Control method and apparatus, and vehicle

Abstract

The present application provides a control method and apparatus, and a vehicle, applicable to the technical field of smart cabins. The method comprises: acquiring position information of one or more users and / or a state of a vehicle door; and on the basis of the position information and / or the state of the vehicle door, controlling at least two sound production apparatuses at different positions to produce welcome sound having a sound image drift effect. The present application can be applied to electric vehicles or smart vehicles. The sound image drift effect provides a sense of space and flow for the welcome sound, creating a feeling of being at home for users inside the cabin, and facilitating the improvement of the driving / riding experience of the users.

Description

Control methods, devices and vehicles

[0001] This application claims priority to Chinese Patent Application No. 202410873972.5, filed on June 29, 2024, entitled "Control Method, Apparatus and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of smart cockpits, and more specifically, to a control method, device, and vehicle. Background Technology

[0003] With the development of technology, cars are becoming increasingly intelligent and user-friendly. When a user enters the car, a welcome sound is played in the cabin, giving the user a welcoming feeling. Current design solutions for welcome sounds in vehicles primarily focus on making the sound play faster, without considering the playback quality. This results in a rather monotonous welcome sound that the user hears upon entering the car, leading to a poor user experience. Summary of the Invention

[0004] This application provides a control method, device, and vehicle that can make the played welcome sounds have a sense of space and fluidity, which helps to enhance the user's driving experience.

[0005] In a first aspect, this application provides a control method, which includes: acquiring location information of one or more users, and / or the state of a vehicle door; and controlling at least two sound-emitting devices at different locations to emit a sound image (or soundstage) drifting welcome sound based on the location information and / or the state of the vehicle door.

[0006] Based on the above technical solutions, sound image drifting can give the welcoming sound a sense of space and fluidity, providing users with a welcoming feeling inside the cabin and helping to enhance the user's driving experience. At the same time, it can also improve the vehicle's intelligence and technological sophistication.

[0007] Sound image can be used to represent one or more of the depth, height, and width of a sound emitted by a sound-producing device. Sound image shift, for example, can be a change or movement of the sound image position in a certain direction within a certain time interval. In this way, a sound image shifted welcome sound can give the user the experience of a change in the spatial location of the sound.

[0008] In some possible implementations, the location information may include the user's movement trajectory outside the cabin, and based on the location information and / or the state of the door, control at least two sound-emitting devices at different locations to emit a sound-image drifting welcome sound, including: controlling at least two sound-emitting devices outside the cabin to emit a sound-image drifting welcome sound based on the user's movement trajectory outside the cabin.

[0009] For example, a user's electronic device (e.g., a mobile phone or smartwatch) can connect to the vehicle. The vehicle can determine the user's movement trajectory based on the location changes of the electronic device. This allows it to control sound-emitting devices at at least two different locations outside the cabin to emit a welcoming sound with a shifting audio image.

[0010] In some possible implementations, the state of the door can be used to indicate the state of each door in the vehicle, including whether the door is open or closed.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the location information of the one or more users includes the area where the one or more users are located in the cabin, wherein controlling the sound-emitting devices at at least two different locations in the cabin to emit a sound-image drifting welcome sound based on the location information and / or the state of the vehicle door includes: controlling the sound-emitting devices at at least two different locations to emit a sound-image drifting welcome sound based on the area where the one or more users are located in the cabin.

[0012] Based on the above technical solution, at least two sound-emitting devices can be controlled to emit welcoming sounds corresponding to the distribution of users in the cabin. This helps to enhance the spatial and fluid feel of the welcoming sounds, thereby improving the user's driving and riding experience.

[0013] In some possible implementations, taking a sedan as an example, the areas where one or more users are located in the cabin include the driver's area, the front passenger area, the left side of the second row, and the right side of the second row.

[0014] In some possible implementations, the direction of the audio-visual drift surrounds the area where one or more users are located.

[0015] For example, when the vehicle is detected to be unlocked and the user is seated in the driver's and passenger's areas, the sound device in the front area can be controlled to emit a welcome sound with a sound image drift direction that surrounds the driver's and passenger's areas.

[0016] In some possible implementations, based on the location information and / or the state of the door, controlling at least two sound-emitting devices in different locations to emit a sound-image drifting welcome sound includes: when the door is detected to be open, controlling at least two sound-emitting devices in different locations to emit a sound-image drifting welcome sound based on the area where one or more users are located in the cabin.

[0017] In some possible implementations, based on the location information and / or the state of the door, controlling at least two sound-emitting devices in different locations to emit a sound-image drifting welcome sound includes: when the vehicle is detected to be unlocked and at least some of the doors in the vehicle are open, acquiring the area where one or more users are located in the cabin; and controlling at least two sound-emitting devices in different locations to emit a sound-image drifting welcome sound based on the area where one or more users are located in the cabin.

[0018] In some possible implementations, based on the location information and / or the state of the door, controlling at least two sound-emitting devices at different locations to emit a sound-image drifting welcome sound includes: when the vehicle is detected to be unlocked and the first door among a plurality of doors is in an open state and a user is present in a first area corresponding to the first door, controlling at least two sound-emitting devices at different locations to emit a sound-image drifting welcome sound based on the first area.

[0019] In some possible implementations, based on the location information and / or the state of the door, controlling at least two sound-emitting devices in different locations to emit a sound-image drifting welcome sound includes: when the vehicle is detected to be unlocked and at least some of the doors in the vehicle are in an open state, and the at least some doors switch from an open state to a closed state, obtaining the area where one or more users are located in the cabin; and controlling at least two sound-emitting devices in different locations to emit a sound-image drifting welcome sound based on the area where one or more users are located in the cabin.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the starting sound image position of the welcoming sound corresponds to the area where the one or more users are located; or, the ending sound image position of the welcoming sound corresponds to the area where the one or more users are located.

[0021] In some possible implementations, the one or more users are multiple users, and the multiple areas where the multiple users are located include preset areas (e.g., the area where the boss's seat or the queen's seat is located). The welcoming sound of the sound image drift starts with a sound image point in the preset area, or ends with a sound image point in the preset area.

[0022] In some possible implementations, the one or more users are considered as one user, and the welcoming sound of the sound image drift is based on the sound image point in the area where the user is located as the starting sound image position.

[0023] In some possible implementations, the one or more users are considered as one user, and the welcoming sound of the sound image drift ends at the sound image point in the area where the user is located.

[0024] For example, if someone is detected in the driver's area, at least two sound-emitting devices can be controlled to play a welcoming sound with the sound image drifting from the driver's area to the passenger area, and then from the passenger area to the right side of the second row.

[0025] For example, if someone is detected in the right side of the second row, at least two sound-emitting devices can be controlled to play a welcoming sound with the sound image drifting from the right side of the second row to the left side of the second row, and then from the left side of the second row to the driver's area.

[0026] In some possible implementations, the area where one or more users are located in the cabin can be determined by: determining the area where one or more users are located in the cabin based on images captured by in-cabin cameras; or determining the area where one or more users are located in the cabin based on data collected by seat pressure sensors; or determining the area where one or more users are located in the cabin based on data collected by a microphone array.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, controlling the sound-emitting devices at at least two different locations to emit a sound-image drifting welcome sound based on the area where the one or more users are located in the cabin includes: when it is detected that the one or more users are located in the cabin and the doors of the vehicle are all closed, controlling the sound-emitting devices at at least two different locations to emit a sound-image drifting welcome sound based on the area where the one or more users are located in the cabin.

[0028] Based on the above technical solution, playing a sound-image drifting welcome sound when all passengers are seated and the car doors are closed can help improve the auditory experience for users in the enclosed cabin space.

[0029] In some possible implementations, controlling the sound-emitting devices at at least two different locations to emit a sound-image drifting welcome sound based on the area where one or more users are located in the cabin includes: when the vehicle is detected to be unlocked and at least some doors switch from a closed state to an open state, and the at least some doors switch from an open state to a closed state, obtaining the area where one or more users are located in the cabin; and controlling the sound-emitting devices at at least two different locations to emit a sound-image drifting welcome sound based on the area where one or more users are located in the cabin.

[0030] In some possible implementations, depending on the area where the one or more users are located in the cabin, at least two sound-emitting devices in different locations are controlled to emit a sound image drifting welcome sound, including: when the one or more users are multiple users, controlling the sound image drifting direction of the welcome sound to surround the area where the one or more users are located.

[0031] In this way, when all members are seated, multiple sound-emitting devices can be controlled to emit a welcoming sound with the sound image drifting direction surrounding the multiple users. This allows multiple users to hear the welcoming sound surrounding them in the enclosed cabin space, which helps to improve the auditory effect when multiple users listen to the welcoming sound.

[0032] In conjunction with the first aspect, in certain implementations of the first aspect, controlling at least two different locations of sound-emitting devices to emit a sound-image-drifting welcome sound based on the area where one or more users are located in the cabin includes: when a first user is detected to be located in a first area within the cabin, controlling a first set of sound-emitting devices to emit a sound-image-drifting first welcome sound based on the first area, the first set of sound-emitting devices including at least two different locations; when a second user is detected to be located in a second area within the cabin and the first welcome sound has not finished playing, continuing to play the first welcome sound; and when the first welcome sound finishes playing, controlling a second set of sound-emitting devices to emit a sound-image-drifting second welcome sound based on the second area, the second set of sound-emitting devices including at least two different locations.

[0033] Based on the above technical solution, when different users get into the car one after another, they can all hear a welcoming sound that corresponds to their area, which helps to improve the driving experience of each user.

[0034] In conjunction with the first aspect, in certain implementations of the first aspect, controlling at least two different locations of sound-emitting devices to emit a sound-image-drifting welcome sound based on the area where one or more users are located in the cabin includes: when a third user is detected to be located in a third area within the cabin, controlling a third set of sound-emitting devices to emit a sound-image-drifting third welcome sound based on the third area, the third set of sound-emitting devices including at least two different locations; when a fourth user is detected to be located in a preset area within the cabin and the third welcome sound has not finished playing, stopping the playback of the third welcome sound or reducing the playback intensity of the third welcome sound; and controlling a fourth set of sound-emitting devices to emit a sound-image-drifting fourth welcome sound based on the preset area, the fourth set of sound-emitting devices including at least two different locations.

[0035] Based on the above technical solution, when the fourth user in the preset area is detected to be boarding, the welcoming sound corresponding to the third user can be stopped (or the playback intensity of the third welcoming sound corresponding to the third user can be reduced) and the welcoming sound corresponding to the fourth area can be started. This can ensure that users in the preset area can hear the sound image drifting welcoming sound first.

[0036] In some possible implementations, the intensity of the welcome sound can also be the volume of the welcome sound.

