Electric motor control method and apparatus, and vehicle and storage medium

Abstract

Provided is an electric motor control method, comprising: determining a target sound emission mode in which an electric motor emits sound; and controlling the electric motor to emit a sound corresponding to the target sound emission mode. Also provided are an electric motor control apparatus, a vehicle and a computer-readable storage medium. The method requires no additional sound emission device to be installed on a vehicle, thereby effectively reducing costs and enriching the diversity of sound emission content of an electric motor.

Description

Electric motor control methods, devices, vehicles, and storage media

[0001] This application claims priority to Chinese patent application No. 202411210261.6, filed on August 30, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicle technology, and in particular to a method for controlling an electric motor, a control device for an electric motor, a vehicle, and a computer-readable storage medium. Background Technology

[0003] With the continuous development of society, the ownership rate of vehicles is increasing, and vehicles have become one of the main means of transportation for people's daily travel. At the same time, electric vehicles have also developed rapidly in recent years, with both pure electric and hybrid vehicles gaining increasing popularity among consumers. Among the components of electric vehicles, the motor not only drives the vehicle but also has other functions, such as producing desired sounds. Compared to traditional gasoline vehicles, the driving experience of electric vehicles is vastly different. Generally speaking, electric vehicles of the same class offer a smoother ride, less vibration, and less noise, which are advantages of electric vehicles over traditional gasoline vehicles. Summary of the Invention

[0004] This disclosure provides a method, apparatus, vehicle, and storage mechanism for controlling an electric motor, to solve or partially solve the problem of needing to add an additional sound-generating device when controlling a vehicle to produce sound.

[0005] In a first aspect, some embodiments of this disclosure provide a method for controlling a motor, the method comprising: determining a target sound emission mode of the motor; and controlling the motor to emit a sound corresponding to the target sound emission mode.

[0006] In some embodiments, the target vocal mode includes at least a first vocal mode and a second vocal mode, wherein the vocal triggering conditions of the first vocal mode are different from those of the second vocal mode.

[0007] In some embodiments, determining the target sound emission mode of the motor includes: acquiring a target instruction for the motor, and determining the target sound emission mode of the motor based on the target instruction.

[0008] In some embodiments, obtaining a target instruction for the motor and determining a target sound mode for the motor based on the target instruction includes: if the vehicle speed is less than or equal to a preset speed threshold, generating a target instruction for the motor and determining a first sound mode or a second sound mode for the motor based on the target instruction.

[0009] In some embodiments, the target instruction includes at least a sound trigger instruction and a sound control instruction, and the target sound mode corresponds to a target audio. The step of obtaining the target instruction for the motor and determining the target sound mode of the motor sounding according to the target instruction includes: obtaining the sound trigger instruction; determining the corresponding sound mode type based on the sound trigger instruction; and obtaining the sound control instruction for the sound mode type and determining the target audio corresponding to the sound control instruction.

[0010] In some embodiments, the sound control command includes at least a sound mode selection command and an audio selection command. The step of obtaining a sound control command for the sound mode type and determining the target audio corresponding to the sound control command includes: obtaining a first sound mode selection command for the sound mode type; determining a corresponding first type of audio based on the first sound mode selection command, wherein the first type of audio is audio that is played according to fixed acoustic characteristics; and obtaining a first audio selection command for the first type of audio and determining a first target audio corresponding to the first audio selection command.

[0011] In some embodiments, the sound control command includes at least a sound mode selection command and an audio selection command. The step of obtaining a sound control command for the sound mode type and determining the target audio corresponding to the sound control command includes: obtaining a second sound mode selection command for the sound mode type; outputting a second type of audio corresponding to the second sound mode selection command, wherein the second type of audio is audio played according to the vehicle's driving status parameters; and obtaining a second audio selection command for the second type of audio and determining a second target audio corresponding to the second audio selection command.

[0012] In some embodiments, the target instruction further includes a playback mode selection instruction. Controlling the motor to emit a sound corresponding to the target sound mode includes: determining a playback mode type for the target audio; obtaining a playback mode selection instruction for the playback mode type; determining a target playback mode corresponding to the playback mode selection instruction; and controlling the motor to emit a sound corresponding to the target audio according to the target playback mode.

[0013] In some embodiments, the target playback mode includes at least a reminder playback mode. Controlling the motor to emit a sound corresponding to the target audio according to the target playback mode includes: controlling the motor to emit a sound corresponding to the target audio according to the reminder playback mode.

[0014] In some embodiments, controlling the motor to emit a sound corresponding to the target audio according to the reminder playback mode includes: when the target playback mode is the reminder playback mode, in response to the presence of an environmental object around the vehicle, controlling the motor to simulate emitting a sound corresponding to the target audio, wherein the environmental object is an object identified by recognizing environmental parameters collected by the vehicle's sensors.

[0015] In some embodiments, the environmental objects include at least moving objects and stationary objects. The moving objects include at least one of pedestrians, animals, and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, medians, curbs, traffic signs, and traffic lights.

[0016] In some embodiments, the target playback mode includes at least a continuous playback mode. Controlling the motor to emit a sound corresponding to the target audio according to the reminder playback mode includes: when the target playback mode is the continuous playback mode, controlling the motor to continuously simulate emitting a sound corresponding to the target audio.

[0017] In some embodiments, controlling the motor to emit a sound corresponding to the target sound mode includes: acquiring driving state parameters during vehicle operation; and controlling the motor to simulate emitting a sound corresponding to the second target audio according to the driving state parameters.

[0018] In some embodiments, the driving status parameters include at least one of the following: vehicle speed, acceleration, vehicle posture, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information.

[0019] In some embodiments, the method further includes generating the target instruction based on any one of the following: at least one of a user pressing a mechanical button or a touch operation; a user touching an interactive interface; a user-inputted voice operation; and a gesture performed by the user.

[0020] Secondly, some embodiments of this disclosure also provide a control device for a motor. The control device includes a mode determination module and a sound emission control module. The mode determination module is configured to determine a target sound emission mode for the motor. The sound emission control module is configured to control the motor to emit a sound corresponding to the target sound emission mode.

[0021] In some embodiments, the target vocal mode includes at least a first vocal mode and a second vocal mode, wherein the vocal triggering conditions of the first vocal mode are different from those of the second vocal mode.

[0022] In some embodiments, the mode determination module is further configured to: acquire a target instruction for the motor, and determine a target sound emission mode for the motor based on the target instruction.

[0023] In some embodiments, the mode determination module is further configured to: if the vehicle speed is less than or equal to a preset speed threshold, generate a target instruction for the motor, and determine a first sound emission mode or a second sound emission mode of the motor based on the target instruction.

[0024] In some embodiments, the target instruction includes at least a sound trigger instruction and a sound control instruction. The target sound mode corresponds to a target audio. The mode determination module is further configured to: acquire a sound trigger instruction; determine a corresponding sound mode type based on the sound trigger instruction; and acquire a sound control instruction for the sound mode type, and determine the target audio corresponding to the sound control instruction.

[0025] In some embodiments, the sound control command includes at least a sound mode selection command and an audio selection command. The mode determination module is further configured to: acquire a first sound mode selection command for the sound mode type; determine a first type of audio corresponding to the first sound mode selection command, wherein the first type of audio is audio that is played according to fixed acoustic characteristics; and acquire a first audio selection command for the first type of audio, and determine a first target audio corresponding to the first audio selection command.

[0026] In some embodiments, the sound control command includes at least a sound mode selection command and an audio selection command. The mode determination module is further configured to: acquire a second sound mode selection command for the sound mode type; output a second type of audio corresponding to the second sound mode selection command, wherein the second type of audio is audio played according to the vehicle's driving status parameters; and acquire a second audio selection command for the second type of audio, and determine a second target audio corresponding to the second audio selection command.

[0027] In some embodiments, the target instruction further includes a playback mode selection instruction. The sound control module is further configured to: determine a playback mode type for the target audio; obtain a playback mode selection instruction for the playback mode type; determine a target playback mode corresponding to the playback mode selection instruction; and control the motor to emit a sound corresponding to the target audio according to the target playback mode.

[0028] In some embodiments, the target playback mode includes at least a reminder playback mode. The sound control module is configured to control the motor to emit a sound corresponding to the target audio according to the reminder playback mode.

[0029] In some embodiments, the sound control module is further configured to: when the target playback mode is the reminder playback mode, in response to the presence of an environmental object around the vehicle, control the motor to simulate emitting a sound corresponding to the target audio, wherein the environmental object is an object identified by recognizing environmental parameters collected by the vehicle's sensors.

[0030] In some embodiments, the environmental objects include at least moving objects and stationary objects. The moving objects include at least one of pedestrians, animals, and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, medians, curbs, traffic signs, and traffic lights.

[0031] In some embodiments, the target playback mode includes at least a continuous playback mode. The sound control module is further configured to: when the target playback mode is the continuous playback mode, control the motor to continuously simulate and emit a sound corresponding to the target audio.

[0032] In some embodiments, the sound control module is further configured to: acquire driving status parameters during vehicle operation; and control the motor to simulate and emit a sound corresponding to the second target audio according to the driving status parameters.

[0033] In some embodiments, the driving status parameters include at least one of the following: vehicle speed, acceleration, vehicle posture, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information.

[0034] In some embodiments, the pattern determination module is further configured to generate the target instruction based on any one of the following: at least one of a user pressing a mechanical button or a touch operation; a user touching an interactive interface; a user-inputted voice operation; and a gesture performed by the user.

