Sound playback method and apparatus

Abstract

A sound playback method and apparatus. The method comprises: acquiring a corresponding first electrical signal on the basis of an audio signal; on the basis of motor data, determining a second electrical signal when the motor in a working state; obtaining a third electrical signal on the basis of the first electrical signal and the second electrical signal; and on the basis of the third electrical signal, controlling the motor to produce sound.

Description

Sound playback method and device

[0001] This application claims priority to Chinese patent application No. 202411210266.9, 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 automotive technology, and more particularly to a sound playback method and apparatus. Background Technology

[0003] Movies and karaoke have become common forms of entertainment, widely present in people's lives. They have become a way of life for people to gather, make friends, and have fun. Appropriate entertainment is also an extremely effective way to relieve stress for people living fast-paced lives.

[0004] People typically choose to watch movies or sing karaoke at specific entertainment venues, which offer good sound systems and soundproofing. However, this not only costs money but is also time-consuming and laborious. Therefore, with the continuous development of vehicle control technology and the increasing demand for multifunctional vehicles, watching movies and singing karaoke are gradually shifting to in-vehicle terminal devices. Summary of the Invention

[0005] This disclosure provides a sound playback method to solve the problem in the related art where the motor of a car emits certain sounds, and these noises are usually impossible to eliminate, affecting user satisfaction.

[0006] Firstly, a sound playback method is provided. The method includes:

[0007] Obtain the corresponding first electrical signal based on the audio signal;

[0008] A second electrical signal indicating that the motor is in a working state is determined based on the motor data;

[0009] A third electrical signal is obtained based on the first electrical signal and the second electrical signal;

[0010] The motor is controlled to produce sound according to the third electrical signal.

[0011] In some embodiments, the third electrical signal is obtained by mixing and processing the first electrical signal and the second electrical signal.

[0012] In some embodiments, controlling the motor to produce sound according to the third electrical signal includes:

[0013] The pulse width modulation (PWM) duty cycle of the control signal for the drive controller of the motor is determined based on the third electrical signal.

[0014] The motor is controlled to produce sound based on the PWM duty cycle of the control signal.

[0015] In some embodiments, obtaining the corresponding first electrical signal based on the audio signal includes:

[0016] The audio signal is demodulated to obtain its frequency and amplitude;

[0017] The corresponding first electrical signal is obtained based on the frequency and the amplitude.

[0018] In some embodiments, before demodulating the audio signal to obtain the frequency and the amplitude, the method further includes:

[0019] Acquire audio signals from devices that communicate with the vehicle.

[0020] In some embodiments, acquiring the audio signal of the device communicating with the vehicle includes:

[0021] Acquire at least one of the following: voice information collected by a microphone communicating with the vehicle, or audio information transmitted by an external mobile terminal communicating with the vehicle.

[0022] The voice information or the audio information is used as the audio signal of the vehicle.

[0023] In some embodiments, the second electrical signal for determining the motor's operating state based on the motor data includes:

[0024] The second electrical signal indicating that the motor is in a driving state is determined based on the motor data using a target method.

[0025] In some embodiments, the target method includes at least one of the following: a lookup table method, a combination of lookup table and interpolation method, and a piecewise linear fitting method.

[0026] In some embodiments, the third electrical signal is obtained by mixing and processing the first electrical signal and the second electrical signal, including:

[0027] The difference signal is obtained by calculating the difference between the first electrical signal and the second electrical signal;

[0028] The difference signal is used as the third electrical signal.

[0029] In some embodiments, controlling the motor to produce sound according to the PWM duty cycle of the control signal includes:

[0030] When the audio signal is played through the car's in-vehicle multimedia system, the motor is controlled to produce sound.

[0031] In some embodiments, the in-vehicle multimedia system includes an exterior screen, and after controlling the motor to produce sound according to the third electrical signal, the method further includes:

[0032] Image information is displayed on the external screen of the vehicle. The image information is at least one of the following: an image adapted to the sound emitted by the motor, a preset image, or a random image.

[0033] In some embodiments, controlling the motor to produce sound according to the PWM duty cycle of the control signal includes:

[0034] The PWM duty cycle of the control signal in the synchronous rotating coordinate system is converted to the PWM duty cycle of the control signal in the stationary coordinate system.

[0035] The PWM duty cycle of the control signal in the stationary coordinate system is modulated using a space vector pulse width modulation algorithm to obtain the PWM duty cycle of the control signal for each phase arm of the motor.

[0036] The motor's sound is controlled by the PWM duty cycle of the control signals of each phase bridge arm.

[0037] Secondly, a sound playback device is provided. The device includes: a first electrical signal acquisition module, a second electrical signal acquisition module, a third electrical signal acquisition module, and a motor sound generation module.