[0037] In some possible implementations, the preset area is the area where the boss's seat is located, or the preset area is the area where the queen's seat is located.

[0038] In conjunction with the first aspect, in some implementations of the first aspect, controlling at least two different sound-emitting devices in the cabin to emit a sound-image drifting welcome sound based on the location information and / or the state of the door includes: when the first door is detected to be open, controlling the at least two different sound-emitting devices to emit a sound-image drifting welcome sound based on the position of the first door.

[0039] Based on the above technical solution, when an opening of a car door is detected, a welcoming sound with a drifting sound image is played according to the door's position. This allows the user to experience the drifting welcoming sound as soon as they open the door, providing a sense of space and flow to the welcoming sound even outside the cabin, thus enhancing the user's driving and riding experience.

[0040] In some possible implementations, when the first door is detected to be open, the sound-emitting devices at at least two different positions are controlled to emit a sound-image drifting welcome sound according to the position of the first door, including: when the first door is detected to be open and the opening angle of the first door is greater than a preset angle, the sound-emitting devices at at least two different positions are controlled to emit a sound-image drifting welcome sound according to the position of the first door.

[0041] In this way, when the car door opens to an angle greater than or equal to a preset angle, a welcoming sound with a drifting audio image is emitted. This allows users outside the cabin to experience the direction of the sound image drift of the welcoming sound.

[0042] In conjunction with the first aspect, in some implementations of the first aspect, controlling at least two different locations within the cockpit to emit a welcoming sound with a sound image drift includes: controlling at least two different locations to emit a welcoming sound with a sound image drift direction from left to right, or controlling at least two different locations to emit a welcoming sound with a sound image drift direction from right to left.

[0043] Based on the above technical solution, since the human ear is more sensitive to welcoming sounds with sound image drifting from left to right or from right to left, playing welcoming sounds with sound image drifting from left to right or from right to left allows users to accurately identify the direction of sound image drift, or to clearly understand the direction of the welcoming sound's flow, thereby helping to improve the user's driving experience.

[0044] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: controlling at least two sound-emitting devices at different locations to emit sound image drift directions from front to back, or controlling at least two sound-emitting devices at different locations to emit a welcoming sound image drift direction from back to front.

[0045] Based on the above technical solution, by emitting a welcoming sound with a sound image drifting direction from left to right or from right to left, and emitting a welcoming sound with a sound image drifting direction from front to back or from back to front, users can feel the sense of immersion in the cabin space, further enhancing the spatial sense of the welcoming sound heard by the user.

[0046] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: controlling the direction of illumination of the ambient light, the direction of illumination of the ambient light corresponding to the direction of sound image drift, the ambient light being included in the vehicle cabin.

[0047] Based on the above technical solution, by controlling the illumination direction of the ambient lights to correspond with the sound image drift direction of the welcome sound, the user's driving experience can be further enhanced.

[0048] In some possible implementations, when the cabin includes a fifth user and a sixth user, controlling at least two different locations within the cabin to emit a sound-image drifting welcome sound includes: controlling at least two different locations to emit a fifth welcome sound with a sound-image drifting direction from the area where the fifth user is located to the area where the sixth user is located, and controlling at least two different locations to emit a sixth welcome sound with a sound-image drifting direction from the area where the sixth user is located to the area where the fifth user is located, based on the area where the sixth user is located.

[0049] In some possible implementations, when the sound image drift direction of the fifth welcoming sound and the sound image drift direction of the sixth welcoming sound intersect at the first sound image point, a preset sound source (e.g., drumming sound, DJing sound, etc.) is played at the first sound image point, or all sound-producing devices in the vehicle are controlled to play the preset sound source (e.g., drumming sound, DJing sound, etc.) simultaneously.

[0050] In some possible implementations, when the sound image drift direction of the fifth welcome sound and the sound image drift direction of the sixth welcome sound intersect at the first sound image point, the playback of the fifth and sixth welcome sounds is stopped and a preset sound source is played at the first sound image point; or, the playback of the fifth and sixth welcome sounds is stopped and all sound-producing devices in the vehicle are controlled to play the preset sound source simultaneously.

[0051] In some possible implementations, the area where the fifth user is located is the fifth area, and the area where the sixth user is located is the sixth area. The method further includes: during the playback of the fifth welcoming sound, controlling the lighting direction of the first ambient light to be from the fifth area to the sixth area, and during the playback of the sixth welcoming sound, controlling the lighting direction of the second ambient light to be from the sixth area to the fifth area.

[0052] In some possible implementations, the method further includes: when the first ambient light and the second ambient light intersect during illumination, controlling all ambient lights inside the vehicle to illuminate.

[0053] In this way, when the ambient lighting and welcome sounds collide or intersect, they can generate specific sound sources or illuminate the ambient lighting throughout the vehicle, creating the feeling of a collision between the fifth and sixth users within the cabin space, which helps to enhance the user's driving and riding experience.

[0054] In conjunction with the first aspect, in some implementations of the first aspect, before controlling the sound-emitting devices at at least two different locations within the cockpit to emit a sound-image-drifting welcome sound, the method further includes: acquiring a background noise signal within the cockpit; determining the playback intensity of the welcome sound as a first playback intensity based on the background noise signal; wherein, controlling the sound-emitting devices at at least two different locations within the cockpit to emit a sound-image-drifting welcome sound includes: controlling the sound-emitting devices at at least two different locations to emit a sound-image-drifting welcome sound based on the first playback intensity.

[0055] Based on the above technical solution, by adjusting the playback intensity of the welcome sound in combination with the background noise signal in the cabin, users can hear a stronger welcome sound in noisy environments, thus enabling them to clearly hear the sound image drifting; or, in quiet environments such as garages, they can hear a weaker welcome sound, avoiding startling users.

[0056] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: controlling at least two sound-emitting devices to emit a sound image drifting farewell tone when the user's intention to get off the vehicle is detected.

[0057] In some possible implementations, the direction of sound image drift is the same for the welcoming tone and the farewell tone.

[0058] In some possible implementations, when a user's intention to get off the vehicle is detected, at least two sound-emitting devices are controlled to emit a sound image drifting farewell tone, including: when a user's intention to get off the vehicle is detected, at least two sound-emitting devices are controlled to emit a sound image drifting farewell tone according to the area where the user is located.

[0059] In some possible implementations, the sound image drift directions of the welcoming tone and the departing tone are opposite.

[0060] For example, when the vehicle is detected to be unlocked and a user is present in the driver's area, the vehicle can control multiple sound devices to emit a welcoming sound that drifts from the driver's area to the passenger area, and then from the passenger area to the right side of the second row. When the vehicle detects that a user in the driver's area intends to get out of the vehicle, the vehicle can control multiple sound devices to emit a farewell sound that drifts from the right side of the second row to the passenger area, and then from the passenger area to the driver's area.

[0061] In some possible implementations, when a user's intention to get out of the vehicle is detected, at least two sound-emitting devices are controlled to emit a drifting farewell sound, including: when the user's operation of shifting the vehicle's gear to Park (P) and unfastening the seat belt is detected, at least two sound-emitting devices are controlled to emit a drifting farewell sound according to the area where one or more users are located in the cabin.

[0062] In some possible implementations, when a user's intention to get out of the vehicle is detected, at least two sound-emitting devices are controlled to emit a drifting farewell sound, including: when a user shifts the vehicle's gear to Park (P), unbuckles their seatbelt, and a user opens a door, at least two sound-emitting devices are controlled to emit a drifting farewell sound based on the area where one or more users are located in the cabin.

[0063] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: acquiring a first input from a user, the first input indicating a trajectory of sound image drift; wherein controlling sound-emitting devices at at least two different locations within the cockpit to emit a sound image drifting welcome sound includes: controlling sound-emitting devices at at least two different locations to emit a sound image drifting welcome sound according to the trajectory.

[0064] In some possible implementations, the direction of the acoustic image drift of the welcoming sound corresponds to the trajectory.

[0065] Based on the above technical solution, users can choose their preferred sound and image drift trajectory. Then, when a user gets into the vehicle, a welcome sound based on their chosen trajectory will play. This allows for customized welcome sounds to be played according to different user preferences, thus enhancing the user experience for each individual boarding the vehicle.

[0066] In some possible implementations, obtaining a user's first input, which indicates the trajectory of the audio-visual drift, includes: controlling a display device to display a first interface, the first interface including an image of the vehicle and prompting information for prompting the user to draw a trajectory inside the vehicle's cabin; in response to detecting a user's first touch operation on the display interface, establishing a correspondence between the user's identification information and the trajectory of the audio-visual drift based on the trajectory corresponding to the first touch operation.

[0067] In some possible implementations, before controlling at least two different locations to emit a sound-image drifting welcome sound based on the trajectory, the method further includes: determining the trajectory based on the user's identification information and the correspondence.

[0068] In some possible implementations, obtaining a first user input indicating the trajectory of the sound image drift includes: controlling a display device to display a first interface, the first interface including an image of the vehicle and prompting information for prompting the user to select multiple sound image points within the vehicle's cabin; in response to detecting a second touch operation by the user on the display interface, identifying multiple sound image points corresponding to the trajectory of the sound image drift; and establishing a correspondence between the user's identification information and the trajectory of the sound image drift.

[0069] Secondly, a control device is provided, comprising: an acquisition unit for acquiring location information of one or more users, and / or the state of a vehicle door; and a control unit for controlling at least two sound-emitting devices at different locations within the cabin to emit a sound image drifting welcome sound based on the location information and / or the state of the vehicle door.

[0070] In conjunction with the second aspect, in some implementations of the second aspect, the location information of the one or more users includes the area where the one or more users are located in the cabin, wherein the control unit is specifically used to: control at least two sound-emitting devices at different locations to emit a sound image drifting welcome sound according to the area where the one or more users are located in the cabin.

[0071] In conjunction with the second aspect, in some implementations of the second aspect, the starting sound image position of the welcoming sound corresponds to the area where the one or more users are located; or, the ending sound image position of the welcoming sound corresponds to the area where the one or more users are located.

[0072] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: when one or more users are located in the cabin and the doors of the vehicle are all closed, control at least two sound-emitting devices in different locations to emit a sound image drifting welcome sound according to the area where the one or more users are located in the cabin.

[0073] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically configured to: when the first user is located in a first area within the cabin, control a first set of sound-emitting devices to emit a first welcome sound with sound image drift, the first set of sound-emitting devices including at least two sound-emitting devices in different locations; continue playing the first welcome sound when the second user is located in a second area within the cabin and before the first welcome sound has finished playing; and when the first welcome sound has finished playing, control a second set of sound-emitting devices to emit a second welcome sound with sound image drift, the second set of sound-emitting devices including at least two sound-emitting devices in different locations, according to the second area.