[0035] Thirdly, some embodiments of this disclosure also provide a vehicle. The vehicle includes: one or more processors; and one or more machine-readable media storing instructions that, when executed by the one or more processors, cause the vehicle to perform the method described in the first aspect.

[0036] Fourthly, some embodiments of this disclosure also provide a computer-readable storage medium. The computer-readable storage medium stores instructions that, when executed by one or more processors, cause the processors to perform the method described in the first aspect. Attached Figure Description

[0037] Figure 1 is a flowchart of a motor control method according to some embodiments of the present disclosure;

[0038] Figure 2 is a flowchart of another motor control method according to some embodiments of the present disclosure;

[0039] Figure 3 is a flowchart of another motor control method according to some embodiments of the present disclosure;

[0040] Figure 4 is a block diagram of a vehicle control system according to some embodiments of the present disclosure;

[0041] Figure 5 is a flowchart of a motor simulating sound generation according to some embodiments of the present disclosure;

[0042] Figure 6 is a flowchart of a motor control method according to some embodiments of the present disclosure;

[0043] Figure 7 is a block diagram of a motor control device according to some embodiments of the present disclosure;

[0044] Figure 8 is a block diagram of another motor control device according to some embodiments of the present disclosure;

[0045] Figure 9 is a block diagram of another motor control device according to some embodiments of the present disclosure;

[0046] Figure 10 is a block diagram of another motor control device according to some embodiments of the present disclosure;

[0047] Figure 11 is a block diagram of a vehicle according to some embodiments of the present disclosure. Detailed Implementation

[0048] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, some embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0049] In some scenarios, the excessive quietness of electric vehicles can actually cause problems, becoming a disadvantage. For example, the quietness of electric vehicles can make it difficult to detect other vehicles nearby. Furthermore, for users who enjoy the sound of an engine, the excessive quietness of electric vehicles diminishes the driving pleasure.

[0050] In response, controlling the vehicle to produce corresponding sounds has become a user demand. However, in the process of controlling the vehicle to produce sounds, there are problems such as the need to add additional sound-producing devices, the sound not being realistic enough, and the sound types being too limited.

[0051] For example, when a vehicle simulates engine sounds or warning sounds, it often needs to be equipped with a corresponding sound-generating device. This not only increases the vehicle's manufacturing cost but also requires consideration of various factors, such as spatial structure and signal wiring layout.

[0052] Furthermore, using sound-generating devices to simulate corresponding sounds often involves emitting sounds from outside or inside the vehicle, failing to effectively simulate the vehicle's engine noise and resulting in poor realism. Additionally, the range of sound effects or warning tones available is often limited, failing to meet the actual needs of users.

[0053] In some embodiments of this disclosure, the vehicle can determine a target sound production mode for the motor, and then control the vehicle's motor to emit a sound corresponding to the target sound production mode, thereby producing sound by controlling the motor. This eliminates the need for additional sound-producing equipment on the vehicle, effectively reducing costs, and also enriches the diversity of motor sound production content by controlling the motor to produce sound based on the target sound production mode.

[0054] Therefore, some embodiments of this disclosure provide a method for controlling a motor. Referring to FIG1, the method includes the following steps 101 and 102.

[0055] Step 101: Determine the target sound generation mode for the motor;

[0056] In some embodiments of this disclosure, the vehicle's motor can perform corresponding sound-producing operations according to a specific sound-producing mode, thereby controlling the motor to produce sound. This eliminates the need for additional sound-producing equipment in the vehicle, effectively reducing costs. Furthermore, controlling the motor to produce sound based on the target sound-producing mode not only makes the simulated sound from the motor more realistic but also allows for flexible adjustment of the sound type according to the user's actual needs, enriching the diversity of the motor's sound output.

[0057] For example, different sound modes can be configured in the vehicle. Users can select the corresponding target sound mode according to their own needs, so that the vehicle can control the vehicle's motor to simulate the corresponding sound based on the target sound mode selected by the user.

[0058] In some embodiments, the target vocal mode may include at least a first vocal mode and a second vocal mode, wherein the vocal triggering conditions of the first vocal mode are different from those of the second vocal mode.

[0059] The sound triggering conditions may include target instructions, which contain different information. For example, the target instruction may be an instruction automatically generated when the vehicle meets preset conditions, or it may be an instruction generated based on user input. That is, the first sound mode and the second sound mode may be sound modes automatically triggered by the vehicle, or they may be sound modes determined based on user operation.

[0060] For example, when the vehicle triggers automatically, or when it is triggered actively by the user, the target instruction and the information contained therein corresponding to the first sound mode may be the same as or different from the target instruction and the information contained therein corresponding to the second sound mode.

[0061] For example, when the vehicle is automatically triggered, the parameters used for triggering the first sound mode and the parameters used for triggering the second sound mode can be different. The first sound mode can be triggered based on the vehicle speed, while the second sound mode can be triggered based on driving status parameters including vehicle speed, such as vehicle speed, acceleration, vehicle posture, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information.

[0062] When triggered actively by user operation, the user can input a first user operation to trigger the first sound mode and a second user operation to trigger the second sound mode. The operation types of the first user operation and the second user operation can be the same or different, so that the sound mode can be determined according to different sound triggering conditions. This disclosure does not impose any restrictions on this.

[0063] Furthermore, it should be noted that in the above embodiments, the target sound emission mode includes a first sound emission mode and a second sound emission mode as an example for illustrative purposes. It can be understood that the target sound emission mode also includes a third sound emission mode, a fourth sound emission mode, etc., and this disclosure does not limit this.

[0064] In some embodiments, the vehicle may acquire a target instruction for the motor and determine a target sound emission mode for the motor based on the target instruction.

[0065] For example, the target instruction can be an instruction generated based on the interaction between the user and the in-vehicle interactive system, or an instruction generated based on the interaction between the user and the user terminal. The interaction includes at least one of touch operation, mechanical button control operation, voice input, and gesture actions. The target instruction can also be an instruction automatically generated by the vehicle when it detects parameters related to its driving state and the driving state parameters meet the conditions; this disclosure does not impose any limitations on this.

[0066] In some embodiments, during the process of the vehicle automatically triggering the control motor to emit sound, the vehicle can obtain the vehicle's driving speed. If the vehicle's driving speed is less than or equal to a preset speed threshold, a target instruction for the motor is generated, and the target sound emission mode of the motor is determined according to the target instruction.

[0067] For example, assuming the target sound mode is "alert tone mode" and the preset speed threshold is 20km / h, the vehicle can obtain the driving speed in real time during driving and determine whether the driving speed is less than or equal to 20km / h. If it is, a target command is generated, and the "alert tone mode" is activated based on the target command so that the vehicle control motor can simulate the corresponding alert tone, such as "beep beep," "beep beep," "dudu," etc. In this way, by detecting the driving status of the vehicle, the simulated sound of the motor is automatically triggered, so that the user can intuitively feel the driving status of the vehicle and adjust the control strategy of the vehicle in a timely manner.

[0068] In some embodiments, during the simulated sound emission process of the automatically triggered motor, the vehicle may also automatically trigger the control motor to simulate the emission of a corresponding warning sound when the vehicle detects a malfunction in the in-vehicle audio equipment, which prevents the vehicle from emitting the corresponding warning sound through the in-vehicle audio equipment. Thus, when the vehicle's driving status meets the corresponding conditions, the vehicle can automatically control the motor to simulate the emission of a corresponding warning sound to remind the user to pay attention to the vehicle's driving status and ensure driving safety.

[0069] In another embodiment, during the simulated sound generation process of the motor controlled by the user, the user can interact with the in-vehicle interactive system through touch, mechanical buttons, voice input, gestures, etc. The in-vehicle interactive system can generate corresponding instructions based on the user's input.

[0070] For the user terminal, users can also interact with the machine through touch, mechanical buttons, voice input, and gestures. The difference is that after generating corresponding commands based on the user's input, the user terminal can send those commands to the vehicle, allowing the vehicle to control the motors to produce sound based on the received commands. In practice, users can choose the interaction method according to their needs.

[0071] In some embodiments, depending on the interaction method, the vehicle may generate a target instruction based on any of the following: at least one of the user's pressing operation or touch operation on a mechanical button; the user's touch operation on the interactive interface; the user's voice input; or the user's gesture action.

[0072] For example, mechanical buttons can be physical buttons provided by the vehicle or user terminal, which users can operate by pressing or touching; the interactive interface can be the vehicle's central control screen or the user terminal's touch screen, so that users can control the vehicle's motor to simulate sound through a variety of different interaction methods, thus meeting the user's different interaction needs.

[0073] For example, the target instruction includes at least a sound trigger instruction and a sound control instruction. The target sound mode corresponds to a target audio. The sound trigger instruction can be an instruction to trigger the sound control of the motor. The sound control instruction can be an instruction to determine how the motor should produce sound. The target audio can be the basis for the motor to simulate sound production. The vehicle can control the motor to simulate producing a sound corresponding to the target audio.

[0074] In some embodiments, the vehicle may first obtain a sound trigger command, determine the corresponding sound mode type based on the sound trigger command, then obtain a sound control command for the sound mode type, and determine the target audio corresponding to the sound control command.