[0038] The first electrical signal acquisition module is configured to acquire the corresponding first electrical signal based on the audio signal;

[0039] The second electrical signal acquisition module is configured to determine a second electrical signal indicating that the motor is in a working state based on motor data;

[0040] The third electrical signal acquisition module is configured to obtain a third electrical signal based on the first electrical signal and the second electrical signal;

[0041] The motor sound-generating module is configured to control the motor to produce sound according to the third electrical signal.

[0042] Thirdly, an electronic device is also provided. This electronic device includes a processor, a communication interface, a memory, and a communication bus. The processor, the communication interface, and the memory communicate with each other via the communication bus. The memory is configured to store computer programs, and the processor is configured to execute the programs stored in the memory to implement the above-described method.

[0043] Fourthly, a computer-readable storage medium is also provided. The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the aforementioned sound playback method.

[0044] Fifthly, a computer program product containing instructions is also provided, which, when executed on a computer, causes the computer to perform the aforementioned sound playback method.

[0045] Sixthly, a vehicle is also provided, the vehicle including the above-described sound playback device to implement the above-described sound playback method.

[0046] Compared with related technologies, some embodiments of this disclosure have at least the following advantages:

[0047] In some embodiments of this disclosure, a corresponding first electrical signal can be obtained based on an audio signal, and a second electrical signal indicating that the motor is in a working state can be determined based on motor data. A third electrical signal is obtained based on the first and second electrical signals, and the motor is controlled to emit sound based on the third electrical signal. These embodiments utilize and control motor sound emission based on audio signals, eliminating motor noise and improving the vehicle's performance.

[0048] The audio signal can be the sound of a user speaking or singing through a microphone. Therefore, controlling the motor to produce a sound that matches the audio signal can achieve a good human-computer interaction experience and further enhance the vehicle's usability. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments or related technologies of this disclosure, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below.

[0050] Figure 1 is a flowchart of a sound playback method according to some embodiments;

[0051] Figure 2 is a structural diagram of a system for implementing car audio playback according to some embodiments;

[0052] Figure 3 is a flowchart of a car sound playback according to some embodiments;

[0053] Figure 4 is a schematic diagram of the implementation of a karaoke mode according to some embodiments;

[0054] Figure 5 is a schematic diagram of a voice implementation method according to some embodiments;

[0055] Figure 6 is a schematic diagram of a coordinate transformation according to some embodiments;

[0056] Figure 7 is a flowchart of a motor sound generation process in a car according to some embodiments;

[0057] Figure 8 is a structural diagram of an electric drive control system for a motor according to some embodiments;

[0058] Figure 9 is a flowchart of an exterior screen display according to some embodiments;

[0059] Figure 10 is a block diagram of a sound playback device according to some embodiments;

[0060] Figure 11 is a block diagram of a vehicle according to some embodiments. Detailed Implementation

[0061] The technical solutions of the embodiments of this disclosure will now be described with reference to the accompanying drawings.

[0062] Currently, sound playback in cars is typically achieved using the car's built-in audio system. For example, when a user wants to sing karaoke in the car, the music they sing and the music from their mobile device can be played using the car's audio system. However, during operation, the car's motor emits some noise, which is usually impossible to eliminate and affects user satisfaction.

[0063] Therefore, some embodiments of this disclosure provide a sound playback method.

[0064] Figure 1 is a flowchart of a sound playback method provided in some embodiments of this disclosure. As shown in Figure 1, the method may include the following steps:

[0065] In step 101, the corresponding first electrical signal is obtained based on the audio signal;

[0066] The sound playback method in some embodiments of this disclosure can be applied to automobiles. An automobile may include a main controller (automobile controller), which can be used to control the automobile's motors. For example, the automobile controller controls parameters such as the motor's speed. The motor can be a permanent magnet synchronous motor, or an asynchronous motor, a field-wound motor, a dual-motor motor, a six-phase motor, or other types of motors; this disclosure does not impose any limitations on this.

[0067] Electrical signals (including the first electrical signal) may include other signals that can be used to control the motor, such as direct-axis and quadrature-axis currents. In some embodiments of this disclosure, the first electrical signal may be acquired based on an audio signal, which may be music or human speech. Direct-axis and quadrature-axis currents refer to the direct-axis (d-axis) current and quadrature-axis (q-axis) current of the motor. For example, direct-axis and quadrature-axis currents are the quadrature-axis current and direct-axis current in a synchronous rotating coordinate system oriented based on the motor rotor's magnetic field. In a motor, the current vector can be decomposed into two components: direct-axis current and quadrature-axis current. These two components correspond to the direct-axis and quadrature-axis directions of the motor, respectively, and have different functions and effects. The direct-axis current is related to the magnetic flux direction on the direct-axis (d-axis) of the motor, while the quadrature-axis current is related to the magnetic flux direction on the quadrature-axis (q-axis) of the motor. In actual motor control, the ratio of the direct-axis current to the quadrature-axis current determines the motor speed. Therefore, for the control of an automobile motor, these two components need to be appropriately controlled and adjusted to achieve optimal control performance.

