer-readable medium can be any digital data storage device, such as a USB flash drive, a hard disk, a CD-ROM, an SD card, or an SSD card (or SSD drive / SSD hard disk).

[0063] The computer program does not necessarily have to be stored on such a computer-readable storage medium to be made available to the motor vehicle; it can also be obtained via the Internet or from another external source. The above description with regard to the method, the control device, the computer program, and the motor vehicle also applies analogously to the computer-readable medium, and vice versa.

[0064] An optional embodiment is described below with reference to Figures 1 and 2.

[0065] Fig. 1 schematically shows a section of a motor vehicle according to the disclosure with a control device for controlling at least one electric motor and at least one loudspeaker of the motor vehicle for generating a haptic and / or acoustic feedback and an additional acoustic feedback for at least one vehicle occupant of the motor vehicle, and

[0066] Fig. 2 schematically shows a flow diagram of a method according to the disclosure for controlling the at least one electric motor and at least one loudspeaker for generating the haptic and / or acoustic feedback and the additional acoustic feedback.

[0067] The electrically driven motor vehicle 10, which is shown only schematically in Figure 1, comprises the control device 1, the at least one electric motor 2 and the at least one loudspeaker 3.

[0068] The at least one electric motor 2 can comprise at least one drive motor of the motor vehicle 10. This can be one or more drive motors that drive one or more drive axles of the motor vehicle 10, or also wheel-selective drive motors.

[0069] As shown in Figure 1, for example, an electric motor 2 can be arranged in a front region of the motor vehicle 10 (e.g., a front-axle electric motor) and an electric motor 2 can be arranged in a rear region of the motor vehicle 10 (e.g., a rear-axle electric motor). To control the at least one electric motor 2 and the at least one loudspeaker 3 to generate haptic and / or acoustic feedback and additional acoustic feedback for at least one vehicle occupant of the motor vehicle 10, the control device 1 is configured to execute the method 100 described in detail below, also with reference to Figure 2.

[0070] In a first method step S1, a vehicle-dependent state is detected.

[0071] Various vehicle-dependent conditions are conceivable.

[0072] Thus, the vehicle-dependent state can correspond to a current driving strategy, wherein the current driving strategy can, for example, comprise a ferry operation of the motor vehicle 10 via at least one front-axle electric motor and / or at least one rear-axle electric motor.

[0073] Alternatively, or additionally, the vehicle-dependent state may correspond to a current driving state, wherein the current driving state may include, for example, braking, acceleration, a current engine speed (e.g., of the drive engine) and / or a current driving speed of the motor vehicle 10.

[0074] Furthermore, alternatively or additionally, the vehicle-dependent state can indicate a charge state of an electrical energy storage device of the motor vehicle 10, an engaged gear and / or a warning in the event of an obstacle in the direction of travel of the motor vehicle 10.

[0075] In a second method step S2, the at least one electric motor 2 is controlled to generate the haptic and / or acoustic feedback depending on the detected vehicle-dependent state.

[0076] For this purpose, the haptic and / or acoustic feedback can be generated with at least one frequency (or at least one vibration of the at least one electric motor 2 for generating the haptic and / or acoustic feedback) depending on the detected vehicle-dependent state. If the motor vehicle 10, as shown in Fig. 1, comprises a plurality of electric motors 2, each of the plurality of electric motors 2 can be selectively (or individually) controlled depending on the detected vehicle-dependent state and / or the plurality of electric motors 2 can be controlled such that the haptic and / or acoustic feedback is generated according to a predetermined pattern (or a predetermined sequence) depending on the detected vehicle-dependent state.

[0077] In a third method step S3, the at least one loudspeaker 3 is additionally controlled to output the additional acoustic feedback depending on the detected vehicle-dependent state. Method steps S2 and S3 can occur simultaneously.

[0078] It is conceivable that the haptic and / or acoustic feedback can also be implemented in the form of a reduction of an interference signal within the motor vehicle 10. For this purpose, an acoustic and / or haptic interference signal can be detected at a suitable position on and / or in the motor vehicle 10, e.g., in the interior or on the body of the motor vehicle 10, and the at least one electric motor 2 can be controlled to generate a compensation signal as the haptic and / or acoustic feedback depending on the detected interference signal to reduce the detected interference signal.

[0079] By means of the control device 1 or the method 100, it is conceivable to implement, for example, at least one of the following examples.

[0080] According to a first example, when engaging a gear (forward driving), haptic and / or acoustic feedback indicating that forward gear has been engaged can be generated by sequentially activating first the rear electric motor 2 and then the front electric motor 2. Analogously, feedback for reverse gear would be possible in the reverse order of activation.

[0081] According to a second example, an acceleration of the motor vehicle 10 can be made perceptible to the at least one vehicle occupant by changing the vibrations (e.g. increasing the frequency) or a deceleration or braking of the motor vehicle 10 can be made perceptible to the at least one vehicle occupant by changing the vibrations (e.g. reducing the frequency).