[0075] In some embodiments, the touch interaction between the user and the in-vehicle interaction system is used as an example for illustrative purposes. When the user inputs an operation (such as touch, mechanical button, voice input, gesture, etc.) to trigger the sound control of the motor on the vehicle's central control screen, the vehicle can generate a corresponding sound trigger command and respond to the sound trigger command by outputting at least two different sound mode types on the central control screen.

[0076] Next, the user can select one of at least two different sound mode types. Based on the user's input, the vehicle determines the target sound mode and the target audio corresponding to the target sound mode, so as to simulate the sound corresponding to the target audio by controlling the motor.

[0077] For example, the sound mode type may include "sound mode" and "caution mode". When the user selects "caution mode", the vehicle can determine the first target audio corresponding to "caution mode"; when the user selects "sound mode", the vehicle can determine the second target audio corresponding to "sound mode" so as to control the motor to produce sound based on the determined target audio, thereby controlling the motor to produce sound.

[0078] In this way, on the one hand, there is no need to configure additional sound-producing equipment on the vehicle, which effectively reduces costs; on the other hand, by controlling the motor to produce sound based on the target sound-producing mode, not only is the sound simulated by the motor more realistic, but the type of sound can also be flexibly adjusted according to the user's actual needs, enriching the diversity of the motor's sound content.

[0079] For example, in the example above, after the user selects the sound mode, the vehicle can directly determine the corresponding audio. During this process, more sound control methods can also be provided to the user so that the user can personalize the sound mode of the motor.

[0080] In some embodiments, the sound control instructions include at least a sound mode selection instruction and an audio selection instruction. The sound mode selection instruction may be an instruction generated based on the user's input operation of selecting a sound mode, and the audio selection instruction may be an instruction generated based on the user's input operation of selecting an audio.

[0081] In some embodiments, the vehicle may acquire a first sound mode selection instruction for a sound mode type, determine a corresponding first type of audio based on the first sound mode selection instruction, acquire a first audio selection instruction for the first type of audio, and determine a first target audio corresponding to the first audio selection instruction. Thus, during the process of controlling the motor to produce sound, the user can select the corresponding first target audio so that the vehicle can control the motor to simulate producing the corresponding sound according to the first target audio selected by the user.

[0082] For example, the first type of audio is audio that is played according to fixed acoustic characteristics, so that the vehicle can control the motor to simulate sound production according to the fixed acoustic characteristics.

[0083] For example, assuming the first sound mode is "prompt tone mode", after the user selects "prompt tone mode", the vehicle can output several first-class audios related to "prompt tone mode" on the in-vehicle central control screen. Then, when the user selects the first target audio from the first-class audio, the vehicle can control the motor to produce sound based on the first target audio. During the sound production process, the motor can simulate sound production according to the fixed acoustic characteristics corresponding to the first target audio.

[0084] In some embodiments, the vehicle may acquire a second sound mode selection instruction for a sound mode type, determine a corresponding second type of audio based on the second sound mode selection instruction, acquire a second audio selection instruction for the second type of audio, and determine a second target audio corresponding to the second audio selection instruction. Thus, during the process of controlling the motor to produce sound, the user can select the corresponding second target audio so that the vehicle can control the motor to simulate producing the corresponding sound according to the second target audio selected by the user.

[0085] For example, the second type of audio is audio played according to the vehicle's driving status parameters, so that the vehicle can control the motor to simulate sound according to the driving status parameters.

[0086] For example, assuming the second sound mode is "sound mode", after the user selects "sound mode", the vehicle can display several related second-type audios under "sound mode" on the in-vehicle central control screen. Then, when the user selects the second target audio from the second-type audio, the vehicle can control the motor to produce sound based on the second target audio. During the sound production process, the motor can adjust the acoustic characteristics of the second target audio according to the vehicle's driving status parameters, and control the motor to produce simulated sound based on the adjusted acoustic characteristics.

[0087] It should be noted that the first and second voice modes include, but are not limited to, the examples above. The type of voice mode can be adjusted according to the user's actual needs, and this disclosure does not impose any restrictions on this.

[0088] In some embodiments, during the selection process of the above-mentioned sound mode and target audio, the user can select a sound mode and a corresponding target audio according to their own needs to achieve sound control of the motor, thereby providing the user with a variety of sound mode options. On the one hand, this enriches the sound control methods of the vehicle motor and the diversity of motor sound content, and on the other hand, it can effectively meet the needs of the user.

[0089] Step 102: Control the motor to emit a sound corresponding to the target sound mode.

[0090] Once the target sound mode is determined, the vehicle can control its motor to simulate the corresponding sound according to the user's target sound mode, thereby producing sound by controlling the motor.

[0091] In this way, on the one hand, there is no need to configure additional sound-producing equipment on the vehicle, which effectively reduces costs; on the other hand, by controlling the motor to produce sound based on the target sound-producing mode, not only is the sound simulated by the motor more realistic, but the type of sound can also be flexibly adjusted according to the user's actual needs, enriching the diversity of the motor's sound content.

[0092] It should be noted that for the first target audio, the vehicle can control the motor to simulate sound production based on the acoustic characteristics corresponding to the first target audio. However, for the second target audio, since it is an audio that is played after adjusting the acoustic characteristics according to the driving status parameters, when the vehicle controls the motor to simulate the sound corresponding to the second target audio, the vehicle can first obtain the driving status parameters during the vehicle's driving process, and then control the motor to simulate the sound corresponding to the second target audio according to the driving status parameters.

[0093] For example, driving status parameters include at least one of the following: vehicle speed, acceleration, vehicle attitude, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information.

[0094] For example, when a user selects the sound of a sports car, the vehicle can control the motor to simulate the sound of a sports car. At the same time, when an increase in vehicle speed is detected, the vehicle can increase the pitch of the sound or amplify the sound. Alternatively, when the vehicle is accelerating (i.e., the acceleration is positive), the vehicle can control the motor to amplify the sound to simulate the acceleration sound; when the vehicle is decelerating (i.e., the acceleration is negative), the vehicle can control the motor to reduce the sound to simulate the sound corresponding to the deceleration of the vehicle, etc. This disclosure does not impose any limitations on this.

[0095] In some embodiments, when the user selects a first sound mode and chooses a first target audio from a first type of audio, the vehicle can control the motor to simulate the sound corresponding to the first target audio; when the user selects a second sound mode and chooses a second target audio from a second type of audio, the vehicle can control the motor to simulate the sound corresponding to the second target audio, thereby producing sound by controlling the motor. This eliminates the need for additional sound-producing equipment in the vehicle, effectively reducing costs. Furthermore, controlling the motor to produce sound based on the target sound mode not only makes the simulated sound more realistic but also allows for flexible adjustment of the sound type according to the user's actual needs, enriching the diversity of the motor's sound output.

[0096] For example, assuming the first sound mode is "prompt tone mode", after the user selects "prompt tone mode", the vehicle can display several first-class audios related to "prompt tone mode" on the in-vehicle central control screen. Then, when the user selects the first target audio from the first-class audios, the vehicle control motor simulates sound according to the fixed acoustic characteristics corresponding to the first target audio.

[0097] For example, the first type of audio may include traditional prompts such as "ding-ding," "beep-beep," "bo-bo," "du-du," and "tick-tock," or music with a certain melody. After the user selects any one of these as the first target audio, the vehicle can control the motor to emit the corresponding sound according to the acoustic characteristics of the first target audio.

[0098] For example, assuming the second sound mode is "sound mode", after the user selects "sound mode", the vehicle can display several related second-type audios under "sound mode" on the in-vehicle central control screen. Then, when the user selects the second target audio from the second-type audio, the vehicle can control the motor to adjust the acoustic characteristics of the second target audio according to the vehicle's driving status parameters, and control the motor to simulate sound production based on the adjusted acoustic characteristics.

[0099] For example, the second type of audio can be the sound of different vehicle engines running, such as the sounds of trucks, off-road vehicles, and sports cars. After the user selects any one of these as the second target audio, the vehicle control motor emits the corresponding sound according to the acoustic characteristics of the second target audio.

[0100] In some embodiments, during the process of controlling the sound output of the motor as described above, the target instruction may further include a playback mode selection instruction, which may be an instruction determined based on the user's input of a selection operation for the playback mode.

[0101] For example, after the user selects the corresponding target audio, the vehicle can further output the playback mode type for the target audio, obtain the playback mode selection instruction for the playback mode type, determine the target playback mode corresponding to the playback mode selection instruction, and then control the motor to emit the sound corresponding to the target audio according to the target playback mode, thereby further enriching the control method of motor sound emission and enriching the content of motor sound emission.

[0102] In some embodiments, the target playback mode can be a reminder playback mode. In this case, during the process of the motor simulating sound generation, the vehicle can control the motor to emit a sound corresponding to the target audio according to the reminder playback mode.

[0103] For example, when the target playback mode is reminder playback mode, the vehicle can respond to the presence of environmental objects around the vehicle by controlling the motor to simulate the sound corresponding to the target audio. The environmental objects are the objects identified by recognizing the environmental parameters collected by the vehicle's sensors.

[0104] In some embodiments, the environmental objects include at least moving objects and stationary objects. The moving objects include at least one of pedestrians, animals and other vehicles, and the stationary objects include at least one of road barriers, guardrails, medians, curbs, traffic signs and traffic lights.

[0105] It should be noted that sensors can include cameras, radar sensors, infrared sensors, laser sensors, ultrasonic sensors, etc., deployed on vehicles. Through sensors, vehicles can perceive objects in their environment to determine whether there are corresponding environmental objects around the vehicle.