[0068] In step 102, a second electrical signal indicating that the motor is in a working state is determined based on the motor data;

[0069] A second electrical signal indicating that the motor is in operating (driving) state can be determined based on the motor data, which may include at least information such as the motor's current, speed, and electrical angle. The second electrical signal can be the direct-axis current and quadrature-axis current of the motor. For example, the second electrical signal can be the quadrature-axis current and direct-axis current in a synchronously rotating coordinate system oriented based on the motor rotor's magnetic field.

[0070] In step 103, a third electrical signal is obtained based on the first electrical signal and the second electrical signal;

[0071] In step 104, the motor is controlled to produce sound according to the third electrical signal.

[0072] After acquiring the first and second electrical signals, the motor can be controlled to produce sound in a coordinated manner based on the first and second electrical signals. For example, a third electrical signal can be obtained based on the first and second electrical signals, and then the motor can be controlled to produce sound based on the third electrical signal. For example, the motor speed can be controlled based on the third electrical signal to make the motor produce specific vibrations, which are then converted into sound.

[0073] In some embodiments of this disclosure, a corresponding first electrical signal can be obtained based on the audio signal, and a second electrical signal indicating that the motor is in a working state can be determined based on motor data. A third electrical signal is obtained based on the first and second electrical signals, and the motor is controlled to emit sound based on the third electrical signal. These embodiments utilize and control motor sound emission based on audio signals, eliminating motor noise and improving the vehicle's performance.

[0074] In some embodiments, step 104: controlling the motor to produce sound according to the third electrical signal includes:

[0075] The pulse width modulation (PWM) duty cycle of the control signal for the drive controller of the motor is determined based on the third electrical signal.

[0076] The motor is controlled to produce sound based on the PWM duty cycle of the control signal.

[0077] Space Vector Pulse Width Modulation (SVPWM) is an advanced PWM technique for motor control. SVPWM achieves precise speed control of the motor by modulating its three-phase voltages. For example, SVPWM can calculate and determine the PWM duty cycle of the control signal for the motor's drive controller based on the third electrical signal, and then control the motor's sound output based on the PWM duty cycle of the control signal.

[0078] In some embodiments of this disclosure, in order to control the motor, it is necessary to convert the PWM duty cycle of the control signal in the synchronous rotating coordinate system into the PWM duty cycle of the control signal in the stationary coordinate system. Then, the PWM duty cycle of the control signal in the stationary coordinate system is modulated using the SVPWM algorithm to obtain the PWM duty cycle of the motor control signal. Finally, the motor is controlled to produce sound by the PWM duty cycle of the motor control signal.

[0079] In some embodiments, obtaining the corresponding first electrical signal based on the audio signal includes:

[0080] The audio signal is demodulated to obtain its frequency and amplitude;

[0081] The corresponding first electrical signal is obtained based on the frequency and the amplitude.

[0082] For example, corresponding AC current commands can be preset according to different frequencies and amplitudes, and corresponding electrical signals (e.g., first electrical signals) can be obtained based on the AC current commands. In some embodiments of this disclosure, the frequency and amplitude of an audio signal can be obtained by demodulating the audio signal, and then the corresponding target AC current command can be determined based on the frequency and amplitude of the audio signal, and then the first electrical signal can be determined based on the target AC current command.

[0083] In some embodiments, before demodulating the audio signal to obtain the frequency and amplitude, the method further includes:

[0084] Acquire audio signals from devices that communicate with the vehicle.

[0085] The audio signal can be an audio signal from a device that communicates with the car. For example, the device communicating with the car can be a device inside the car or a device outside the car.

[0086] In some embodiments, acquiring the audio signal of the device communicating with the vehicle includes:

[0087] Acquire at least one of voice information collected by a microphone communicating with the vehicle or audio information transmitted by an external mobile terminal communicating with the vehicle;

[0088] At least one of the voice information or the audio information is used as the car's audio signal.