[0074] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically configured to: when a third user is located in a third area within the cabin, control a third set of sound-emitting devices to emit a third welcome sound with sound image drift, the third set of sound-emitting devices including at least two sound-emitting devices in different locations; when a fourth user is located in a preset area within the cabin and the third welcome sound has not finished playing, stop playing the third welcome sound or reduce the playback intensity of the third welcome sound; and control a fourth set of sound-emitting devices to emit a fourth welcome sound with sound image drift, the fourth set of sound-emitting devices including at least two sound-emitting devices in different locations, according to the preset area.

[0075] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: when the first door is in the open state, control the sound-emitting devices at at least two different positions to emit a sound image drifting welcome sound according to the position of the first door.

[0076] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: control at least two sound-emitting devices at different locations to emit a welcoming sound with a sound image drift direction from left to right, or control at least two sound-emitting devices at different locations to emit a welcoming sound with a sound image drift direction from right to left.

[0077] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is also used to control at least two sound-emitting devices at different locations to emit a sound image drift direction from front to back, or to control at least two sound-emitting devices at different locations to emit a welcoming sound image drift direction from back to front.

[0078] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is also used to control the direction of illumination of the ambient light, the direction of illumination of the ambient light corresponding to the direction of sound image drift, and the ambient light is included in the vehicle cabin.

[0079] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a determining unit, and the acquiring unit is further configured to acquire the background noise signal inside the cabin; the determining unit is configured to determine the playback intensity of the welcoming sound as a first playback intensity based on the background noise signal; wherein, the control unit is specifically configured to: control at least two sound-emitting devices at different locations to emit a sound image drifting welcoming sound based on the first playback intensity.

[0080] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is also configured to control at least two sound-emitting devices to emit a sound image drifting farewell tone when the user's intention to get off the vehicle is detected.

[0081] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to acquire a first input from the user, the first input indicating the trajectory of the sound image drift; wherein, the control unit is specifically configured to: control at least two sound-emitting devices at different locations to emit a welcome sound of sound image drift according to the trajectory.

[0082] Thirdly, a control device is provided, comprising a memory and a processor, the memory for storing a computer program and the processor for executing the computer program in the memory, such that the control device can implement the method in any of the possible implementations of the first aspect described above.

[0083] Fourthly, a control system is provided, which includes a plurality of sound-generating devices and the control device described in the second or third aspect above.

[0084] Fifthly, a vehicle is provided that includes a control device that may be present in either the second or third aspect described above, or that includes the control system described in the fourth aspect described above.

[0085] The term "vehicle" in this application is used in a broad sense and can refer to means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle.

[0086] In a sixth aspect, a computer program product is provided, comprising: computer program code, which, when executed on a computer, causes the computer to perform the method in any possible implementation of the first aspect.

[0087] In a seventh aspect, a computer-readable storage medium is provided, the computer-readable medium storing a computer program that, when run on a computer, causes the computer to perform the method in any possible implementation of the first aspect.

[0088] Eighthly, a chip is provided that includes circuitry for performing the methods in any of the possible implementations of the first aspect described above. Attached Figure Description

[0089] Figure 1 is a functional block diagram of the vehicle provided in an embodiment of this application.

[0090] Figures 2a, 2b, 2c and 2d are schematic diagrams of playing a welcome sound provided in the embodiments of this application.

[0091] Figure 3 is another schematic diagram of playing a welcome sound provided in an embodiment of this application.

[0092] Figure 4 is another schematic diagram of playing a welcome sound provided in an embodiment of this application.

[0093] Figure 5 is another schematic diagram of playing a welcome sound provided in an embodiment of this application.

[0094] Figure 6 is another schematic diagram of playing a welcome sound provided in an embodiment of this application.

[0095] Figure 7 is a schematic flowchart of the control method provided in an embodiment of this application.

[0096] Figure 8 is another schematic flowchart of the control method provided in the embodiments of this application.

[0097] Figure 9 is a schematic block diagram of the control device provided in an embodiment of this application. Detailed Implementation

[0098] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0099] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0100] Figure 1 is a functional block diagram of a vehicle 100 provided in an embodiment of this application. The vehicle 100 may include a sensing system 110, a computing platform 120, a display device 130, and a sound-emitting device 140. The sensing system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 110 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou Navigation Satellite System, or another positioning system. The sensing system 110 may also include one or more of the following: an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0101] Some or all of the functions of vehicle 100 can be controlled by computing platform 120. Computing platform 120 may include one or more processors, such as processors 121 to 12n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions. Some or all of the processors 121 to 12n can call and execute the instructions in the memory to achieve the corresponding functions.

[0102] The in-cabin display devices 130 are mainly divided into two categories: the first is the in-vehicle display screen; the second is the projection display screen, such as the head-up display (HUD). An in-vehicle display screen is a physical display screen and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as the digital instrument cluster display, the central control screen, the display screen in front of the front passenger (also known as the front-seat passenger), the display screen in front of the left rear passenger, the display screen in front of the right rear passenger, and even the car window can be used as a display screen. A head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as the windshield). This reduces the driver's eye-shift time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. Examples of HUDs include combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems. It should be understood that HUDs can also evolve into other types of systems as technology progresses, and this application does not limit them.

[0103] The sound-generating device 140 can be a loudspeaker, audio system, or horn, etc.

[0104] Figures 2a, 2b, 2c and 2d show schematic diagrams of playing a welcome sound provided in an embodiment of this application.

[0105] As shown in Figure 2a, when the vehicle is detected to be unlocked and the user enters the cabin and is located in the driver's area, the speakers 1, 2, 3, 4 and 5 can be controlled to emit a welcome sound with a sound image drift.

[0106] For example, the direction of sound image drift of the welcome sound is from the driver's area to the passenger area, and then from the passenger area to the right side of the second row.

[0107] In one embodiment, when a user is detected entering the cabin and located in the driver's area, the speakers 1, 2, 3, 4 and 5 can be controlled to emit a welcome sound with a shifted image, including: when a user is detected entering the cabin and located in the driver's area and the user closes the door in the driver's area, the speakers 1, 2, 3, 4 and 5 can be controlled to emit a welcome sound with a shifted image.

[0108] In one embodiment, controlling the speakers 1, 2, 3, 4 and 5 to emit a welcoming sound with a drifting sound image includes: adjusting the playback intensity of the speakers 1, 2, 3, 4 and 5 to control the direction of the sound image drift of the welcoming sound from the driver's area to the passenger area, and then from the passenger area to the right side of the second row.

[0109] For example, at time T1, the playback intensity of the welcome sound emitted by speaker 1 can be controlled to 40dB, the playback intensity of the welcome sound emitted by speaker 2 to 20dB, the playback intensity of the welcome sound emitted by speaker 3 to 20dB, the playback intensity of the welcome sound emitted by speaker 4 to 20dB, and the playback intensity of the welcome sound emitted by speaker 5 to 20dB. At time T2, after time T1, the playback intensity of the welcome sound emitted by speaker 1 can be controlled to 20dB, the playback intensity of the welcome sound emitted by speaker 2 to 40dB, the playback intensity of the welcome sound emitted by speaker 3 to 20dB, the playback intensity of the welcome sound emitted by speaker 4 to 20dB, and the playback intensity of the welcome sound emitted by speaker 5 to 20dB. At time T3, following time T2, the playback intensity of the welcome sound emitted by speaker 1 can be controlled to 20dB, the playback intensity of the welcome sound emitted by speaker 2 can be controlled to 20dB, the playback intensity of the welcome sound emitted by speaker 3 can be controlled to 40dB, the playback intensity of the welcome sound emitted by speaker 4 can be controlled to 20dB, and the playback intensity of the welcome sound emitted by speaker 5 can also be controlled to 20dB. At time T4, following time T3, the playback intensity of the welcome sound emitted by speaker 1 can be controlled to 20dB, the playback intensity of the welcome sound emitted by speaker 2 can be controlled to 20dB, the playback intensity of the welcome sound emitted by speaker 3 can be controlled to 20dB, the playback intensity of the welcome sound emitted by speaker 4 can be controlled to 40dB, and the playback intensity of the welcome sound emitted by speaker 5 can also be controlled to 20dB. At time T5, following time T4, the playback intensity of the welcome sound emitted by speaker 1 can be controlled to 20dB, the playback intensity of the welcome sound emitted by speaker 2 can be controlled to 20dB, the playback intensity of the welcome sound emitted by speaker 3 can be controlled to 20dB, the playback intensity of the welcome sound emitted by speaker 4 can be controlled to 20dB, and the playback intensity of the welcome sound emitted by speaker 5 can be controlled to 40dB. This allows the sound image drift direction of the welcome sound to be from the driver's area to the passenger's area, and then from the passenger's area to the right side of the second row.

[0110] For example, the time interval between two adjacent moments (e.g., time T1 and time T2) can be 100 milliseconds (ms).

[0111] In one embodiment, the time T1 can be the time when the door in the driver's area is closed, as detected by the computing platform 120.

[0112] In one embodiment, controlling the speakers 1, 2, 3, 4 and 5 to emit a welcoming sound with a drifting sound image includes: adjusting the time delay of the speakers 1, 2, 3, 4 and 5 to control the direction of the sound image drift of the welcoming sound from the driver's area to the passenger area, and then from the passenger area to the right side of the second row.

[0113] For example, at time T1, the intensity of the welcome sound emitted by speaker 1 can be controlled to 20dB, while speakers 2-5 can be kept silent. At time T1+ΔT, speakers 1 and 3-5 can be kept silent, while speaker 2 can emit a welcome sound at an intensity of 20dB. At time T1+2ΔT, speakers 1-2 and 4-5 can be kept silent, while speaker 3 can emit a welcome sound at an intensity of 20dB. At time T1+3ΔT, speakers 1-3 and 5 can be kept silent, while speaker 4 can emit a welcome sound at an intensity of 20dB. At time T1+4ΔT, speakers 1-4 can be kept silent, while speaker 5 can emit a welcome sound at an intensity of 20dB. This allows the sound image of the welcome sound to drift from the driver's area to the passenger's area, and then from the passenger's area to the right side of the second row.

[0114] For example, △T can be 20ms.

[0115] In one embodiment, controlling the speakers 1, 2, 3, 4 and 5 to emit a welcoming sound with a drifting sound image includes: controlling the direction of the sound image drift of the welcoming sound from the driver's area to the passenger's area, and then from the passenger's area to the right side of the second row by adjusting the time delay and playback intensity of the speakers 1, 2, 3, 4 and 5.