[0106] When a vehicle detects an environmental object through its sensors, it can trigger the control motor to simulate a corresponding sound. For example, if the user has selected a primary target audio, the vehicle can control the motor to simulate a sound for the corresponding environmental object. This includes: if the environmental object is a pedestrian or bicycle, the motor can simulate a "ding-ding" or "beep-beep" sound; if the environmental object is another vehicle, the motor can simulate a "beep-beep" sound; if the environmental object is a stationary obstacle, the motor can simulate intermittent sounds, such as "beep-beep-beep"; if the environmental object is a traffic sign or signal light, the motor can simulate a "ding" or "pop" sound, thus producing sound by controlling the motor.

[0107] In this way, on the one hand, there is no need to configure additional sound-producing equipment on the vehicle, which effectively reduces costs; on the other hand, by controlling the motor to produce sound based on the target sound-producing mode, not only is the sound simulated by the motor more realistic, but the type of sound can also be flexibly adjusted according to the user's actual needs, enriching the diversity of the motor's sound content.

[0108] In some embodiments, the target playback mode can be a continuous playback mode. When the target playback mode is a continuous playback mode, the motor is controlled to continuously simulate and emit a sound corresponding to the target audio.

[0109] It should be noted that, regarding the sound control method of the motor, the user can set a sound mode so that the motor can simulate sound production according to the sound mode; the user can also set a sound mode and select a target audio so that the motor can simulate the sound corresponding to the target audio according to the user-set sound mode; the user can also set a sound mode, select a target audio, and set the playback mode of the target audio so that the motor can simulate the sound corresponding to the target audio according to the user-set sound mode and playback mode, etc., and this disclosure does not impose any limitations on these aspects.

[0110] It should be noted that some embodiments of this disclosure include, but are not limited to, the examples described above. It is understood that those skilled in the art can make further modifications based on actual needs, guided by the ideas of some embodiments of this disclosure, and this disclosure does not impose any limitations on such modifications.

[0111] In some embodiments of this disclosure, the vehicle can determine the target sound mode of the motor and then control the vehicle's motor to emit a sound corresponding to the target sound mode. This allows the vehicle to produce sound by controlling the motor, which eliminates the need for additional sound-producing equipment on the vehicle, effectively reducing costs. Furthermore, controlling the motor to produce sound based on the target sound mode enriches the diversity of the motor's sound output.

[0112] In some embodiments, referring to FIG2, the motor control method can be applied to the vehicle controller of a vehicle, and the method may further include the following steps 201 and 202.

[0113] Step 201: Determine the target sound mode for the vehicle motor;

[0114] Step 202: Send the sound control command corresponding to the target sound mode to the motor controller; the sound control command is used to instruct the motor controller to control the vehicle motor to simulate sound according to the target sound mode.

[0115] In some embodiments, the target instruction includes at least a sound trigger instruction and a sound control instruction, and the target sound mode corresponds to a target audio.

[0116] The step of determining the target sound mode for the vehicle motor includes: acquiring a sound trigger command; outputting a sound mode type corresponding to the sound trigger command; and acquiring a sound control command for the sound mode type, and determining the target audio corresponding to the sound control command.

[0117] In some embodiments, the sound control commands include at least a sound mode selection command and an audio selection command.

[0118] The step of obtaining a voice control command for the voice mode type and determining a target audio corresponding to the voice control command includes: obtaining a first voice mode selection command for the voice mode type; outputting a first type of audio corresponding to the first voice mode selection command, wherein the first type of audio is audio that is played according to fixed acoustic characteristics; and obtaining a first audio selection command for the first type of audio and determining a first target audio corresponding to the first audio selection command.

[0119] In some embodiments, the sound control commands include at least a sound mode selection command and an audio selection command.

[0120] The step of obtaining a sound control command for the sound mode type and determining a target audio corresponding to the sound control command includes: obtaining a second sound mode selection command for the sound mode type; outputting a second type of audio corresponding to the second sound mode selection command, wherein the second type of audio is audio played according to the vehicle's driving status parameters; and obtaining a second audio selection command for the second type of audio and determining a second target audio corresponding to the second audio selection command.

[0121] In some embodiments, the target instruction further includes a playback mode selection instruction.

[0122] The step of determining the target sound mode for the vehicle motor further includes: outputting a playback mode type for the target audio; obtaining a playback mode selection instruction for the playback mode type; and determining a target playback mode corresponding to the playback mode selection instruction.

[0123] In some embodiments, sending a sound control command corresponding to the target sound mode to the motor controller includes: performing signal recognition on the target audio to obtain a corresponding audio signal; performing feature extraction on the audio signal to obtain an audio feature corresponding to the target audio; and sending a sound control command for the vehicle motor to the motor controller, wherein the sound control command includes at least the audio feature and the target sound mode.

[0124] In some embodiments, the audio features include at least one of the frequency and amplitude of the audio signal.

[0125] In some embodiments of this disclosure, the vehicle can determine a target sound production mode for the motor, and then control the vehicle's motor to emit a sound corresponding to the target sound production mode, thereby producing sound by controlling the motor. This eliminates the need for additional sound-producing equipment on the vehicle, effectively reducing costs, and also enriches the diversity of motor sound production content by controlling the motor to produce sound based on the target sound production mode.

[0126] In some embodiments, referring to FIG3, the method may further include steps 301 and 302.

[0127] Step 301: Obtain a sound control command for the vehicle motor, wherein the sound control command includes at least the audio features corresponding to the target audio.

[0128] Step 302: Control the vehicle motor to simulate emitting a sound corresponding to the target audio based on the audio characteristics.

[0129] In some embodiments, controlling the vehicle motor to simulate emitting a sound corresponding to the target audio based on the audio features includes: identifying the audio features to obtain a control signal for the vehicle motor; and controlling the vehicle motor to simulate a sound corresponding to the target audio based on the control signal.

[0130] In some embodiments, the target audio includes a first target audio, and the sound control command further includes a target playback mode corresponding to the first target audio.

[0131] The step of controlling the vehicle motor to simulate the sound corresponding to the target audio according to the control signal includes: controlling the vehicle motor to simulate the sound corresponding to the first target audio according to the control signal and the target playback mode.

[0132] In some embodiments, the control signal is based on the target playback mode.

[0133] Controlling the vehicle motor to simulate a sound corresponding to the first target audio includes: when the target playback mode is the reminder playback mode, in response to the presence of an environmental object around the vehicle, controlling the motor to simulate emitting a sound corresponding to the target audio, wherein the environmental object is an object identified by recognizing environmental parameters collected by the vehicle's sensors.

[0134] In some embodiments, the environmental objects include at least moving objects and stationary objects. The moving objects include at least one of pedestrians, animals, and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, medians, curbs, traffic signs, and traffic lights.

[0135] In some embodiments, controlling the vehicle motor to simulate a sound corresponding to the first target audio according to the control signal and the target playback mode includes: when the target playback mode is the continuous playback mode, controlling the motor to continuously simulate emitting a sound corresponding to the target audio.

[0136] In some embodiments, the target audio includes a second target audio. Controlling the vehicle motor to simulate a sound corresponding to the target audio according to the control signal includes: acquiring driving state parameters during vehicle operation; and controlling the motor to simulate emitting a sound corresponding to the second target audio according to the driving state parameters.

[0137] In some embodiments, controlling the motor to simulate emitting a sound corresponding to the second target audio according to driving state parameters includes: adjusting the control signal according to the driving state parameters to obtain a target control signal for the motor; and controlling the vehicle motor to simulate a sound corresponding to the second target audio according to the target control signal.

[0138] In some embodiments, the driving status parameters include at least one of the following: vehicle speed, acceleration, vehicle posture, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information.

[0139] In some embodiments of this disclosure, the vehicle can determine the target sound mode of the motor and then control the vehicle's motor to emit a sound corresponding to the target sound mode. This allows the vehicle to produce sound by controlling the motor, which eliminates the need for additional sound-producing equipment on the vehicle, effectively reducing costs. Furthermore, controlling the motor to produce sound based on the target sound mode enriches the diversity of the motor's sound output.

[0140] To enable those skilled in the art to better understand the technical solutions in some embodiments of this disclosure, the process of simulating sound generation by cooperating with the vehicle controller and the motor controller is illustrated below through corresponding examples.

[0141] In some embodiments of this disclosure, the vehicle may be equipped with main modules such as sensors, vehicle controller, in-vehicle interactive system, motor controller and motor, as well as power supply, external circuit and wiring harness, etc. Through the above modules and devices, the motor can be controlled to simulate sound production.

[0142] For example, sensors may include Class I sensors used to identify the presence of corresponding environmental objects near the vehicle, such as millimeter-wave and ultrasonic radar devices, vision devices such as cameras, and temperature sensing devices such as infrared temperature sensors. Sensors may also include sensors used to acquire information such as motor status parameters and driving status parameters, including but not limited to sensors used to measure parameters such as motor speed, wheel speed, vehicle speed, vehicle acceleration, vehicle attitude, torque, and power information.

[0143] For example, speed can be measured using rotary transformers, eddy current sensors, etc.; acceleration can be measured using accelerometers, etc.; vehicle attitude can be measured using accelerometers, gyroscopes, etc.; torque and power can also be measured using corresponding measuring equipment and sensors, etc., and this disclosure does not impose any restrictions on these.