[0089] The equipment inside the car can be an in-car audio system, while the equipment outside the car can be an external mobile terminal, such as a mobile phone or computer. For example, the external mobile terminal and wireless microphone can wirelessly communicate with the car (such as the car's main controller) via Bluetooth and Wi-Fi communication modules. For example, Figure 2 is a structural diagram of a system for implementing car audio playback provided by some embodiments of this disclosure. As shown in Figure 2, the circuit board of the car's main controller 201 is equipped with Bluetooth communication module 1, Bluetooth communication module 2, Wi-Fi communication module 1, and Wi-Fi communication module 2. The car's main controller 201 wirelessly communicates with the wireless microphone 202 via Bluetooth communication module 1 or Wi-Fi communication module 1, receiving voice signals such as music information sung by the user emitted by the wireless microphone 202. The car's main controller 201 wirelessly communicates with the external mobile terminal (i.e., mobile device) 203 via Bluetooth communication module 2 or Wi-Fi communication module 2, receiving audio signals such as music information emitted by the external mobile terminal 203.

[0090] The audio signal can be voice information captured by a microphone communicating with the car. For example, the audio signal could be music sung by a user while they are singing karaoke in the car, captured by the microphone. The audio signal can also be audio information transmitted from an external mobile terminal communicating with the car. For example, the audio signal could be music played on a mobile terminal while a user is singing karaoke in the car, or the sound of a movie played on a mobile terminal while a user is watching a movie in the car.

[0091] Since the audio signal in some embodiments of this disclosure can be the sound of a user speaking or singing through a microphone, controlling the motor to emit a sound that matches the audio signal can achieve a good human-computer interaction experience and further improve the vehicle's usability.

[0092] It should be noted that "at least one of A, B and C" has the same meaning as "at least one of A, B or C", both of which include the following combinations of A, B and C: only A, only B, only C, combinations of A and B, combinations of A and C, combinations of B and C, and combinations of A, B and C.

[0093] In some embodiments, FIG3 is a flowchart of sound playback provided in some embodiments of this disclosure. As shown in FIG3, the steps of sound playback are as follows:

[0094] In step S201, when the user speaks, the wireless microphone collects the sound as voice information.

[0095] In step S202, the processor of the wireless microphone converts the voice information into an electrical signal. The electrical signal contains the waveform and frequency information of the sound.

[0096] In step S203, the wireless transmitting circuit further processes the electrical signal and transmits it via radio waves. The wireless transmitting circuit mainly consists of the following parts: a modulator, a power amplifier, and an antenna. The modulator is configured to process the weak electrical signal generated in the processor of the wireless microphone, making the weak electrical signal suitable for wireless transmission. Frequency modulation (FM) or amplitude modulation (AM) can be selected as the modulation method of the modulator for the electrical signal.

[0097] In step S204, the power of the electrical signal is amplified to a level suitable for propagation by the power amplifier;

[0098] In step S205, the electrical signal processed by the modulator and power amplifier is converted into radio waves through an antenna and transmitted into the air through a transmitting antenna.

[0099] In step S206, the wireless receiving circuit of the vehicle's main controller mainly consists of a demodulator and an amplifier. The demodulator is configured to restore the received electrical signal to its original state before modulation, thus recovering the original sound waveform and frequency information.

[0100] In step S207, the amplifier further amplifies the recovered electrical signal for subsequent sound playback processing.

[0101] In steps S208 and S209, the external mobile device wirelessly communicates with the vehicle's main controller via a Bluetooth communication module and a Wi-Fi communication module to transmit music signals or accompaniment signals. For example, the external mobile device can be a mobile phone or a computer.

[0102] In step S210, the audio information of movies or music stored in the vehicle's intelligent connected system can be used for playback when watching movies and singing karaoke.

[0103] In step S211, the audio information of the movie or music stored inside the microcontroller unit (MCU) of the motor controller can be used to play when watching movies and singing karaoke.

[0104] In step S212, the vehicle's main controller plays the audio information and video corresponding to the movie simultaneously. Additionally, the vehicle's main controller mixes the user's voice signal and the music's audio information to form a mixed music signal of simulated human voice and accompaniment, which is played during karaoke.

[0105] Figure 4 is a schematic diagram of the implementation of a karaoke mode provided in some embodiments of this disclosure. The state can be determined by reading the bits on the car used to identify various devices or modes. 0X33F4.0, 0X33F, and 4.0-4.7 are Controller Area Network (CAN) communication messages, written in the control software, and can be used as flag bits to determine different karaoke modes. For example: 0X33F4.0-4.7 = 0X0: 0X33F: message ID; 4.0-4.7: represent the 4th byte of the message (out of a total of 8 bytes); 0X0: value (hexadecimal).

[0106] As shown in Figure 4, the implementation steps of the karaoke mode are as follows:

[0107] In step S501, bits 24-25 of sub-ID 0X409 0X3 are used to obtain the microphone and connector status.

[0108] In step S502, a playback source selection button is added to the Passenger Audio or Visual Display (PAD). By using the playback source selection button, when singing karaoke outside the vehicle, you can choose to use the motor sound, and when singing karaoke inside the vehicle, you can use the power amplifier (AMP) (as in step S504).