[0116] For example, at time T1, the playback intensity of the welcome sound emitted by speaker 1 can be controlled to 40dB, and the playback intensity of the welcome sound emitted by speakers 2-5 can be controlled to 20dB; at time T1+ΔT, the playback intensity of the welcome sound emitted by speakers 1 and 3-5 can be controlled to 20dB, and the playback intensity of the welcome sound emitted by speaker 2 can be controlled to 40dB. At time T1+2ΔT, the playback intensity of the welcome sound emitted by speakers 1-2 and 4-5 can be controlled to 20dB, and the playback intensity of the welcome sound emitted by speaker 3 can be controlled to 40dB. At time T1+3ΔT, the playback intensity of the welcome sound emitted by speakers 1-3 and 5 can be controlled to 20dB, and the playback intensity of the welcome sound emitted by speaker 4 can be controlled to 40dB. At time T1+4ΔT, the playback intensity of the welcome sound emitted by speakers 1-4 can be controlled to 20dB, and the playback intensity of the welcome sound emitted by speaker 5 can be controlled to 40dB. This allows the sound image of the welcoming sound to drift from the driver's area to the passenger's area, and then from the passenger's area to the right side of the second row.

[0117] For example, the direction of the sound image drift of the welcome sound can also be from the right side area of ​​the second row to the passenger area, and then from the passenger area to the driver area.

[0118] The above examples use speakers 1-5 as examples for illustration. The number of sound-emitting devices that produce the sound image drifting welcome sound in this application embodiment is not limited. For example, the sound image drifting welcome sound can also be produced by other numbers of sound-emitting devices.

[0119] In this way, by having the sound image drift from the driver's area to the passenger's area, and then from the passenger's area to the right side of the second row, the user in the driver's area can feel the spatial and fluidity of the welcome sound. At the same time, when there is a user in the driver's area, the starting sound image of the welcome sound is located in the driver's area, which can provide the user in the driver's area with a personalized welcome sound experience.

[0120] As shown in Figure 2b, when the vehicle is detected to be unlocked and the user enters the cabin and is located in the passenger area, the speakers 3, 4, 5, 6 and 7 can be controlled to emit a welcome sound with a sound image drift.

[0121] For example, the sound image drift direction of the welcome sound is from the front passenger area to the right side of the second row, and then from the right side of the second row to the left side of the second row. In this way, when there is a user in the front passenger area, the starting sound image position of the welcome sound is located in the front passenger area, which can provide the user in the front passenger area with a personalized welcome sound experience.

[0122] For example, the vehicle can also control multiple speakers to emit a welcome sound with the sound image drifting from the left side of the second row to the driver's area, and then from the driver's area to the passenger's area.

[0123] The process of generating a welcoming sound with sound image drift can be referred to the description in the above embodiments, and will not be repeated here.

[0124] As shown in Figure 2c, when the vehicle is detected to be unlocked and the user enters the cabin and is located in the right-side area of ​​the second row, the speakers 5, 6, 7, 8 and 1 can be controlled to emit a welcome sound with a sound image drift.

[0125] For example, the sound image drift direction of the welcome sound is from the right side of the second row to the left side of the second row, and then from the left side of the second row to the driver's area. In this way, when there is a user in the right side of the second row, the starting sound image position of the welcome sound is located in the right side of the second row, which can provide users in the right side of the second row with a personalized welcome sound experience.

[0126] For example, the vehicle can also control multiple speakers to emit welcome sounds with the sound image drifting from the driver's area to the passenger area, and then from the passenger area to the right side of the second row.

[0127] The process of generating a welcoming sound with sound image drift can be referred to the description in the above embodiments, and will not be repeated here.

[0128] As shown in Figure 2d, when the vehicle is detected to be unlocked and the user enters the cabin and is located in the left side area of ​​the second row, the speakers 7, 8, 1, 2 and 3 can be controlled to emit a welcome sound with sound image drift.

[0129] For example, the sound image drift direction of the welcome sound is from the left side of the second row to the driver's area, and then from the driver's area to the passenger's area. In this way, when there is a user in the left side of the second row, the starting sound image position of the welcome sound is located in the left side of the second row, which can provide users in the right side of the second row with a personalized welcome sound experience.

[0130] For example, the vehicle can also control multiple speakers to emit sound images that drift from the front passenger area to the right side of the second row, and then from the right side of the second row to the left side of the second row.

[0131] The process of generating a welcoming sound with sound image drift can be referred to the description in the above embodiments, and will not be repeated here.

[0132] Figures 2a, 2b, 2c, and 2d above illustrate how to generate a sound image drifting welcome sound by controlling the speaker's playback intensity and / or time delay. The following section, with reference to Figure 3, describes how to generate a sound image drifting welcome sound by controlling the sound image point.

[0133] For example, Figure 3 shows another schematic diagram of playing a welcome sound provided in an embodiment of this application.

[0134] As shown in Figure 3, when the vehicle is detected to be unlocked and a user is present in the driver's area, the sound-emitting device can be controlled to emit a welcoming sound with the sound image drifting direction from sound image point 1 to sound image point 2, from sound image point 2 to sound image point 3, and from sound image point 3 to sound image point 4.

[0135] For example, at time T1, the playback intensity of the welcome sound emitted by speakers 1 and 2 can be controlled to 20dB, while speakers 3-5 can be controlled to not emit a welcome sound. At this time, the sound image point can be located at sound image point 1. At time T1+ΔT, speakers 1 and 4-5 can be controlled to not emit a welcome sound, while speakers 2 and 3 can be controlled to emit a welcome sound with a playback intensity of 20dB. At this time, the sound image point can be located at sound image point 2. At time T1+2ΔT, speakers 1-2 and 5 can be controlled to not emit a welcome sound, while speakers 3 and 4 can emit a welcome sound with a playback intensity of 20dB. At this time, the sound image point can be located at sound image point 3. At time T1+3ΔT, speakers 1-3 can be controlled to not emit a welcome sound, while speakers 4 and 5 can emit a welcome sound with a playback intensity of 20dB. At this time, the sound image point can be located at sound image point 4. In this way, the sound image drift direction of the welcome sound can be from the driver's area to the passenger's area, and then from the passenger's area to the right side of the second row.

[0136] In one embodiment, the sound image points shown in Figure 3 can be user-defined or preset (for example, when the vehicle leaves the factory, the vehicle can store the correspondence between areas and sound image points, such as the driver's area corresponding to sound image points 1-4). Users can set their preferred sound image point positions and sound image drift directions.

[0137] For example, users can set their preferred welcome sound direction through the welcome sound settings interface. For instance, if a user clicks four times sequentially on this interface (these four clicks can correspond to sound image points 1, 2, 3, and 4 respectively), a correspondence can be established between the user's identification information and the sound image point (or, the sound image drift trajectory). When the user is detected boarding the vehicle, the sound-emitting device can be controlled to emit a welcome sound with a sound image drift direction from sound image point 1 to sound image point 2, from sound image point 2 to sound image point 3, and from sound image point 3 to sound image point 4.

[0138] In one embodiment, the vehicle prompts the user that the sound image drift direction of the welcome sound set by the user is bound to the user's identification information, or the sound image drift direction of the welcome sound set by the user is bound to an area within the cabin.

[0139] For example, if the direction of the sound image drift of the welcome sound set by the user is bound to the user's identification information, then when the user is identified to be in a certain area of ​​the cabin, the sound-emitting device can be controlled to emit a welcome sound with the direction of sound image drift from sound image point 1 to sound image point 2, from sound image point 2 to sound image point 3, and from sound image point 3 to sound image point 4.

[0140] For example, if the user sets the direction of the welcome sound's sound image drift to be tied to the driver's area, then when the vehicle detects a user in the driver's area (regardless of who the user is), it can control the sound-emitting device to emit a welcome sound with a sound image drift direction from sound image point 1 to sound image point 2, from sound image point 2 to sound image point 3, and from sound image point 3 to sound image point 4.

[0141] In one embodiment, the welcome sound settings interface may include a three-dimensional model of the vehicle, allowing the user to select different sound image points within the model. For example, the user can select a sound image point on the upper side of the cabin and a sound image point on the lower side of the cabin.

[0142] The above, combined with Figures 2a, 2b, 2c, 2d and 3, describes the scenario when there is one user in the cockpit. The following, combined with Figures 4 and 5, describes the scenario when there are multiple users in the cockpit.

[0143] For example, Figure 4 shows another schematic diagram of playing a welcome sound provided in an embodiment of this application.

[0144] As shown in Figure 4(a), when a user is detected entering the vehicle and is located in the driver's seat area and the passenger seat area, speakers 1, 2, 3, 4, 9, and 8 can be controlled to emit a welcome sound with sound image drift. The sound image drift direction of this welcome sound is to surround the driver's seat area and the passenger seat area, or to surround the user in the driver's seat area and the user in the passenger seat area.

[0145] The above detection of a user getting into the vehicle can be understood as detecting that the vehicle has been unlocked and the user has taken a seat in the cabin.

[0146] For example, from a top-down view, the sound image drift direction of the welcome sound can be clockwise, surrounding the driver's area and the passenger's area.

[0147] Optionally, the direction of the welcome sound's image drift can also be counterclockwise, surrounding the driver's and passenger's areas.

[0148] In this way, by generating a welcoming sound that drifts in a direction that surrounds the driver's and passenger's areas, users in the driver's and passenger's areas can feel surrounded (or included) by the welcoming sound and experience a sense of spatial flow, which helps to enhance the user's driving experience.

[0149] Optionally, the welcome sound can circle around the driver's and passenger's areas multiple times.

[0150] As shown in Figure 4(b), when a user is detected entering the vehicle and is located in the driver's seat area, passenger seat area, and second-row right side area, speakers 1, 2, 3, 4, 5, 6, 9, and 8 can be controlled to emit a welcome sound with sound image drift. The sound image drift direction of this welcome sound is either around the driver's seat area, passenger seat area, and second-row right side area, or around the user in the driver's seat area, the user in the passenger seat area, and the user in the second-row right side area.

[0151] For example, from a top-down view, the sound image drift direction of the welcome sound can be clockwise, surrounding the driver's area, the passenger's area, and the right side area of ​​the second row.

[0152] Optionally, the direction of the welcome sound's sound image drift can also be counterclockwise, surrounding the driver's area, the passenger's area, and the right side area of ​​the second row.

[0153] In this way, by generating a welcoming sound that drifts in a direction that surrounds the driver's area, passenger area, and right side of the second row, users in the driver's area, passenger area, and right side of the second row can feel surrounded (or encircled) by the welcoming sound and experience a sense of spatial flow, which helps to enhance the user's driving and riding experience.