[0144] The vehicle controller may include a microprocessor, a communication module, a power supply, and a protection circuit module. In some embodiments of this disclosure, the vehicle controller can process control signals such as enabling or disabling various functions and transmit the signals required for the motor to produce sound to the motor controller for processing.

[0145] In-vehicle interactive systems can include in-vehicle infotainment systems, external physical buttons, and other devices and components that enable human-computer interaction with users.

[0146] The motor controller may include modules such as control chips, connection circuits, and power devices. By receiving instructions sent by the vehicle controller, it generates corresponding drive signals and high-voltage signals, and drives the motor to operate in the desired state, so as to simulate the corresponding sound without affecting the normal driving of the vehicle.

[0147] In some embodiments, referring to FIG4, the vehicle control system includes an in-vehicle interaction system 410, a vehicle controller 420, a motor controller 430, a sensor 450, and a corresponding motor 440.

[0148] During the process of controlling the motor 440 to simulate sound production, the user can input corresponding sound control operations through the in-vehicle interactive system 410. The vehicle controller 420 generates corresponding control signals based on the sound control operations and transmits the control signals to the motor controller 430. While driving the motor 440 to simulate the corresponding sound according to the control signals, the motor controller 430 can also obtain the corresponding status parameters of the vehicle through the sensor 450, such as environmental parameters and driving status parameters, so as to control the sound production of the motor 440 according to the obtained status parameters, thereby driving the motor 440 to produce sound.

[0149] In this way, on the one hand, there is no need to configure additional sound-producing equipment on the vehicle, which effectively reduces costs. On the other hand, by acquiring the corresponding audio and then driving the motor to produce sound based on the audio, not only is the simulated sound produced by the motor more realistic, but the type of sound can also be flexibly adjusted according to the user's actual needs, enriching the diversity of the motor's sound content.

[0150] Once the user selects the desired target audio, the vehicle controller 420 can perform signal recognition on the target audio to determine the corresponding current signal. The audio recognition process can be performed in real-time using a specific algorithm or through a mapping method.

[0151] For real-time recognition using appropriate algorithms, the vehicle can first identify the target audio signal to obtain the corresponding audio signal, then extract features from the audio signal to obtain the audio features corresponding to the target audio. The audio features include at least one of the frequency and amplitude of the audio signal. Then, at least one of the frequency and amplitude is used to perform signal conversion to obtain the current signal corresponding to the target audio.

[0152] For the mapping method, after the conversion is completed in real time through the corresponding algorithm, a mapping relationship between the audio and the corresponding current signal is established. The mapping relationship and the corresponding current signal are stored in the vehicle's storage medium so that when the vehicle needs to control the motor 440 to simulate the sound corresponding to the audio, it can be directly reused (after determining the target audio, it checks whether there is a corresponding current signal according to the mapping relationship. If it exists, the corresponding current signal is directly obtained without having to identify the target audio through the former identification method). This reduces the vehicle's data processing process and improves the efficiency and convenience of vehicle sound control.

[0153] In some embodiments, the vehicle's storage medium may include a storage unit in the vehicle infotainment system, a storage unit in the vehicle controller 420, a storage unit in the motor controller 430, an onboard memory card, or other media with storage functions, and this disclosure does not limit this.

[0154] In some embodiments, the vehicle controller 420 can preprocess the audio signal of the target audio, including filtering, amplification, and noise reduction, to ensure signal quality and adapt to subsequent signal processing. Then, relevant features, including frequency features, amplitude features, and time-domain features, can be extracted from the preprocessed audio signal.

[0155] For frequency characteristics, the spectral information of the audio signal, i.e. the frequency components of the sound, can be obtained through Fourier transform or other spectral analysis methods; for amplitude characteristics, the amplitude information of the sound signal can be obtained, and the amplitude information reflects the intensity or energy of the sound; for time domain characteristics, the waveform characteristics of the audio signal, such as waveform shape and duration, can be analyzed.

[0156] After obtaining the audio features corresponding to the target audio, machine learning algorithms or pattern recognition techniques can be used to analyze and classify the extracted audio features, and identify the state or behavior corresponding to the sound emitted by the motor 440 represented by the target audio, such as the sound features under different speeds and different loads.

[0157] Then, based on the state or behavior of the motor 440 represented by the identified audio signal, a corresponding current signal can be generated to control the motor 440 to emit the corresponding sound. For example, based on a preset control strategy or feedback control algorithm, the characteristics of the audio signal can be converted into a current control command. Then, the amplitude and frequency of the current signal can be adjusted to ensure that it completely matches the sound emitted by the motor 440 or achieves the desired sound effect. Based on the corresponding processing, a current signal corresponding to the target audio can be obtained so that the motor 440 can be controlled by the current signal to simulate the sound corresponding to the target audio, thereby obtaining the corresponding audio.

[0158] Then, the sound is generated based on the audio drive motor 440, which not only makes the simulated sound of the motor more realistic, but also allows the type of sound to be flexibly adjusted according to the user's actual needs, enriching the diversity of the motor's sound content.

[0159] It should be noted that the motor 440 can generate a magnetic field through current. This magnetic field interacts with the permanent magnet or electromagnet inside the motor 440 to produce torque, thereby causing the motor 440 to rotate or vibrate. In the process of controlling the motor 440 to simulate sound production, the motor controller 430 can use a vibrating motor and control the vibration frequency and intensity by changing the current. Thus, by controlling changes in the current signal, the motor controller 430 controls the motor 440 to vibrate at a specific frequency through a specific current waveform, thereby producing a specific sound. This achieves the effect of controlling the vehicle's motor 440 to produce sound, eliminating the need for additional sound-producing equipment on the vehicle and effectively reducing costs.

[0160] In some embodiments, assuming the audio selected by the user is of the first type, if the user selects the corresponding playback mode, the vehicle can first detect what kind of playback mode the user has selected. If the playback mode is the reminder playback mode, the vehicle's environmental parameters are obtained through the sensor 450, and then the environment in which the vehicle is located is detected based on the environmental parameters. If the environmental parameters indicate that there are no environmental objects around the vehicle, the motor controller 430 can not control the motor to simulate sound.

[0161] If environmental parameters indicate the presence of environmental objects around the vehicle, the motor controller 430 injects a current signal into the motor 440, driving the motor 440 to simulate a sound corresponding to the target audio. Thus, in alert mode, the vehicle can detect its environment through the corresponding sensor 450, and under certain conditions, the motor controller 430 injects a sound signal into the motor 440, driving the motor 440 to simulate sound. This allows the vehicle to simulate sound based on its environment, effectively alerting users inside the vehicle and ensuring safe driving, while also effectively reminding users outside the vehicle to pay attention to the vehicle and ensuring personal safety.

[0162] If the playback mode is continuous playback mode, the motor controller 430 can continuously inject current signals into the motor 440 to drive the motor 440 to simulate the sound corresponding to the target audio. In this case, the user can select the corresponding audio to control the motor 440 to simulate sound according to their own needs, which satisfies the user's driving pleasure and improves the driving experience.

[0163] In some embodiments, the vehicle's sensors 450 detect the environment around the vehicle, which can effectively identify changes in the environment around the vehicle, so as to accurately control the motor 440 to simulate sound when the user sets an alert mode.

[0164] For example, the user can select a corresponding prompt tone through the in-vehicle interaction system 410. The prompt tone will alert the driver to at least one of the moving or stationary objects that may exist around the vehicle to ensure driving safety. When the vehicle detects a corresponding environmental object around the vehicle through the sensor 450, the motor controller 430 will inject a corresponding current signal into the motor 440 to control the motor 440 to simulate the sound corresponding to the prompt tone, so as to alert the driver to avoid the object.

[0165] It should be noted that for the detection of environmental objects, corresponding conditions can be set. After detecting an environmental object, the relative distance between the vehicle and the environmental object can be obtained through the sensor 450. When the relative distance is less than or equal to a preset distance threshold, a current signal is injected into the motor 440 to control the motor 440 to simulate the corresponding sound and prompt the driver to pay attention to avoid the object.

[0166] In some embodiments, when a user selects the second type of audio, the vehicle can obtain the vehicle's driving status parameters, and then adjust the current signal corresponding to the second type of audio according to the driving status parameters to obtain a target current signal for the motor 440. The target current signal is then injected into the motor 440 to drive the motor 440 to simulate the sound corresponding to the target audio.

[0167] The current signal corresponding to the second type of audio can be used as the basic current signal. After the vehicle obtains the driving status parameters through the corresponding sensor 450, it can make adjustments based on the basic current signal according to the driving status parameters, such as changing the frequency and amplitude of the current signal, to obtain the target current signal corresponding to the driving status of the vehicle. Then, the target current signal is injected into the motor 440 to control the motor 440 to simulate the sound corresponding to the target audio.

[0168] For example, as the vehicle speed increases, the motor controller 430 increases the frequency of the current signal, causing the motor 440 to produce a higher pitch sound, thereby simulating the effect of the engine sound of a traditional internal combustion engine vehicle becoming higher as the speed increases.

[0169] If the vehicle is accelerating, the motor controller 430 adjusts the amplitude of the current signal according to the magnitude of the acceleration, so that the motor 440 produces a stronger sound, thereby enhancing the driving experience and allowing the driver to feel the power during acceleration.

[0170] When the vehicle turns or tilts, the motor controller 430 adjusts the current signal according to the vehicle's posture, so that the motor 440 produces a sound that matches the vehicle's dynamics. For example, when making a sharp turn, the motor controller 430 sends a rapidly changing current signal to produce a tense or exciting sound effect.