[0109] In step S503, the user can select an external karaoke playback source via the PAD. When the multimedia system receives this signal and sends Media 0X33F4.0-4.7 = 0X0, it becomes invalid; otherwise, it remains consistent with the in-car karaoke mode, using the in-car amplifier (AMP). When the vehicle controller (Power Device Control, PDC) receives 0X33F4.0-4.7 = 0X0 and the multimedia source status 0X1BE 8.0-8.1 = 0X1, it enters the external karaoke mode and parses the audio signal sent by the multimedia system into control signals to control the MCU to play sound. When the usage scenario is 0X33F 4.0-4.7 = 0X4, karaoke interconnection is enabled.

[0110] Figure 5 is a schematic diagram of a voice implementation method provided in some embodiments of this disclosure. As shown in Figure 5, the external voice can be divided into preset voice 501 and real-time voice 502. The preset voice is the same as the normal voice command. The user activates the preset voice on the PAD, the vehicle's voice system performs voice recognition, matches the set text command, and issues the corresponding voice mode. The PDC controls the MCU output. Real-time voice is similar to preset voice. It requires the vehicle's voice system to perform voice recognition, convert the voice into text, convert the text into voice, synthesize the voice, and send the multimedia information stream to the PDC. The PDC controls the MCU output. This mode requires the user to manually activate real-time voice on the PAD. The preset voice button and real-time voice button on the PAD can be turned on and off simultaneously. When singing karaoke, both the preset voice button and the real-time voice button are activated simultaneously to play the human voice signal and the preset accompaniment signal at the same time. When watching a movie, the preset voice button is activated to play the preset movie audio information.

[0111] In some embodiments, step 102: determining a second electrical signal indicating that the motor is in an operating state based on motor data, includes:

[0112] A second electrical signal indicating that the motor is in a driving state is determined based on the motor data using a preset method.

[0113] The preset methods include at least a table lookup method, a combination of table lookup and interpolation method, and a piecewise linear fitting method.

[0114] In some embodiments of this disclosure, after calculating the motor data of the motor, the second electrical signal of the motor being in a driving state is determined by using preset methods such as table lookup, table lookup and interpolation combination, and piecewise linear fitting based on parameters such as the speed in the motor data.

[0115] In some embodiments, the third electrical signal is obtained by mixing the first electrical signal and the second electrical signal. For example, step 103: obtaining the third electrical signal based on the first electrical signal and the second electrical signal includes:

[0116] The difference signal is obtained by calculating the difference between the first electrical signal and the second electrical signal;

[0117] The difference signal is used as the third electrical signal.

[0118] In some embodiments of this disclosure, the motor's sound output can be controlled collaboratively by a first electrical signal and a second electrical signal after mixing. For example, the mixing process may involve calculating the difference between the first and second electrical signals to obtain a difference signal, and then converting the difference signal into a third electrical signal for the motor's drive controller, such as the PWM duty cycle of a control signal, thereby controlling the motor's sound output according to the PWM duty cycle of the control signal.

[0119] In some embodiments, controlling the motor to produce sound according to the PWM duty cycle of the control signal includes:

[0120] When the audio signal is played through the car's in-vehicle multimedia system, the motor is controlled to produce sound.

[0121] In-vehicle multimedia systems can include in-vehicle audio systems, in-vehicle and out-of-vehicle displays (such as exterior screens), and other equipment or components.

[0122] In some embodiments of this disclosure, after acquiring the audio signal, the motor can be controlled to emit a sound to replace the original audio signal played in the car. Alternatively, while the audio signal is played through the car's in-vehicle multimedia system, the motor can be controlled to emit a sound that matches the audio signal. That is, the in-vehicle multimedia system plays the audio signal, and the motor emits a sound, thereby providing diversified car sound playback effects.

[0123] It should be noted that car audio playback is typically limited to the vehicle's interior, meaning that audio signals are played through sound equipment installed inside the car's cabin. However, in some scenarios, users need to transmit information outside the vehicle, requiring externally oriented sound equipment. However, such externally oriented sound equipment increases the cost of the car and is not very practical. Some embodiments of this disclosure utilize motor-generated sound, expanding the functionality of the car's motor. This allows information to be transmitted outside the vehicle via the motor (e.g., the sound of a user speaking, karaoke, or movie audio), without the need for additional externally oriented sound equipment, thus reducing the car's cost. Of course, as mentioned above, some embodiments of this disclosure can also control the motor's sound generation to eliminate motor noise. Therefore, regardless of whether audio signals are played through in-car sound equipment or the motor emits sounds adapted to the audio signals, the motor will not produce noise, improving the vehicle's usability.