[0082] According to a third example, during a dynamic driving maneuver or drifting of the motor vehicle 10, provided that the motor vehicle 10 comprises a plurality of wheel-selective drive motors as electric motors 2, feedback can be generated via the drive motor assigned to the vehicle wheel so that the at least one vehicle occupant, e.g. the driver, receives the information as to which wheel is affected by a loss of grip.

[0083] According to a fourth example, the intensity of the vibrations generated by the at least one electric motor 2 for the haptic and / or acoustic feedback can be more or less pronounced depending on a selected driving mode, or the haptic and / or acoustic feedback can be designed to enable the at least one vehicle occupant, for example, to experience very comfortable, imperceptible driving or very sporty driving with individually pronounced haptic and / or acoustic feedback depending on the selected driving mode.

[0084] List of reference symbols

[0085] 1 control device

[0086] 2 electric motor(s) 3 loudspeakers

[0087] 10 motor vehicle

[0088] 100 procedures

[0089] S1-S3 process steps

Claims

Patent claims 1. Control device (1) for controlling at least one electric motor (2) and at least one loudspeaker (3) of an electrically driven motor vehicle (10) for generating a haptic and / or acoustic feedback and an additional acoustic feedback for at least one vehicle occupant of the motor vehicle (10), characterized in that the control device (1) is designed to: - to detect a vehicle-dependent condition (S1 ); - to control (S2) the at least one electric motor (2), to generate the haptic and / or acoustic feedback depending on the detected vehicle-dependent state; and - to control (S3) the at least one loudspeaker (3) to output the additional acoustic feedback depending on the detected vehicle-dependent state.

2. Control device (1) according to claim 1, characterized in that the control device (1) is designed to control the at least one electric motor (1) in order to: - to control the at least one electric motor (2) in such a way that the haptic and / or acoustic feedback is generated with at least one frequency depending on the detected vehicle-dependent state.

3. Control device (1) according to claim 1 or 2, characterized in that the at least one electric motor (2) comprises a plurality of electric motors (2) and the control device (1) is designed to control the at least one electric motor (1) in order to: - to selectively control each of the plurality of electric motors (2) depending on the detected vehicle-dependent state; and / or - to control the plurality of electric motors in such a way that the haptic and / or acoustic feedback is generated according to a predetermined pattern depending on the detected vehicle-dependent state.

4. Control device (1) according to one of claims 1 to 3, characterized in that the vehicle-dependent state - corresponds to a current driving strategy, wherein the current driving strategy comprises a ferry operation of the motor vehicle (10) via at least one front axle electric motor and / or at least one rear axle electric motor, and / or - corresponds to a current driving state, wherein the current driving state comprises braking, acceleration, a current engine speed and / or a current driving speed of the motor vehicle (10), and / or - corresponds to a current driving mode, whereby the current driving mode provides no to maximum haptic feedback, and / or - indicates a charge state of an electrical energy storage device of the motor vehicle (10), an engaged gear and / or a warning in the event of an obstacle in the direction of travel of the motor vehicle (10).

5. Control device (1) according to one of claims 1 to 4, characterized in that the control device (1) is designed to: - an acoustic and / or haptic interference signal on and / or in the motor vehicle (10); and - to control the at least one electric motor (2), to generate a compensation signal as the haptic and / or acoustic feedback depending on the detected interference signal in order to reduce the detected interference signal.

6. Motor vehicle (10), wherein the motor vehicle (10) is electrically driven, characterized in that the motor vehicle (10) comprises: - the control device (1) according to one of claims 1 to 5; - at least one electric motor (2); and - at least one loudspeaker (3).

7. Motor vehicle (10) according to claim 6, characterized in that the at least one electric motor (2) comprises at least one drive machine (2) of the motor vehicle (10).

8. Motor vehicle (10) according to claim 6 or 7, characterized in that the motor vehicle (10) comprises a plurality of electric motors (2), wherein the plurality of electric motors (2) - comprise at least one front axle electric motor and at least one rear axle electric motor, and / or - are distributed within the motor vehicle (10).

9. A method (100) for controlling at least one electric motor (2) of an electrically driven motor vehicle (10) and at least one loudspeaker (3) for generating a haptic and / or acoustic feedback and an additional acoustic feedback for at least one vehicle occupant of the motor vehicle (10), characterized in that the method (100) comprises: - detecting (S1) a vehicle-dependent condition; - controlling (S2) the at least one electric motor (2) to generate the haptic and / or acoustic feedback depending on the detected vehicle-dependent state; and - controlling (S3) the at least one loudspeaker (3) to output the additional acoustic feedback depending on the detected vehicle-dependent state.

10. Computer program and / or computer-readable medium, characterized in that the computer program and / or computer-readable medium comprises instructions which, when executed by a computer, cause the computer to carry out the method (100) according to claim 9.

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