[0171] An increase in motor speed is typically related to a vehicle's power output. The motor controller 430 adjusts the frequency of the current signal based on the motor speed to simulate the sound changes as engine speed increases. Torque is an important parameter for measuring vehicle power output, so the amplitude of the current signal can be adjusted according to the magnitude of the torque to make the motor 440 produce a sound that matches the vehicle's power output. The motor controller 430 adjusts the current signal based on power changes to produce a sound that matches the vehicle's performance.

[0172] When the driver depresses the accelerator pedal, the system can adjust the current signal according to the pedal depth and speed to make the motor 440 produce a sound that matches the driver's intention. For example, depressing the accelerator pedal quickly may result in a louder sound. When the driver depresses the brake pedal, the system can adjust the current signal according to the brake pedal depth and speed to make the motor 440 produce a sound that matches the braking action. For example, emergency braking may result in a sharper or more rapid sound. This disclosure does not limit this.

[0173] Based on the user's selected audio and sound mode, the vehicle can control the motor to simulate sound. This eliminates the need for additional sound-producing equipment on the vehicle, effectively reducing costs. Furthermore, by acquiring the corresponding audio and then driving the motor to produce sound based on that audio, the simulated sound from the motor becomes more realistic. Moreover, the type of sound can be flexibly adjusted according to the user's actual needs, enriching the diversity of the motor's sound output.

[0174] Through the cooperation of the equipment already configured in the vehicle (vehicle interaction system 410, vehicle controller 420, motor controller 430, sensor 450, motor, etc.), the motor can be effectively controlled to produce sound. On the one hand, there is no need to configure additional sound-producing equipment on the vehicle, which effectively reduces costs. On the other hand, by controlling the motor to produce sound based on the target sound-producing mode, the diversity of the motor's sound content is enriched.

[0175] Furthermore, referring to Figure 5, the process of simulating sound generation by a motor may include the following steps S01 to S14.

[0176] Step S01: First, acquire the audio for each function and obtain data such as the frequency and amplitude of the audio.

[0177] For example, the acquired acoustic features include, but are not limited to, different styles of music, anthropomorphic voices with different timbres and tones, different types of simple prompts ("tick-tock", etc.), and the sounds of engines from different types of vehicles.

[0178] Step S02: Convert the audio information of each function obtained in the above process into the current signal required for the motor to emit the corresponding sound.

[0179] For example, this conversion process can obtain the corresponding current signal by identifying and analyzing information data such as the frequency and amplitude of the audio signal.

[0180] Step S03: Store the acquired signal for direct use when the motor needs to emit a specific sound. The storage medium includes, but is not limited to, storage units in the vehicle infotainment system, vehicle controller, motor controller, and onboard memory cards, etc.

[0181] For example, the system is primarily divided into two main functional categories: fixed audio mode and driving feedback audio mode. In fixed audio mode, different audio files can be selected, along with two playback modes: alert mode and continuous playback mode. In driving feedback audio mode, different engine sounds can be selected. All these modes and functions can be controlled by individual systems, peripherals, or human-vehicle interaction modules, or integrated into in-vehicle infotainment systems.

[0182] Step S04: Determine the choice between fixed audio and driving feedback audio modes. The audio mode is set by the user according to their needs. If the fixed audio mode is set, proceed to step S05; if the driving feedback audio mode is set, proceed to step S12.

[0183] Step S05: Select the fixed audio to be played.

[0184] Step S06: Determine the choice between two playback modes: reminder mode and continuous playback. The playback mode is set by the user according to their needs. If reminder mode is set, proceed to step S07; if continuous playback mode is set, proceed to step S10.

[0185] Step S07: The sensor module automatically detects and determines whether there are pedestrians or other vehicles nearby. If there are no pedestrians or other vehicles nearby, the motor will not make a sound; if there are pedestrians or other vehicles nearby, proceed to step S08.

[0186] Step S08: Inject the current signal corresponding to the fixed audio to be played selected in step S05 into the motor.

[0187] In step S09, the motor receives the current signal injected in step S08 and drives the motor to emit the fixed audio selected in step S05.

[0188] Step S10: Inject the current signal corresponding to the fixed audio to be played selected in step S05 into the motor.

[0189] In step S11, the motor receives the current signal injected in step S10 and drives the motor to emit the fixed audio selected in step S05.

[0190] Step S12: Select the type of sound to be played.

[0191] Step S13: Based on the reference audio or standard audio corresponding to the type of sound to be played selected in step S12, the corresponding current signal is appropriately changed according to the feedback of the driving status, and the changed current signal is injected into the motor.

[0192] In step S14, the motor receives the current signal injected in step S13 and drives the motor to emit the driving feedback sound corresponding to the type of sound wave selected in step S12.

[0193] Through the above process, on the one hand, there is no need to configure additional sound-producing equipment on the vehicle, which effectively reduces costs; on the other hand, by controlling the motor to produce sound based on the target sound-producing mode, the diversity of the motor's sound content is enriched.

[0194] In some embodiments, referring to FIG6, the motor control method may further include the following step 601.

[0195] Step 601: In response to the user's operation, control the vehicle motor to simulate emitting a sound corresponding to the user's operation.

[0196] In some embodiments, controlling the vehicle motor to simulate emitting a sound corresponding to the user operation in response to the user operation includes: controlling the vehicle motor to simulate emitting a sound corresponding to a target audio, wherein the target audio is an audio determined based on the user operation.

[0197] In some embodiments, the user operation includes at least a first user operation, a second user operation, and a third user operation.

[0198] The step of controlling the vehicle motor to simulate emitting a sound corresponding to a target audio in response to a user operation, wherein the target audio is an audio determined according to the user operation, includes: displaying an audio type corresponding to the first user operation in response to a first user operation on the vehicle motor; displaying a first type of audio corresponding to the first audio type in response to a second user operation on the audio type, wherein if the second user operation indicates that the user has selected an audio type of the first audio type; and controlling the vehicle motor to simulate emitting a sound corresponding to a first target audio in response to a third user operation on the first type of audio, wherein the first target audio is an audio determined according to the third user operation.

[0199] In some embodiments, in response to a third user operation on the first type of audio, controlling a vehicle motor to simulate emitting a sound corresponding to a first target audio includes: in response to a first selection operation on the first type of audio, selecting a first target audio from the first type of audio and displaying a sound emission mode for the first target audio; and in response to a second selection operation on the sound emission mode, controlling the vehicle motor to simulate emitting a sound corresponding to the first target audio according to a target sound emission model, wherein the target sound emission mode is a sound emission mode determined according to the second selection operation.

[0200] In some embodiments, the sound emission mode includes at least an alert mode. Controlling the vehicle motor to simulate emitting a sound corresponding to the first target audio according to the target sound emission model includes: when the target sound emission mode is the alert mode, in response to the presence of an environmental object around the vehicle, controlling the vehicle motor to simulate emitting a sound corresponding to the first target audio, wherein the environmental object is an object identified by recognizing environmental parameters collected by the vehicle's sensors.

[0201] In some embodiments, the environmental objects include at least moving objects and stationary objects. The moving objects include at least one of pedestrians, animals, and other vehicles, and the stationary objects include at least one of road barriers, guardrails, median strips, curbs, traffic signs, and traffic lights.

[0202] In some embodiments, the sound emission mode includes at least a continuous playback mode. Controlling the vehicle motor to simulate emitting a sound corresponding to the first target audio according to the target sound emission model includes: when the target sound emission mode is the continuous playback mode, controlling the vehicle motor to continuously simulate emitting a sound corresponding to the first target audio.

[0203] In some embodiments, the target sound mode includes one of a reminder playback mode and a continuous playback mode.

[0204] In some embodiments, the first audio type is an audio type that plays audio based on fixed acoustic characteristics.

[0205] In some embodiments, the step of controlling the vehicle motor to simulate emitting a corresponding sound in response to a user operation includes: if the second user operation indicates that the user has selected a second audio type, then displaying a second type of audio corresponding to the second audio type; and in response to a fourth user operation for the second type of audio, controlling the vehicle motor to simulate emitting a sound corresponding to a second target audio, wherein the second target audio is an audio determined according to the fourth user operation.

[0206] In some embodiments, the second audio type is an audio type in which the acoustic characteristics are adjusted according to the vehicle's driving status parameters during audio playback.

[0207] In some embodiments, controlling the vehicle motor to simulate emitting a sound corresponding to the second target audio includes: controlling the vehicle motor to simulate emitting a sound corresponding to the second target audio according to driving state parameters, wherein the driving state parameters are state parameters during vehicle operation.

[0208] In some embodiments, the driving status parameters include at least one of the following: vehicle speed, acceleration, vehicle posture, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information.

[0209] By coordinating the equipment already configured in the vehicle (in-vehicle interactive system, vehicle controller, motor controller, sensors, motor, etc.), the motor can be effectively controlled to produce sound. On the one hand, there is no need to configure additional sound-producing equipment on the vehicle, which effectively reduces costs. On the other hand, by controlling the motor to produce sound based on this target sound-producing mode, the diversity of the motor's sound content is enriched.

[0210] It should be noted that, for the sake of simplicity, the motor control methods provided in some embodiments of this disclosure are all described as a series of actions. However, those skilled in the art should understand that some embodiments of this disclosure are not limited to the described order of actions, because according to some embodiments of this disclosure, certain steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the actions involved in the embodiments described in the specification are not necessarily essential to some embodiments of this disclosure.