[0124] In some embodiments, controlling the motor to produce sound according to the PWM duty cycle of the control signal includes:

[0125] The PWM duty cycle of the control signal in the synchronous rotating coordinate system is converted to the PWM duty cycle of the control signal in the stationary coordinate system.

[0126] The PWM duty cycle of the control signal in the stationary coordinate system is modulated using a space vector pulse width modulation algorithm to obtain the duty cycle of each phase bridge arm of the motor.

[0127] The motor's sound output is controlled by the duty cycle of each phase arm.

[0128] Space Vector Pulse Width Modulation (SVPWM) is an advanced PWM technique for motor control. SVPWM achieves precise speed control of the motor by modulating its three-phase voltages. For example, SVPWM can calculate the duty cycle of each phase arm of the motor and control the operation of each phase based on that duty cycle.

[0129] In some embodiments of this disclosure, in order to control the motor, it is necessary to convert the PWM duty cycle of the control signal in the synchronous rotating coordinate system into the PWM duty cycle of the control signal in the stationary coordinate system. Then, the PWM duty cycle of the control signal in the stationary coordinate system is modulated using the SVPWM algorithm to obtain the duty cycle of each phase arm of the motor. Finally, the motor is controlled to produce sound by controlling the duty cycle of each phase arm.

[0130] To enable those skilled in the art to better understand some embodiments of this disclosure, an example is used below to illustrate how a car's motor generates sound. First, Figure 6 is a schematic diagram of a coordinate transformation provided in some embodiments of this disclosure. As shown in Figure 6, the coordinate transformations involved in motor control include:

[0131] Clark Transformation: A stationary coordinate transformation that converts a three-phase stationary coordinate system A, B, C to a two-phase stationary coordinate system α, β. Park Transformation: A synchronous rotating coordinate transformation that converts a two-phase stationary coordinate system α, β to a synchronous rotating coordinate system d, q.

[0132] Inverse Clark Transformation: The inverse of the Clark transform, which transforms the two-phase stationary coordinate system α, β to the three-phase stationary coordinate system A, B, C.

[0133] Inverse PARK Transformation: The inverse of the PARK transformation, which transforms the synchronous rotating coordinate system d, q to the two-phase stationary coordinate system α, β.

[0134] Figure 7 is a flowchart of a motor sound generation process in a car according to some embodiments of this disclosure. As shown in Figure 7, the steps for generating sound from the motor are as follows:

[0135] In step S301, the motor status acquisition unit acquires data fed back from the motor to calculate motor data. Motor data may include data such as current, speed, and electrical angle signals.

[0136] In step S302, the quadrature-axis current and direct-axis current (second electrical signal) of the motor in the driving state are acquired.

[0137] For example, based on motor data such as motor speed, the quadrature-axis current and direct-axis current given in the original driving state can be obtained using methods such as table lookup, a combination of table lookup and interpolation, and piecewise linear fitting. Based on motor data collected by the motor status acquisition unit, the quadrature-axis current and direct-axis current fed back in the synchronous rotating coordinate system based on the motor rotor magnetic field orientation are obtained. To facilitate the control of the three-phase cross-variables of the motor's A-phase, B-phase, and C-phase axes, these three-phase cross-variables are typically transformed into cross-variables of the α-axis and β-axis in the stationary coordinate system. Then, the α-axis and β-axis cross-variables are converted into direct currents of the d-axis and q-axis in the synchronous rotating coordinate system. By controlling the direct currents of the d-axis and q-axis, the control of the three-phase cross-variables of the A-phase, B-phase, and C-phase axes is achieved. Transformation between different coordinate systems is usually achieved through coordinate transformation. The Clark transformation is used to transform a three-phase stationary coordinate system into a two-phase stationary coordinate system, and vice versa. The Park transformation is used to transform a two-phase stationary coordinate system into a synchronous rotating coordinate system, and vice versa.

[0138] In step S303, the vehicle's main controller obtains the frequency and amplitude of the audio signal by demodulation based on the audio signal.

[0139] In step S304, the corresponding target AC current command is obtained based on the frequency and amplitude.

[0140] In step S305, the quadrature-axis current and direct-axis current (first electrical signal) in the synchronous rotating coordinate system based on the motor rotor magnetic field orientation are obtained according to the target AC current command.

[0141] In steps S306 and S307, the hybrid processing unit coordinates the quadrature-axis current and direct-axis current of the target with the quadrature-axis current and direct-axis current that were originally in the driving state for control.