[0154] As shown in Figure 4(c), when a user is detected entering the vehicle and is located in the driver's seat area, passenger seat area, second-row right side area, and second-row right side area, speakers 1-8 can be controlled to emit a welcome sound with sound image drift. The sound image drift direction of this welcome sound is to surround the driver's seat area, passenger seat area, second-row right side area, and second-row left side area, or surround the user in the driver's seat area, the user in the passenger seat area, the user in the second-row right side area, and the user in the second-row left side area.

[0155] For example, from a top-down view, the sound image drift direction of the welcome sound can be clockwise, surrounding the driver's area, the passenger's area, the right side of the second row, and the left side of the second row.

[0156] Optionally, the direction of the welcome sound's sound image drift can also be counterclockwise, surrounding the driver's area, passenger's area, the right side of the second row, and the left side of the second row.

[0157] For example, Figure 5 shows another schematic diagram of playing a welcome sound provided in an embodiment of this application.

[0158] As shown in Figure 5(a), when the user enters the vehicle and is located in the driver's seat area and the right side area of ​​the second row (the area where the boss's seat or queen's seat is located), and the door of the driver's seat area is closed, the speaker 1, speaker 2, speaker 3, speaker 4 and speaker 5 can be controlled to emit a welcome sound 1 with the sound image drifting direction from the driver's seat area to the passenger seat area, and then from the passenger seat area to the left side area of ​​the second row.

[0159] As shown in Figure 5(b), if the door in the right-side area of ​​the second row is detected to be closed during the emission of welcome sound 1, the emission of welcome sound 1 can be stopped (or the playback intensity of welcome sound 1 can be reduced), and the sound image drift direction of speakers 5, 6, 7, 8, and 1 can be controlled to be from the right-side area of ​​the second row to the left-side area of ​​the second row, and then from the left-side area of ​​the second row to the driver's area for welcome sound 2. In this way, it can be ensured that the VIP or queen-seat users enjoy welcome sound 2 that matches their area first, which helps to improve the driving and riding experience of the VIP or queen-seat users.

[0160] The above illustration in Figure 5 uses a pre-set high-priority area in the vehicle as an example, but the embodiments of this application are not limited to this. For example, users with higher priority can still be pre-set in the vehicle. If user B has a higher priority than user A, when user A and user B enter the cabin and user A closes the door in the first area, at least two sound-emitting devices in different positions can be controlled to emit a welcome sound 3 with sound image drift corresponding to user A (or corresponding to the first area). If user B in the second area is detected closing the door during the emission of welcome sound 3, then the emission of welcome sound 3 can be stopped (or the playback intensity of welcome sound 3 can be reduced), and at least two sound-emitting devices in different positions can be controlled to emit a welcome sound 4 with sound image drift corresponding to user B (or corresponding to the second area).

[0161] Figures 2a, 2b, 2c, 2d to 5 above illustrate schematic diagrams of playing a welcome sound with sound image drift through multiple speakers inside the cockpit. The following, in conjunction with Figure 6, illustrates a schematic diagram of playing a welcome sound with sound image drift through speakers outside the cockpit.

[0162] For example, Figure 6 shows another schematic diagram of playing a welcome sound provided in an embodiment of this application.

[0163] As shown in Figure 6, when a user is detected approaching the driver's area from the right side of the front of the vehicle, the speakers 11, 12, 13, and 14 outside the cabin can be controlled to emit a welcoming sound with a sound image drift. In this way, as the user moves towards the vehicle door, a welcoming sound corresponding to the direction of sound image drift and the user's movement trajectory can be emitted, thereby creating a sense of space and fluidity for the user outside the cabin, which helps to enhance the user experience.

[0164] In one embodiment, when a user's electronic device is detected to have entered a preset range (e.g., 2 meters) within the vehicle, the user's movement trajectory can be determined based on the change in the electronic device's orientation. Based on this trajectory, multiple speakers outside the cabin can be controlled to emit a welcoming sound with a shifting acoustic image, thereby creating a sense of space and movement for the user outside the cabin.

[0165] In one embodiment, the account logged in on the electronic device is associated with the account logged in on the vehicle.

[0166] Figure 7 shows a schematic flowchart of a control method 700 provided in an embodiment of this application. The method 700 includes:

[0167] S710 obtains the location information of one or more users, and / or the status of the vehicle doors.

[0168] Optionally, the location information of one or more users includes the area where the one or more users are located in the cabin. Obtaining the location information of one or more users includes: determining the area where the one or more users are located in the cabin based on images captured by the in-cabin camera device; or, determining the area where the one or more users are located in the cabin based on data collected by the seat pressure sensor; or, determining the area where the one or more users are located in the cabin based on data collected by the microphone array.

[0169] Optionally, the one or more users are designated as the first user, and obtaining the location information of the one or more users includes: determining the movement trajectory of the first user based on the orientation change information of the first user's electronic device (e.g., mobile phone or smartwatch).

[0170] Optionally, the status of the door can be used to indicate the status of each door in the vehicle, including whether the door is in an open or closed state.

[0171] S720, based on the location information and / or the state of the door, controls at least two sound-emitting devices in different locations to emit a sound image drifting welcome sound.

[0172] Optionally, the location information may include the user's movement trajectory outside the cabin, and based on the location information and / or the state of the door, control at least two sound-emitting devices in different locations to emit a sound-image drifting welcome sound, including: based on the user's movement trajectory outside the cabin, control at least two sound-emitting devices outside the cabin to emit a sound-image drifting welcome sound.

[0173] For example, when a user approaches the vehicle from a distance, their mobile phone can establish a connection with the vehicle. The vehicle can determine the user's movement trajectory based on the phone's positional changes. This allows control of at least two different sound-emitting devices outside the cabin to emit a welcoming sound with a sound image drifting in a direction corresponding to the movement trajectory.

[0174] For example, as shown in Figure 6, when a user enters the preset range of the vehicle, the speakers 11-14 outside the cabin can be controlled to emit a welcome sound whose sound image drift direction corresponds to the user's movement trajectory, based on the user's movement trajectory.

[0175] Optionally, the location information of the one or more users includes the area where the one or more users are located in the cabin, wherein controlling the sound-emitting devices at at least two different locations in the cabin to emit a sound-image drifting welcome sound based on the location information and / or the state of the vehicle door includes: controlling the sound-emitting devices at at least two different locations to emit a sound-image drifting welcome sound based on the area where the one or more users are located in the cabin.

[0176] Optionally, taking a sedan as an example, the areas where one or more users are located in the cabin include the driver's area, the front passenger area, the left side of the second row, and the right side of the second row.

[0177] Optionally, the direction of the audio-visual drift surrounds the area where one or more users are located.

[0178] For example, when a user is detected in the driver's seat area and the passenger seat area, the sound-emitting device in the front row area can be controlled to emit a welcome sound with a sound image drift direction that surrounds the driver's seat area and the passenger seat area.

[0179] Optionally, the starting sound image position of the welcoming sound corresponds to the area where the one or more users are located; or, the ending sound image position of the welcoming sound corresponds to the area where the one or more users are located.

[0180] For example, as shown in Figure 2a, when the vehicle is detected to be unlocked and the user enters the cabin and is located in the driver's area, speakers 1, 2, 3, 4, and 5 can be controlled to emit a welcome sound with a sound image drifting direction from the driver's area to the passenger area, and then from the passenger area to the right side of the second row. At this time, the starting sound image position of the welcome sound (e.g., the position of speaker 1, or the area around the position of speaker 1) is located in the driver's area.

[0181] Optionally, the one or more users are multiple users, and the multiple areas where the multiple users are located include a preset area (e.g., the area where the boss's seat is located). The welcoming sound of the sound image drift starts with a sound image point in the preset area, or ends with a sound image point in the preset area.

[0182] Optionally, the one or more users are considered as one user, and the welcoming sound of the sound image drift starts with the sound image point in the area where the user is located as the starting sound image position and ends with the sound image point far away from the area where the user is located as the ending sound image position.

[0183] For example, if someone is detected in the driver's area, at least two sound-emitting devices can be controlled to play a welcoming sound with the sound image drifting from the driver's area to the passenger's area.

[0184] For example, when someone is detected in the driver's area, at least two sound-emitting devices can be controlled to play a welcoming sound with the sound image drifting from the driver's area to the passenger area, and then to the right side of the second row.

[0185] Optionally, depending on the area where the one or more users are located in the cabin, control the sound-emitting devices at at least two different locations to emit a sound-image drifting welcome sound, including: when it is detected that the one or more users are located in the cabin and the doors of the vehicle are all closed, control the sound-emitting devices at at least two different locations to emit a sound-image drifting welcome sound depending on the area where the one or more users are located in the cabin.

[0186] For example, as shown in Figure 4(a), when a user is detected entering the vehicle and located in the driver's and passenger's areas, speakers 1, 2, 3, 4, 9, and 8 can be controlled to emit a welcoming sound with a sound image drift. The sound image drift direction of this welcoming sound is to surround the driver's and passenger's areas, or to surround the user in the driver's area and the user in the passenger's area. In this way, when all occupants are seated and the doors are closed, multiple sound-emitting devices can be controlled to emit a welcoming sound with a sound image drift direction surrounding the driver's and passenger's areas. This allows multiple users to hear the welcoming sound surrounding them in the enclosed cabin space, which helps to improve the auditory experience when listening to the welcoming sound.

[0187] For example, detecting that a user has entered the vehicle and is located in the driver's seat area and the passenger seat area can include: detecting that the vehicle is unlocked and that a user is present in the driver's seat area and the passenger seat area.

[0188] Optionally, depending on the area where one or more users are located within the cabin, controlling the sound-emitting devices at at least two different locations to emit a sound-image-drifting welcome sound includes: when a first user is detected to be located in a first area within the cabin, controlling a first set of sound-emitting devices to emit a sound-image-drifting first welcome sound based on the first area, the first set of sound-emitting devices including at least two different locations; when a second user is detected to be located in a second area within the cabin and the first welcome sound has not finished playing, continuing to play the first welcome sound; and when the first welcome sound finishes playing, controlling a second set of sound-emitting devices to emit a sound-image-drifting second welcome sound based on the second area, the second set of sound-emitting devices including at least two different locations.

[0189] For example, when the vehicle is detected to be unlocked, and the doors corresponding to the driver's and passenger's areas are unlocked, and the user is located in the driver's and passenger's areas, and the door in the driver's area is closed, speakers 1, 2, 3, 4, and 5 can be controlled to emit a welcome sound 1 with a sound image drifting direction from the driver's area to the passenger's area, and then from the passenger's area to the left side of the second row. If the door in the passenger's area is detected to be closed during the emission of welcome sound 1, then welcome sound 1 can continue to be emitted. When welcome sound 1 ends, the vehicle can control speakers 3, 4, 5, 6, and 7 to emit a welcome sound 2 with a sound image drifting direction from the passenger's area to the right side of the second row, and then from the right side of the second row to the left side of the second row.