[0211] Some embodiments of this disclosure also provide a motor control device. Referring to FIG7, the motor control device may include a mode determination module 701 and a sound emission control module 702. The mode determination module 701 is used to determine a target sound emission mode for the motor; the sound emission control module 702 is used to control the motor to emit a sound corresponding to the target sound emission mode.

[0212] In some embodiments, the target vocal mode includes at least a first vocal mode and a second vocal mode, wherein the vocal triggering conditions of the first vocal mode are different from those of the second vocal mode.

[0213] In some embodiments, the mode determination module 701 is further configured to: obtain a target instruction for the motor, and determine a target sound emission mode for the motor based on the target instruction.

[0214] In some embodiments, the mode determination module 701 is further configured to: if the vehicle speed is less than or equal to a preset speed threshold, generate a target instruction for the motor, and determine a first sound emission mode or a second sound emission mode of the motor based on the target instruction.

[0215] In some embodiments, the target instruction includes at least a sound trigger instruction and a sound control instruction, and the target sound mode corresponds to a target audio.

[0216] The mode determination module 701 is further configured to: acquire a sound trigger instruction; determine a corresponding sound mode type based on the sound trigger instruction; and acquire a sound control instruction for the sound mode type, and determine a target audio corresponding to the sound control instruction.

[0217] In some embodiments, the sound control command includes at least a sound mode selection command and an audio selection command. The mode determination module 701 is further configured to: obtain a first sound mode selection command for the sound mode type; determine a first type of audio corresponding to the first sound mode selection command, wherein the first type of audio is audio that is played according to fixed acoustic characteristics; and obtain a first audio selection command for the first type of audio, and determine a first target audio corresponding to the first audio selection command.

[0218] In some embodiments, the sound control command includes at least a sound mode selection command and an audio selection command. The mode determination module 701 is further configured to: acquire a second sound mode selection command for the sound mode type; output a second type of audio corresponding to the second sound mode selection command, wherein the second type of audio is audio played according to the vehicle's driving status parameters; and acquire a second audio selection command for the second type of audio, and determine a second target audio corresponding to the second audio selection command.

[0219] In some embodiments, the target instruction further includes a playback mode selection instruction, and the sound control module 702 is further configured to: determine a playback mode type for the target audio; obtain a playback mode selection instruction for the playback mode type; determine a target playback mode corresponding to the playback mode selection instruction; and control the motor to emit a sound corresponding to the target audio according to the target playback mode.

[0220] In some embodiments, the target playback mode includes at least a reminder playback mode. The sound control module 702 is further configured to: control the motor to emit a sound corresponding to the target audio according to the reminder playback mode.

[0221] In some embodiments, the sound control module 702 is further configured to: when the target playback mode is the reminder playback mode, in response to the presence of an environmental object around the vehicle, control the motor to simulate emitting a sound corresponding to the target audio, wherein the environmental object is an object identified by recognizing environmental parameters collected by the vehicle's sensors.

[0222] In some embodiments, the environmental objects include at least moving objects and stationary objects. The moving objects include at least one of pedestrians, animals, and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, medians, curbs, traffic signs, and traffic lights.

[0223] In some embodiments, the target playback mode includes at least a continuous playback mode. The sound control module 702 is further configured to: when the target playback mode is the continuous playback mode, control the motor to continuously simulate and emit a sound corresponding to the target audio.

[0224] In some embodiments, the sound control module 702 is used to: acquire driving status parameters during vehicle operation; and control the motor to simulate and emit a sound corresponding to the second target audio according to the driving status parameters.

[0225] In some embodiments, the driving status parameters include at least one of the following: vehicle speed, acceleration, vehicle posture, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information.

[0226] In some embodiments, the pattern determination module 701 is further configured to: generate the target instruction based on any one of the following: at least one of a user pressing a mechanical button or a touch operation; a user touching an interactive interface; a user-inputted voice operation; and a gesture performed by the user.

[0227] Some embodiments of this disclosure also provide another motor control device. Referring to FIG8, the motor control device is applied to a vehicle controller and may include a mode determination module 801 and a command transmission module 802.

[0228] The mode determination module 801 is used to determine the target sound mode for the vehicle motor; the instruction transmission module 802 is used to send the sound control instruction corresponding to the target sound mode to the motor controller, the sound control instruction being used to instruct the motor controller to control the vehicle motor to perform simulated sound according to the target sound mode.

[0229] In some embodiments, the target instruction includes at least a sound trigger instruction and a sound control instruction. The target sound mode corresponds to a target audio, and the mode determination module 801 is further configured to: acquire the sound trigger instruction; output the sound mode type corresponding to the sound trigger instruction; and acquire the sound control instruction for the sound mode type, and determine the target audio corresponding to the sound control instruction.

[0230] In some embodiments, the sound control command includes at least a sound mode selection command and an audio selection command. The mode determination module 801 is further configured to: obtain a first sound mode selection command for the sound mode type; output a first type of audio corresponding to the first sound mode selection command, wherein the first type of audio is audio that is played according to fixed acoustic characteristics; and obtain a first audio selection command for the first type of audio, and determine a first target audio corresponding to the first audio selection command.

[0231] In some embodiments, the sound control command includes at least a sound mode selection command and an audio selection command. The mode determination module 801 is further configured to: acquire a second sound mode selection command for the sound mode type; output a second type of audio corresponding to the second sound mode selection command, wherein the second type of audio is audio played according to the vehicle's driving status parameters; and acquire a second audio selection command for the second type of audio, and determine a second target audio corresponding to the second audio selection command.

[0232] In some embodiments, the target instruction further includes a playback mode selection instruction. The mode determination module 801 is further configured to: output a playback mode type for the target audio; obtain a playback mode selection instruction for the playback mode type; and determine a target playback mode corresponding to the playback mode selection instruction.

[0233] In some embodiments, the instruction transmission module 802 is further configured to: perform signal recognition on the target audio to obtain a corresponding audio signal; perform feature extraction on the audio signal to obtain audio features corresponding to the target audio; and send a sound control instruction for the vehicle motor to the motor controller, the sound control instruction including at least the audio features and the target sound mode.

[0234] In some embodiments, the audio features include at least one of the frequency and amplitude of the audio signal.

[0235] In some embodiments of this disclosure, the vehicle can determine the target sound mode of the motor and then control the vehicle's motor to emit a sound corresponding to the target sound mode. This eliminates the need for additional sound-emitting devices on the vehicle, effectively reducing costs. Furthermore, by controlling the motor to emit sound based on the target sound mode, the simulated sound emitted by the motor becomes more realistic, and the type of sound can be flexibly adjusted according to the user's actual needs, enriching the diversity of motor sound content.

[0236] Some embodiments of this disclosure also provide another motor control device. Referring to FIG9, the motor control device is applied to the motor controller of a vehicle and may include an instruction acquisition module 901 and a sound control module 902.

[0237] The instruction acquisition module 901 is used to acquire sound control instructions for the vehicle motor. The sound control instructions include at least the audio characteristics corresponding to the target audio. The sound control module 902 is used to control the vehicle motor to simulate emitting a sound corresponding to the target audio based on the audio characteristics.

[0238] In some embodiments, the sound control module 902 is further configured to: identify the audio features to obtain a control signal for the vehicle motor; and control the vehicle motor to simulate a sound corresponding to the target audio according to the control signal.

[0239] In some embodiments, the target audio includes a first target audio. The sound control command also includes a target playback mode corresponding to the first target audio. The sound control module 902 is further configured to: control the vehicle motor to simulate a sound corresponding to the first target audio according to the control signal and the target playback mode.

[0240] In some embodiments, the sound control module 902 is further configured to: when the target playback mode is the reminder playback mode, in response to the presence of an environmental object around the vehicle, control the motor to simulate emitting a sound corresponding to the target audio, wherein the environmental object is an object identified by recognizing environmental parameters collected by the vehicle's sensors.

[0241] In some embodiments, the environmental objects include at least moving objects and stationary objects. The moving objects include at least one of pedestrians, animals, and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, medians, curbs, traffic signs, and traffic lights.

[0242] In some embodiments, the sound control module 902 is further configured to: control the motor to continuously simulate and emit a sound corresponding to the target audio when the target playback mode is the continuous playback mode.

[0243] In some embodiments, the target audio includes a second target audio. The sound control module 902 is further configured to: acquire driving status parameters during vehicle operation; and control the motor to simulate and emit a sound corresponding to the second target audio according to the driving status parameters.

[0244] In some embodiments, the sound control module 902 is further configured to: adjust the control signal according to the driving state parameters to obtain a target control signal for the motor; and control the vehicle motor to simulate a sound corresponding to the second target audio according to the target control signal.

[0245] In some embodiments, the driving status parameters include at least one of the following: vehicle speed, acceleration, vehicle posture, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information.

[0246] Some embodiments of this disclosure also provide another motor control device. Referring to FIG10, the motor control device may include a sound control module 1001. The sound control module 1001 is used to control the vehicle motor to simulate emitting a sound corresponding to the user operation in response to the user operation.

[0247] In some embodiments, the sound control module 1001 is further configured to: in response to a user operation, control the vehicle motor to simulate emitting a sound corresponding to a target audio, wherein the target audio is an audio determined according to the user operation.