[0142] In step S308, the PWM duty cycle (third electrical signal) of each phase control signal of the motor is calculated to obtain the PWM duty cycle of each phase, so that the motor can issue relevant voice prompts. For example, the voice prompts could be "The in-car karaoke is on" or "The out-of-car karaoke is on," etc. This step performs closed-loop control of the current on the d and q axes according to the vector control method of the motor. For the direct-axis current id* and quadrature-axis current iq* obtained in step S302, the difference is calculated with the direct-axis current id and quadrature-axis current iq obtained from the motor feedback, respectively, and then controlled by a proportional-integral-derivative controller (PID controller) to output the target values ​​Ud and Uq. Ud and Uq are transformed by inverse Park to obtain Uα and Uβ. Uα and Uβ are modulated by SVPWM to obtain the duty cycle of each phase bridge arm, and the duty cycle of the phase bridge arm is given to the drive unit.

[0143] In steps S309 and S310, the drive unit controls the motor to produce sound.

[0144] Figure 8 is a structural diagram of an electric drive control system for a motor provided in some embodiments of this disclosure. For example, as shown in Figure 8, the three-phase inverter of the electric drive control system 802 for motor 801 includes six power switching units. Each power switching unit includes a power switch and a freewheeling diode. The first power switching unit includes an upper bridge arm VT1 and a freewheeling diode VD1; the second power switching unit includes a lower bridge arm VT2 and a freewheeling diode VD2; the third power switching unit includes an upper bridge arm VT3 and a freewheeling diode VD3; the fourth power switching unit includes a lower bridge arm VT4 and a freewheeling diode VD4; the fifth power switching unit includes an upper bridge arm VT5 and a freewheeling diode VD5; and the sixth power switching unit includes a lower bridge arm VT6 and a freewheeling diode VD6. The output of the first power switch unit and the input of the second power switch unit are connected to form the first phase of the three-phase inverter, controlling phase A of the three-phase motor. The output of the third power switch unit and the input of the fourth power switch unit are connected to form the second phase of the three-phase inverter, controlling phase B of the three-phase motor. The output of the fifth power switch unit and the input of the sixth power switch unit are connected to form the third phase of the three-phase inverter, controlling phase C of the three-phase motor. Of course, the motor described above is merely an example, and practical applications are not limited to this type of motor.

[0145] In some embodiments, the in-vehicle multimedia system includes an exterior screen, and after controlling the motor to produce sound according to the third electrical signal, the method further includes:

[0146] Image information is displayed on the external screen of the vehicle. The image information is at least one of an image adapted to the sound, a preset image, or a random image.

[0147] Figure 9 is a flowchart illustrating an exterior screen display provided in some embodiments of this disclosure. The image information displayed on the exterior screen can include expressions, text, and dynamic patterns. This image information can be images adapted to the sound of the motor, preset images, or random images. For example, as shown in Figure 9, the image information displayed on the exterior screen can select preset pattern information 901 and custom-made (Do It Yourself, DIY) pattern information 902. For example, the user can access the preset pattern interface via the preset pattern control key on the PAD, select the pattern to be displayed, and each pattern is accompanied by related sound effects. The pattern and sound effect information stream is transmitted to the PDC, and the PDC controls the MCU to output, with sound effects played out and the exterior screen pattern display occurring simultaneously. The user can access the pattern design interface via the DIY pattern control key on the PAD, and can simultaneously configure the sound effects for the pattern. After the design is completed, the pattern and sound effect information stream is transmitted to the PDC, and the PDC controls the MCU to output, with sound effects played out and the exterior screen pattern display occurring simultaneously. For example, in some car models, the pixel screen of the car grille can be used to display information, such as emoticons, music lyrics, scenery, and dynamic patterns of objects.

[0148] In summary, some embodiments of this disclosure provide a vehicle-mounted music playback system and method. It uses motor-generated sound technology to play the audio signals corresponding to movie videos, voice information collected by a wireless microphone, and audio signals transmitted from an external mobile terminal. The motor simultaneously performs singing and audio functions while reducing motor noise. Some embodiments of this disclosure can achieve both in-vehicle and out-of-vehicle movie viewing modes, as well as karaoke modes.

[0149] In addition, some embodiments of this disclosure also provide a method for displaying information on an exterior vehicle screen, which enables the playback of sound (including sound emitted by the motor and sound emitted through the car's audio equipment), increases the display of information on the exterior vehicle screen, and displays image information such as expressions, text, and dynamic patterns on the exterior vehicle screen, which can enhance the car's visual appeal and competitiveness.

[0150] It should be noted that, for the sake of simplicity, the embodiments in the method 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. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all exemplary embodiments, and the actions involved are not necessarily required by some embodiments of this disclosure.