[0190] Optionally, depending on the area where one or more users are located in the cabin, control the sound-emitting devices at least two different locations to emit a sound-image drifting welcome sound, including: when a third user is detected to be located in a third area in the cabin, control a third set of sound-emitting devices to emit a sound-image drifting third welcome sound according to the third area, the third set of sound-emitting devices including at least two different locations; when a fourth user is detected to be located in a preset area in the cabin and the third welcome sound has not finished playing, stop playing the third welcome sound or reduce the playback intensity of the third welcome sound; control a fourth set of sound-emitting devices to emit a sound-image drifting fourth welcome sound according to the preset area, the fourth set of sound-emitting devices including at least two different locations.

[0191] Optionally, the preset area is the area where the boss's seat is located, or the preset area is the area where the queen's seat is located.

[0192] For example, as shown in Figures 5(a) and (b), when the vehicle is detected to be unlocked and the user is seated in the driver's area and the right side of the second row (the area where the boss's seat or queen's seat is located), and the door in the driver's area is closed, speakers 1, 2, 3, 4, and 5 can be controlled to emit a welcome sound 1 with a sound image drifting direction from the driver's area to the passenger area, and then from the passenger area to the left side of the second row. If the door in the right side of the second row is detected to be closed during the emission of this welcome sound 1, then the emission of welcome sound 1 can be stopped (or the playback intensity of welcome sound 1 can be reduced), and speakers 5, 6, 7, 8, and 1 can be controlled to emit a welcome sound 2 with a sound image drifting direction from the right side of the second row to the left side of the second row, and then from the left side of the second row to the driver's area.

[0193] Optionally, based on the location information and / or the state of the door, control at least two sound-emitting devices in different locations within the cabin to emit a sound-image-drifting welcome sound, including: when the first door is detected to be open, controlling the sound-emitting devices in the at least two different locations to emit a sound-image-drifting welcome sound based on the position of the first door. Thus, when a door is detected to be open, a sound-image-drifting welcome sound is played according to the position of the door.

[0194] Optionally, controlling at least two different locations within the cockpit to emit a welcoming sound with a drifting sound image includes: controlling at least two different locations to emit a welcoming sound with a drifting sound image direction from left to right, or controlling at least two different locations to emit a welcoming sound with a drifting sound image direction from right to left.

[0195] For example, when the vehicle is detected to be unlocked and the user is in the driver's area, speakers 1, 2, and 3 can be controlled to emit a welcome sound with a sound image drifting from the driver's area to the passenger's area. At this time, the sound image drifting direction of the welcome sound can be from left to right.

[0196] Optionally, the method 700 further includes: controlling at least two sound-emitting devices at different locations to emit sound image drift direction from front to back, or controlling at least two sound-emitting devices at different locations to emit a welcoming sound image drift direction from back to front.

[0197] For example, as shown in Figure 2a, when the vehicle is detected to be unlocked and the user is in the driver's seat area, speakers 1, 2, 3, 4, and 5 can be controlled to emit a welcome sound with a sound image drifting direction from the driver's seat area to the passenger seat area, and then from the passenger seat area to the right side of the second row. At this time, the sound image drifting direction of the welcome sound can be from left to right first, and then from front to back.

[0198] Optionally, the method 700 further includes: controlling the direction of illumination of the ambient light, the direction of illumination of the ambient light corresponding to the direction of sound image drift, the ambient light being included in the vehicle cabin.

[0199] Optionally, when the cabin includes a fifth user and a sixth user, controlling at least two different locations within the cabin to emit a sound-image drifting welcome sound includes: controlling at least two different locations to emit a fifth welcome sound with a sound-image drifting direction from the area where the fifth user is located to the area where the sixth user is located, and controlling at least two different locations to emit a sixth welcome sound with a sound-image drifting direction from the area where the sixth user is located to the area where the fifth user is located.

[0200] Optionally, the sound image drift direction of the fifth welcoming sound and the sound image drift direction of the sixth welcoming sound intersect at the first sound image point. The method 700 further includes: controlling the playback of a preset sound source (e.g., drum sound, DJ sound, etc.) at the first sound image point.

[0201] Optionally, the method 700 further includes: when the sound image drift direction of the fifth welcoming sound and the sound image drift direction of the sixth welcoming sound intersect at the first sound image point, stopping the playback of the fifth welcoming sound and the sixth welcoming sound and playing a preset sound source at the first sound image point.

[0202] Optionally, the area where the fifth user is located is the fifth area, and the area where the sixth user is located is the sixth area. The method 700 further includes: during the process of emitting the fifth welcoming sound, controlling the lighting direction of the first ambient light from the fifth area to the sixth area, and during the process of emitting the sixth welcoming sound, controlling the lighting direction of the second ambient light from the sixth area to the fifth area.

[0203] Optionally, the method 700 further includes: when the first ambient light and the second ambient light intersect during the illumination process, controlling all ambient lights in the vehicle to be illuminated.

[0204] Optionally, before controlling the sound-emitting devices at at least two different locations in the cabin to emit a sound-image-drifting welcome sound, the method 700 further includes: acquiring a background noise signal in the cabin; determining the playback intensity of the welcome sound as a first playback intensity based on the background noise signal; wherein, controlling the sound-emitting devices at at least two different locations in the cabin to emit a sound-image-drifting welcome sound includes: controlling the sound-emitting devices at at least two different locations to emit a sound-image-drifting welcome sound based on the first playback intensity.

[0205] Optionally, the method 700 further includes: when a user's intention to get off the vehicle is detected, controlling at least two sound-emitting devices to emit a sound image drifting farewell tone.

[0206] Optionally, the direction of sound image drift of the welcoming tone and the farewell tone is the same.

[0207] Optionally, when the user's intention to get out of the vehicle is detected, at least two sound-emitting devices are controlled to emit a sound image drifting farewell tone, including: when the user's intention to get out of the vehicle is detected, the at least two sound-emitting devices are controlled to emit a sound image drifting farewell tone according to the area where the user is located.

[0208] Optionally, the sound image drift directions of the welcoming tone and the farewell tone are opposite.

[0209] For example, when the vehicle is detected to be unlocked and the user is in the driver's area, the vehicle can control multiple sound-emitting devices to emit a welcoming sound that drifts from the driver's area to the passenger area, and then from the passenger area to the right side of the second row. When the vehicle detects that the user in the driver's area intends to get out of the vehicle, it can control multiple sound-emitting devices to emit a farewell sound that drifts from the right side of the second row to the passenger area, and then from the passenger area to the driver's area.

[0210] Optionally, when the user's intention to get out of the vehicle is detected, at least two sound-emitting devices are controlled to emit a sound image drifting farewell tone, including: when the user's operation of switching the vehicle's gear to park (P gear) and unfastening the seat belt is detected, at least two sound-emitting devices are controlled to emit a sound image drifting farewell tone according to the area where one or more users are located in the cabin.

[0211] For example, when the vehicle's gear information is detected to switch from other gears (e.g., D or R) to P, and when the user in the driver's area is detected to unbuckle their seatbelt, the speakers 5, 4, 3, 2 and 1 can be controlled to emit a sound image drift direction from the right side of the second row to the passenger area, and then from the passenger area to the driver's area.

[0212] For example, when the vehicle's gear information is detected to switch from another gear (e.g., D or R) to P, and when the user in the driver's area is detected to unbuckle their seatbelt, the speakers 1, 2, 3, 4 and 5 can be controlled to emit a sound image drift direction from the driver's area to the passenger area, and then from the passenger area to the right side of the second row.

[0213] Optionally, when a user's intention to get out of the vehicle is detected, at least two sound-emitting devices are controlled to emit a drifting farewell sound, including: when a user shifts the vehicle's gear to Park (P), unbuckles the seatbelt, and a user opens the door, at least two sound-emitting devices are controlled to emit a drifting farewell sound.

[0214] Optionally, when a user's intention to get out of the vehicle is detected, at least two sound-emitting devices are controlled to emit a sound-image drifting farewell tone, including: when a user shifts the vehicle's gear to park (P gear), unbuckles the seat belt, and a user opens the door, at least two sound-emitting devices are controlled to emit a sound-image drifting farewell tone according to the area where one or more users are located in the cabin.

[0215] Optionally, the method 700 further includes: acquiring a first input from a user, the first input indicating the trajectory of the sound image drift; wherein controlling sound-emitting devices at at least two different locations within the cockpit to emit a welcome sound of sound image drift includes: controlling sound-emitting devices at at least two different locations to emit a welcome sound of sound image drift according to the trajectory.

[0216] Optionally, acquiring a user's first input, which indicates the trajectory of the sound-image drift, includes: controlling a display device to display a first interface, the first interface including an image of the vehicle and prompting information, the prompting information being used to prompt the user to draw a trajectory inside the vehicle's cabin; in response to detecting a first touch operation by the user on the display interface, establishing a correspondence between the user's identification information and the trajectory of the sound-image drift based on the trajectory corresponding to the first touch operation. Thus, when the vehicle is detected to be unlocked and the user enters the vehicle, at least two sound-emitting devices in different locations can be controlled to emit a welcome sound corresponding to the trajectory of the sound-image drift.

[0217] For example, the image of the vehicle can be a three-dimensional model of the vehicle. In this way, the user can select the audio-visual points on the upper side, lower side, front side, rear side, left side, and right side of the cabin using the three-dimensional model.

[0218] Figure 8 shows a schematic flowchart of a control method 800 provided in an embodiment of this application. The method 800 includes:

[0219] S801, vehicle unlock detected.

[0220] For example, a vehicle can automatically unlock itself when it detects that the distance between the owner's electronic device (e.g., a mobile phone or smartwatch) and the vehicle is less than or equal to a preset distance.

[0221] For example, a vehicle can also perform an unlocking operation when it receives an unlocking command from the remote key.

[0222] S802, door opening detected.

[0223] For example, the vehicle can control the door to open when it detects that the user pulls the door handle; or, the vehicle can control the door to open when it detects that the user clicks on a certain part of the door handle.

[0224] For example, a vehicle can detect that a door is open using a door sensor.

[0225] S803, user seated detected.

[0226] For example, a vehicle can use data collected by seat sensors to determine when a user is seated and the area where the user is located in the cabin (e.g., the driver's area or the passenger's area).

[0227] For example, a vehicle can determine when a user is seated and the area where the user is located within the cabin by using images captured by cameras inside the cabin.

[0228] For example, a vehicle can determine the area of ​​the user in the cabin by using data collected by an in-cabin microphone array.

[0229] S804, the user's action of closing the car door was detected.