[0248] In some embodiments, the user operation includes at least a first user operation, a second user operation, and a third user operation. The sound control module 1001 is further configured to: in response to the first user operation on the vehicle motor, display an audio type corresponding to the first user operation; in response to the second user operation on the audio type, if the second user operation indicates that the user has selected an audio type of the first audio type, display a first type of audio corresponding to the first audio type; and in response to the third user operation on the first type of audio, control the vehicle motor to simulate emitting a sound corresponding to a first target audio, wherein the first target audio is an audio determined according to the third user operation.

[0249] In some embodiments, the sound control module 1001 is configured to: in response to a first selection operation for the first type of audio, select a first target audio from the first type of audio and display a sound mode for the first target audio; and in response to a second selection operation for the sound mode, control a vehicle motor to simulate emitting a sound corresponding to the first target audio according to a target sound mode, wherein the target sound mode is a sound mode determined according to the second selection operation.

[0250] In some embodiments, the sound emission mode includes at least a reminder mode, and the sound emission control module 1001 is further configured to: when the target sound emission mode is the reminder mode, in response to the presence of an environmental object around the vehicle, control the vehicle motor to simulate emitting a sound corresponding to the first target audio, wherein the environmental object is an object identified by recognizing environmental parameters collected by the vehicle's sensors.

[0251] In some embodiments, the environmental objects include at least moving objects and stationary objects. The moving objects include at least one of pedestrians, animals, and other vehicles, and the stationary objects include at least one of roadblocks, guardrails, medians, curbs, traffic signs, and traffic lights.

[0252] In some embodiments, the sound emission mode includes at least a continuous playback mode. The sound emission control module 1001 is further configured to: when the target sound emission mode is the continuous playback mode, control the vehicle motor to continuously simulate emitting a sound corresponding to the first target audio.

[0253] In some embodiments, the target sound mode includes one of a reminder playback mode and a continuous playback mode.

[0254] In some embodiments, the first audio type is an audio type that plays audio based on fixed acoustic characteristics.

[0255] In some embodiments, the sound control module 1001 is further configured to: if the second user operation indicates that the audio type selected by the user is a second audio type, then display a second type of audio corresponding to the second audio type; and in response to a fourth user operation for the second type of audio, control the vehicle motor to simulate emitting a sound corresponding to a second target audio, wherein the second target audio is an audio determined according to the fourth user operation.

[0256] In some embodiments, the second audio type is an audio type in which the acoustic characteristics are adjusted according to the vehicle's driving status parameters during audio playback.

[0257] In some embodiments, the sound control module 1001 is further configured to: control the vehicle motor to simulate the emission of a sound corresponding to the second target audio according to driving state parameters, wherein the driving state parameters are state parameters during vehicle operation.

[0258] In some embodiments, the driving status parameters include at least one of the following: vehicle speed, acceleration, vehicle posture, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information.

[0259] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0260] Referring to FIG11, some embodiments of this disclosure also provide a vehicle 1000, which includes one or more processors 1003 and one or more machine-readable media 1002 storing instructions. When the instructions are executed by the one or more processors 1003, the vehicle causes the vehicle to perform the methods described in some embodiments of this disclosure.

[0261] Some embodiments of this disclosure also provide a computer-readable storage medium having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the methods described in some embodiments of this disclosure.

[0262] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0263] Those skilled in the art will understand that embodiments of some of the embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, some embodiments of this disclosure can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects.

[0264] Furthermore, some embodiments of this disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, EEPROM, Flash, and eMMC) containing computer-usable program code.

[0265] Some embodiments of this disclosure are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to some embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0266] These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal equipment to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal equipment, produce means for implementing the functions specified in one or more flows in a flowchart and / or one or more blocks in a block diagram.

[0267] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more processes in a flowchart and / or one or more blocks in a block diagram.

[0268] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more blocks in the block diagram.

[0269] Although some embodiments of this disclosure have been described, those skilled in the art, upon learning the basic inventive concept, can make further changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including all changes and modifications within the scope of some embodiments of this disclosure.

[0270] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0271] The foregoing has provided a detailed description of a motor control method and a motor control device according to some embodiments of this disclosure. The embodiments have been used to illustrate the principles and implementation methods of this disclosure. The descriptions of the embodiments above are merely for the purpose of helping to understand the methods and core ideas of this disclosure. Furthermore, those skilled in the art will recognize that, based on the ideas of this disclosure, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this disclosure.

[0272] Although embodiments of this disclosure have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for controlling an electric motor, comprising: Determine the target sound production mode for the motor; as well as The motor is controlled to emit a sound corresponding to the target sound pattern.

2. The method according to claim 1, wherein, The target vocal mode includes at least a first vocal mode and a second vocal mode, wherein the first vocal mode is different from the second vocal mode.

3. The method according to claim 1 or 2, wherein, The determination of the target sound emission mode of the motor includes: Obtain the target instruction for the motor, and determine the target sound production mode of the motor based on the target instruction.

4. The method according to claim 3, wherein, The step of acquiring the target instruction for the motor and determining the target sound emission mode of the motor based on the target instruction includes: If the vehicle's speed is less than or equal to a preset speed threshold, a target instruction is generated for the motor, and a first sound mode or a second sound mode of the motor is determined based on the target instruction.

5. The method according to claim 3, wherein, The target instruction includes at least a sound trigger instruction and a sound control instruction, and the target sound mode corresponds to a target audio. The step of acquiring the target instruction for the motor and determining the target sound emission mode of the motor based on the target instruction includes: Obtain the sound trigger command; The corresponding sound mode type is determined based on the sound trigger command; and Obtain a voice control command for the specified voice mode type, and determine the target audio corresponding to the voice control command.

6. The method according to claim 5, wherein, The voice control command includes at least a voice mode selection command and an audio selection command; the step of obtaining the voice control command for the voice mode type and determining the target audio corresponding to the voice control command includes: Obtain a first voice mode selection instruction for the stated voice mode type; Based on the first sound mode selection instruction, a corresponding first type of audio is determined; wherein, the first type of audio is audio that is played according to fixed acoustic characteristics; and Obtain a first audio selection instruction for the first type of audio, and determine a first target audio corresponding to the first audio selection instruction.

7. The method according to claim 5, wherein, The voice control command includes at least a voice mode selection command and an audio selection command; the step of obtaining the voice control command for the voice mode type and determining the target audio corresponding to the voice control command includes: Obtain a second voice mode selection instruction for the stated voice mode type; Output the second type of audio corresponding to the second sound mode selection command; wherein, the second type of audio is the audio played according to the vehicle's driving status parameters; and Obtain a second audio selection instruction for the second type of audio, and determine a second target audio corresponding to the second audio selection instruction.

8. The method according to claim 6 or 7, wherein, The target instruction further includes a playback mode selection instruction; controlling the motor to emit a sound corresponding to the target sound mode includes: Determine the playback mode type for the target audio; Obtain the playback mode selection instruction for the specified playback mode type; Determine the target playback mode corresponding to the playback mode selection instruction; and The motor is controlled to emit a sound corresponding to the target audio according to the target playback mode.

9. The method according to claim 8, wherein, The target playback mode includes at least a reminder playback mode; controlling the motor to emit a sound corresponding to the target audio according to the target playback mode includes: The motor is controlled to emit a sound corresponding to the target audio according to the reminder playback mode.

10. The method according to claim 9, wherein, The step of controlling the motor to emit a sound corresponding to the target audio according to the reminder playback mode includes: When the target playback mode is the reminder playback mode, in response to the presence of an environmental object around the vehicle, the motor is controlled to simulate emitting a sound corresponding to the target audio; wherein, the environmental object is an object identified by recognizing environmental parameters collected by the vehicle's sensors.

11. The method according to claim 10, wherein, The environmental objects include at least moving objects and stationary objects; the moving objects include at least one of pedestrians, animals and other vehicles; the stationary objects include at least one of roadblocks, guardrails, medians, curbs, traffic signs and traffic lights.

12. The method according to any one of claims 9-11, wherein, The target playback mode includes at least a continuous playback mode; controlling the motor to emit a sound corresponding to the target audio according to the reminder playback mode includes: When the target playback mode is the continuous playback mode, the motor is controlled to continuously simulate and emit a sound corresponding to the target audio.

13. The method according to any one of claims 7-12, wherein, The control of the motor to emit a sound corresponding to the target sound mode includes: Acquire driving status parameters during vehicle operation; and The motor is controlled to simulate the sound corresponding to the second target audio according to the driving status parameters.

14. The method according to claim 13, wherein, The driving status parameters include at least one of the following: vehicle speed, acceleration, vehicle posture, motor speed, torque, power information, accelerator pedal status information, and brake pedal status information.

15. The method according to any one of claims 3-14, further comprising: The target instruction is generated based on any of the following: At least one of the following: user pressing or touching mechanical buttons; User's touch operation on the interactive interface; User-input voice commands; as well as The gestures performed by the user.

16. A control device for an electric motor, wherein, include: The mode determination module is configured to determine the target sound emission mode of the motor. as well as The sound control module is configured to control the motor to emit a sound corresponding to the target sound mode.

17. A vehicle comprising: One or more processors; and One or more machine-readable media having instructions stored thereon, which, when executed by the one or more processors, cause the vehicle to perform the method according to any one of claims 1-15.

18. A computer-readable storage medium having instructions stored thereon that, when executed by one or more processors, cause the one or more processors to perform the method according to any one of claims 1-15.

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