[0230] For example, a vehicle can determine that the door is closed by using data collected by the door sensor.

[0231] For example, when the vehicle detects a user's touch operation on the door close button, it controls the door to close, thus confirming that the door is in the closed state.

[0232] S805, identify at least two sound-generating devices in different locations.

[0233] Optionally, determining at least two sound-emitting devices at different locations includes: when a door is detected to be in an open state, determining at least two sound-emitting devices at different locations based on information about the open door.

[0234] For example, when the vehicle is detected to be unlocked and the door corresponding to the driver's area is open, the speakers 1, 2, 3, 4 and 5 can be controlled to emit a welcome sound with the sound image drifting from the driver's area to the passenger area, and then from the passenger area to the right side of the second row.

[0235] For example, when the vehicle is detected to be unlocked and the door corresponding to the passenger side area is open, the speakers 3, 4, 5, 6 and 7 can be controlled to emit a sound image drifting direction from the passenger side area to the right side area of ​​the second row, and then from the right side area of ​​the second row to the left side area of ​​the second row.

[0236] Optionally, determining at least two sound-emitting devices at different locations includes: when the door is detected to be open and the user is seated, determining at least two sound-emitting devices at different locations based on the area where the user is located.

[0237] For example, when the vehicle is detected to be unlocked and the door corresponding to the driver's area is opened, data collected by the seat pressure sensor in the driver's area can be obtained. When the data collected by the seat pressure sensor in the driver's area indicates that a user has sat down in the driver's area, speakers 1, 2, 3, 4, and 5 can be controlled to emit a welcome sound with a sound image drifting from the driver's area to the passenger area, and then from the passenger area to the right side of the second row.

[0238] For example, when the vehicle is detected to be unlocked and the doors corresponding to the driver's and passenger's seats are opened, data collected by the seat pressure sensors in the driver's and passenger's seats can be acquired. When the data collected by the seat pressure sensor in the driver's seat indicates that a user has sat down in the driver's seat, and the data collected by the seat pressure sensor in the passenger's seat indicates that a user has sat down in the passenger's seat, speakers 1, 2, 3, 4, 5, 9, and 8 can be controlled to emit a welcome sound with a sound image drift direction that surrounds the driver's and passenger's seats.

[0239] Optionally, determining at least two sound-emitting devices at different locations includes: when the door is detected to be open, the user is seated, and the door is closed, determining at least two sound-emitting devices at different locations based on the area where the user is located.

[0240] For example, when the vehicle is detected to be unlocked and the door corresponding to the driver's area is opened, data collected by the seat pressure sensor and door sensor in the driver's area can be acquired. When the data collected by the seat pressure sensor in the driver's area indicates that a user has sat down in the driver's area and the data collected by the door sensor indicates that the door corresponding to the driver's area has switched from the open state to the closed state, speakers 1, 2, 3, 4, and 5 can be controlled to emit a welcome sound with a sound image drifting from the driver's area to the passenger area, and then from the passenger area to the right side of the second row.

[0241] For example, when the vehicle is detected to be unlocked and the doors corresponding to the driver's and passenger's areas are opened, data collected by the seat pressure sensors and door sensors in the driver's and passenger's areas can be acquired. When the data collected by the seat pressure sensor in the driver's area indicates that a user has sat down in the driver's area, and the data collected by the seat pressure sensor in the passenger's area indicates that a user has sat down in the passenger's area, and the data collected by the door sensors indicates that the doors in the driver's and passenger's areas have switched from an open state to a closed state, speakers 1, 2, 3, 4, 5, 9, and 8 can be controlled to emit a welcome sound with a sound image drift direction that surrounds the driver's and passenger's areas.

[0242] The above S805 is an optional step. For example, when the user is detected to have sat down and closed all the doors of the vehicle, multiple preset sound-emitting devices can be controlled to emit a sound image drifting welcome sound.

[0243] S806 acquires the cabin noise floor signal.

[0244] For example, when vehicle unlocking is detected, the background noise signal inside the cabin can be acquired within a preset time period from the moment the vehicle is unlocked. This background noise signal can be acquired by a microphone inside the vehicle.

[0245] S807 determines the gain compensation based on the noise floor signal.

[0246] For example, the acquired background noise signal can be processed to calculate the sound pressure level (loudness). For instance, the sound pressure level can be calculated using time-domain / frequency-domain methods. Based on the calculated sound pressure level, the volume compensation value can be determined from a pre-set compensation table, which shows the correspondence between sound pressure level (loudness) and volume compensation values.

[0247] S808, based on the gain compensation, determines the playback volume of the sound-generating device.

[0248] For example, before controlling sound-emitting devices at at least two different locations to emit a welcome sound with sound image drift, the playback volume of the welcome sound can be updated. For instance, the playback volume of the welcome sound can be the user-set playback volume of the welcome sound plus the volume compensation value.

[0249] For example, the vehicle can also store the correspondence between the characteristics of the background noise signal (e.g., signal strength) and the playback volume of the welcome sound. In this way, when the background noise signal is acquired through the microphone in the cabin, the playback volume of the corresponding welcome sound can be directly determined based on the correspondence.

[0250] The steps S805-S808 above are optional.

[0251] S809 controls at least two sound-emitting devices in different locations to emit a welcoming sound with a drifting sound image.

[0252] Method 700 or method 800 can be executed by vehicle 100, or method 700 or method 800 can be executed by the aforementioned computing platform 120, or method 700 or method 800 can be executed by a system consisting of computing platform 120 and at least two sound-emitting devices, or method 700 or method 800 can be executed by a system-on-a-chip (SoC) in the aforementioned computing platform, or method 700 or method 800 can be executed by a processor, circuit, or chip in the computing platform.

[0253] Figure 9 shows a schematic block diagram of a control device 900 provided in an embodiment of this application. The device 900 includes: an acquisition unit 910, used to acquire the location information of one or more users, and / or the status of the vehicle door; and a control unit 920, used to control at least two sound-emitting devices in different locations within the cabin to emit a sound image drifting welcome sound based on the location information and / or the status of the vehicle door.

[0254] Optionally, the location information of the one or more users includes the area where the one or more users are located in the cabin, wherein the control unit 920 is specifically used to: control at least two sound-emitting devices in different locations to emit a sound image drifting welcome sound according to the area where the one or more users are located in the cabin.

[0255] Optionally, the starting sound image position of the welcoming sound corresponds to the area where the one or more users are located; or, the ending sound image position of the welcoming sound corresponds to the area where the one or more users are located.

[0256] Optionally, the control unit 920 is specifically used to: when one or more users are in the cabin and the doors of the vehicle are all closed, control at least two sound-emitting devices in different locations to emit a sound image drifting welcome sound according to the area where the one or more users are located in the cabin.

[0257] Optionally, the control unit 920 is specifically configured to: when the first user is located in a first area within the cabin, control a first set of sound-emitting devices to emit a first welcome sound with sound image drift, the first set of sound-emitting devices including at least two sound-emitting devices in different locations; continue playing the first welcome sound when the second user is located in a second area within the cabin and before the first welcome sound has finished playing; and when the first welcome sound has finished playing, control a second set of sound-emitting devices to emit a second welcome sound with sound image drift, the second set of sound-emitting devices including at least two sound-emitting devices in different locations, according to the second area.

[0258] Optionally, the control unit 920 is specifically configured to: when a third user is located in a third area within the cabin, control a third set of sound-emitting devices to emit a third welcome sound with sound image drift, the third set of sound-emitting devices including at least two sound-emitting devices in different locations; when a fourth user is located in a preset area within the cabin and the third welcome sound has not finished playing, stop playing the third welcome sound or reduce the playback intensity of the third welcome sound; and control a fourth set of sound-emitting devices to emit a fourth welcome sound with sound image drift, the fourth set of sound-emitting devices including at least two sound-emitting devices in different locations, according to the preset area.

[0259] Optionally, the control unit 920 is specifically used to: when the first door is in the open state, control the sound-emitting devices at at least two different positions to emit a sound image drifting welcome sound according to the position of the first door.

[0260] Optionally, the control unit 920 is specifically used to: control at least two sound-emitting devices at different locations to emit a welcoming sound with a sound image drift direction from left to right, or control at least two sound-emitting devices at different locations to emit a welcoming sound with a sound image drift direction from right to left.

[0261] Optionally, the control unit 920 is also used to control at least two sound-emitting devices at different locations to emit a welcoming sound with the sound image drifting direction from front to back, or to control at least two sound-emitting devices at different locations to emit a welcoming sound with the sound image drifting direction from back to front.

[0262] Optionally, the control unit 920 is also used to control the direction of illumination of the ambient light, which corresponds to the direction of sound image drift, and the ambient light is included in the vehicle cabin.

[0263] Optionally, the device further includes a determining unit, the acquiring unit 910 being used to acquire the background noise signal inside the cabin; the determining unit being used to determine the playback intensity of the welcome sound as a first playback intensity based on the background noise signal; wherein, the control unit 920 is specifically used to: control at least two sound-emitting devices at different locations to emit a welcome sound with sound image drift based on the first playback intensity.

[0264] Optionally, the control unit 920 is also configured to control at least two sound-emitting devices to emit a sound image drifting farewell tone when the user's intention to get out of the vehicle is detected.

[0265] Optionally, the acquisition unit 910 is further configured to acquire a first input from the user, the first input indicating the trajectory of the sound image drift; wherein, the control unit 920 is specifically configured to: control at least two sound-emitting devices at different locations to emit a welcome sound of sound image drift according to the trajectory.

[0266] The functions implemented by the acquisition unit 910 can be implemented by the processor, chip, or circuit in the aforementioned computing platform. For example, the functions implemented by the acquisition unit 910 can be implemented by the processor 121. The processor 121 can acquire the status of the car door, or, after determining that a user has boarded and sat down based on data collected by the car door sensor, the processor 121 can determine the area where one or more users are located in the cabin based on data collected by sensors in the cabin (e.g., cameras, seat pressure sensors, or microphone arrays).

[0267] The functions implemented by the above control unit can be implemented by the processor, chip, or circuit in the aforementioned computing platform. For example, the functions implemented by control unit 920 can be implemented by processor 122. Processor 122 can control at least two speakers in different locations to play a sound-image drifting welcome sound when the door status indicates that the door is open, based on the door status obtained by processor 121; or, processor 122 can control at least two speakers in different locations to play a sound-image drifting welcome sound based on the area where one or more users are located in the cabin, based on the area obtained by processor 121.

[0268] The functions implemented by the acquisition unit 910 and the control unit 920 can be implemented by the same processor or by different processors. This application embodiment does not specifically limit this.

[0269] It should be understood that the division of units in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented by a processor calling software; for example, the device includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functions of some or all units can be implemented through the design of the hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all units are implemented through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby implementing the functions of some or all units. All units of the above devices can be implemented entirely through processor calling software, or entirely through hardware circuits, or partially through processor calling software with the remaining parts implemented through hardware circuits.

[0270] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.

[0271] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0272] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together and implemented as a System-on-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and AI processor, CPU and GPU, etc.

[0273] This application also provides a control device, which includes a processing unit and a storage unit. The storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the device to perform the methods or steps described in the above embodiments.

[0274] Optionally, if the control device is located in a vehicle, the processing unit may be one or more of the processors 121-12n shown in FIG1.

[0275] This application also provides a control system, which includes the above-described control device and at least two sound-emitting devices at different locations.

[0276] This application also provides a vehicle that may include the aforementioned control device or control system.

[0277] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0278] This application also provides a computer-readable medium storing program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0279] This application also provides a chip, which includes a circuit for performing the methods described in the above embodiments.

[0280] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, power-on erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0281] It should be understood that in the embodiments of this application, the memory may include read-only memory and random access memory, and provides instructions and data to the processor.

[0282] It should also be understood that, in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0283] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0284] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0285] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0286] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0287] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0288] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0289] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be covered. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, include: Obtain the location information of one or more users, and / or the status of the car doors; Based on the location information and / or the state of the vehicle door, control at least two sound-emitting devices in different locations within the cabin to emit a welcoming sound with sound image drift.

2. The method according to claim 1, characterized in that, The location information of one or more users includes the area where the one or more users are located inside the cockpit. The step of controlling at least two different sound-emitting devices in the cabin to emit a sound image drifting welcome sound based on the location information and / or the state of the vehicle door includes: Depending on the location of one or more users within the cabin, control at least two sound-emitting devices in different locations to emit a sound image drifting welcome sound.

3. The method according to claim 2, characterized in that, The starting sound image position of the welcoming sound corresponds to the area where one or more users are located; or, The position of the ending sound image of the welcoming sound corresponds to the area where one or more users are located.

4. The method according to claim 2 or 3, characterized in that, The step of controlling the sound-emitting devices at at least two different locations to emit a welcome sound with sound image drift, based on the area where one or more users are located in the cabin, includes: When it is detected that one or more users are in the cabin and all the vehicle doors are closed, at least two sound-emitting devices in different locations are controlled to emit a sound image drifting welcome sound according to the area where the one or more users are located in the cabin.

5. The method according to claim 2 or 3, characterized in that, The step of controlling the sound-emitting devices at at least two different locations to emit a welcome sound with sound image drift, based on the area where one or more users are located in the cabin, includes: When a first user is detected to be located in a first area within the cabin, the first set of sound-emitting devices is controlled to emit a first welcoming sound with sound image drift, based on the first area. The first set of sound-emitting devices includes at least two sound-emitting devices in different locations. If the first welcoming sound is not played after the detection that the second user is in the second area of ​​the cabin and before the first welcoming sound has ended, the first welcoming sound will continue to play. When the first welcoming sound ends, according to the second region, the second set of sound-emitting devices is controlled to emit a second welcoming sound with sound image drift, the second set of sound-emitting devices including at least two sound-emitting devices in different positions.

6. The method according to claim 2 or 3, characterized in that, The step of controlling the sound-emitting devices at at least two different locations to emit a welcome sound with sound image drift, based on the area where one or more users are located in the cabin, includes: When a third user is detected to be located in a third area within the cabin, the third sound-emitting device set is controlled to emit a third welcoming sound with sound image drift according to the third area. The third sound-emitting device set includes at least two sound-emitting devices in different positions. If the fourth user is detected to be in a preset area within the cabin and the third welcoming sound has not finished playing, stop playing the third welcoming sound or reduce the intensity of the third welcoming sound. According to the preset area, the fourth set of sound-emitting devices is controlled to emit a fourth welcoming sound with sound image drift. The fourth set of sound-emitting devices includes at least two sound-emitting devices in different positions.

7. The method according to claim 1, characterized in that, The step of controlling at least two different sound-emitting devices in the cabin to emit a sound image drifting welcome sound based on the location information and / or the state of the vehicle door includes: When the first door is detected to be open, the sound-emitting devices at at least two different locations are controlled to emit a welcoming sound with sound image drift, depending on the position of the first door.

8. The method according to any one of claims 1 to 7, characterized in that, The control of sound-emitting devices at at least two different locations within the cockpit to emit a welcoming sound with sound image drift includes: Control at least two sound-emitting devices in different positions to emit a welcoming sound with a sound image drift direction from left to right, or control at least two sound-emitting devices in different positions to emit a welcoming sound with a sound image drift direction from right to left.

9. The method according to claim 8, characterized in that, The method further includes: Control at least two sound-emitting devices in different positions to emit a sound image drifting direction from front to back, or control at least two sound-emitting devices in different positions to emit a welcoming sound image drifting direction from back to front.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: The direction of the ambient lighting is controlled, and the direction of the ambient lighting corresponds to the direction of the sound image drift. The ambient lighting is included in the vehicle cabin.

11. The method according to any one of claims 1 to 10, characterized in that, Before the method controls the sound-emitting devices at at least two different locations within the cockpit to emit a sound image drifting welcome tone, the method further includes: Acquire the background noise signal inside the cockpit; Based on the background noise signal, the playback intensity of the welcoming sound is determined to be the first playback intensity; The method of controlling the sound-emitting devices at at least two different locations within the cockpit to emit a welcoming sound with sound image drift includes: Based on the first playback intensity, control at least two sound-emitting devices at different locations to emit a welcoming sound with sound image drift.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: When the user's intention to get off the vehicle is detected, the system controls at least two sound-emitting devices in different locations to emit a guest sound with a drifting sound image.

13. The method according to any one of claims 1 to 12, characterized in that, The method further includes: Obtain the user's first input, which indicates the trajectory of the acoustic image drift; The method of controlling the sound-emitting devices at at least two different locations within the cockpit to emit a welcoming sound with sound image drift includes: Based on the trajectory, at least two sound-emitting devices at different locations are controlled to emit a welcoming sound with sound image drift.

14. A control device, characterized in that, include: The acquisition unit is used to acquire the location information of one or more users, and / or the status of the vehicle doors; The control unit is configured to control at least two different sound-emitting devices in the cabin to emit a sound image drifting welcome sound based on the location information and / or the state of the vehicle door.

15. The apparatus according to claim 14, characterized in that, The location information of one or more users includes the area where the one or more users are located inside the cockpit. Specifically, the control unit is used for: Depending on the location of one or more users within the cabin, control at least two sound-emitting devices in different locations to emit a sound image drifting welcome sound.

16. The apparatus according to claim 15, characterized in that, The starting sound image position of the welcoming sound corresponds to the area where one or more users are located; or, The position of the ending sound image of the welcoming sound corresponds to the area where one or more users are located.

17. The apparatus according to claim 15 or 16, characterized in that, The control unit is specifically used for: When one or more users are in the cabin and all the vehicle doors are closed, at least two sound-emitting devices in different locations are controlled to emit a sound image drifting welcome sound according to the area where the one or more users are located in the cabin.

18. The apparatus according to claim 15 or 16, characterized in that, The control unit is specifically used for: When the first user is located in a first area within the cabin, the first set of sound-emitting devices is controlled to emit a first welcoming sound with sound image drift according to the first area. The first set of sound-emitting devices includes sound-emitting devices in at least two different locations. The first welcoming sound continues to play when the second user is located in the second area of ​​the cabin and before the first welcoming sound has finished playing; When the first welcoming sound ends, according to the second region, the second set of sound-emitting devices is controlled to emit a second welcoming sound with sound image drift, the second set of sound-emitting devices including at least two sound-emitting devices in different positions.

19. The apparatus according to claim 15 or 16, characterized in that, The control unit is specifically used for: When the third user is located in the third area of ​​the cabin, the third sound-emitting device set is controlled to emit a third welcoming sound with sound image drift according to the third area. The third sound-emitting device set includes at least two sound-emitting devices in different positions. When the fourth user is located in the preset area of ​​the cabin and the third welcoming sound has not finished playing, stop playing the third welcoming sound or reduce the playback intensity of the third welcoming sound; According to the preset area, the fourth set of sound-emitting devices is controlled to emit a fourth welcoming sound with sound image drift. The fourth set of sound-emitting devices includes at least two sound-emitting devices in different positions.

20. The apparatus according to claim 14, characterized in that, The control unit is specifically used for: When the first door is open, the sound-emitting devices at at least two different positions are controlled to emit a welcoming sound with sound image drift, depending on the position of the first door.

21. The apparatus according to any one of claims 14 to 20, characterized in that, The control unit is specifically used for: Control at least two sound-emitting devices in different positions to emit a welcoming sound with a sound image drift direction from left to right, or control at least two sound-emitting devices in different positions to emit a welcoming sound with a sound image drift direction from right to left.

22. The apparatus according to claim 21, characterized in that, The control unit is also used to control at least two sound-emitting devices at different locations to emit a welcoming sound with the sound image drifting direction from front to back, or to control at least two sound-emitting devices at different locations to emit a welcoming sound with the sound image drifting direction from back to front.

23. The apparatus according to any one of claims 14 to 22, characterized in that, The control unit is also used to control the direction of the ambient light illumination, the direction of which corresponds to the direction of sound image drift, and the ambient light is included in the vehicle cabin.

24. The apparatus according to any one of claims 14 to 23, characterized in that, The device also includes a determining unit. The acquisition unit is also used to acquire the background noise signal inside the cockpit; The determining unit is used to determine the playback intensity of the welcoming sound as a first playback intensity based on the background noise signal; Specifically, the control unit is used for: Based on the first playback intensity, control at least two sound-emitting devices at different locations to emit a welcoming sound with sound image drift.

25. The apparatus according to any one of claims 14 to 24, characterized in that, The control unit is also configured to control at least two sound-emitting devices in different locations to emit a sound image drifting farewell tone when the user's intention to get out of the vehicle is detected.

26. The apparatus according to any one of claims 14 to 25, characterized in that, The acquisition unit is further configured to acquire a first input from the user, wherein the first input indicates the trajectory of the acoustic image drift; Specifically, the control unit is used for: Based on the trajectory, at least two sound-emitting devices at different locations are controlled to emit a welcoming sound with sound image drift.

27. A control device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 1 to 13.

28. A control system, characterized in that, The control system includes a computing platform and multiple sound-generating devices, the computing platform including the control device as described in any one of claims 14 to 27.

29. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 14 to 27, or includes the system as described in claim 28.

30. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 13.

31. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 13.

32. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 13.

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