[0151] Figure 10 is a block diagram of a sound playback device provided in some embodiments of this disclosure. As shown in Figure 10, the sound playback device 1000 is applied to an automobile controller, and the device may include the following modules:

[0152] The first electrical signal acquisition module 1001 is configured to acquire a corresponding first electrical signal based on the audio signal;

[0153] The second electrical signal acquisition module 1002 is configured to determine the second electrical signal indicating that the motor is in a working state based on motor data;

[0154] The third electrical signal acquisition module 1003 is configured to obtain a third electrical signal based on the first electrical signal and the second electrical signal;

[0155] The motor sound-generating module 1004 is configured to control the motor to generate sound according to the third electrical signal.

[0156] In some embodiments, the third electrical signal is obtained by mixing and processing the first electrical signal and the second electrical signal.

[0157] In some embodiments, the motor sound-generating module 1004 is configured to:

[0158] The PWM duty cycle of the control signal for the drive controller of the motor is determined based on the third electrical signal;

[0159] The motor is controlled to produce sound based on the PWM duty cycle of the control signal.

[0160] In some embodiments, the first electrical signal acquisition module 1001 is configured to:

[0161] The audio signal is demodulated to obtain its frequency and amplitude;

[0162] The corresponding first electrical signal is obtained based on the frequency and the amplitude.

[0163] In some embodiments, the apparatus further includes: an audio signal acquisition module, configured to:

[0164] Acquire audio signals from devices that communicate with the vehicle.

[0165] In some embodiments, the audio signal acquisition module is configured to:

[0166] Acquire at least one of voice information collected by a microphone communicating with the vehicle or audio information transmitted by an external mobile terminal communicating with the vehicle;

[0167] At least one of the voice information or the audio information is used as the car's audio signal.

[0168] In some embodiments, the second electrical signal acquisition module 1002 is configured to:

[0169] The second electrical signal indicating that the motor is in a driving state is determined based on the motor data using a target method.

[0170] In some embodiments, the target method includes at least one of the following: a lookup table method, a combination of lookup table and interpolation method, and a piecewise linear fitting method.

[0171] In some embodiments, the third electrical signal acquisition module 1003 is configured to:

[0172] The difference signal is obtained by calculating the difference between the first electrical signal and the second electrical signal;

[0173] The difference signal is used as the third electrical signal.

[0174] In some embodiments, the motor sound-generating module 1004 is further configured to:

[0175] When the audio signal is played through the car's in-vehicle multimedia system, the motor is controlled to produce sound.

[0176] In some embodiments, the motor sound-generating module 1004 is configured to:

[0177] The PWM duty cycle of the control signal in the synchronous rotating coordinate system is converted to the PWM duty cycle of the control signal in the stationary coordinate system.

[0178] The PWM duty cycle of the control signal in the stationary coordinate system is modulated using a space vector pulse width modulation algorithm to obtain the PWM duty cycle of the control signal for each phase arm of the motor.

[0179] The motor's sound is controlled by the PWM duty cycle of the control signals of each phase bridge arm.

[0180] In some embodiments, the apparatus further includes: an image information display module, configured to:

[0181] Image information is displayed on the external screen of the vehicle. The image information is at least one of the following: an image adapted to the sound emitted by the motor, a preset image, or a random image.

[0182] The above-described apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple. For relevant details, please refer to the description of the method embodiments.

[0183] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions, and corresponding access points are provided for users to choose to authorize or refuse.

[0184] This disclosure also provides an electronic device in some embodiments. The electronic device includes a processor, a communication interface, a memory, and a communication bus. The processor, communication interface, and memory communicate with each other via the communication bus. The memory stores computer programs, and the processor executes the programs stored in the memory to implement the aforementioned sound playback method.

[0185] This disclosure also provides a computer-readable storage medium in some embodiments. The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the sound playback method of the above embodiments.

[0186] This disclosure also provides a computer program product containing instructions. When the instructions are executed on a computer, the computer performs the sound playback method described in the above embodiments.

[0187] This disclosure also provides a vehicle in some embodiments. As shown in FIG11, the vehicle 2000 includes the above-described sound playback device 1000 to implement the above-described sound playback method.

[0188] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs (DVDs)), or semiconductor media (e.g., solid-state drives (SSDs)).

[0189] 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 apparatus 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 apparatus. 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 apparatus that includes said element.

[0190] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0191] The above description is merely an exemplary embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure are included within the scope of protection of this disclosure.

Claims

1. A method for playing sound, comprising: Obtain the corresponding first electrical signal based on the audio signal; A second electrical signal indicating that the motor is in a working state is determined based on the motor data; A third electrical signal is obtained based on the first electrical signal and the second electrical signal; The motor is controlled to produce sound according to the third electrical signal.

2. The method according to claim 1, wherein, The third electrical signal is obtained by mixing and processing the first electrical signal and the second electrical signal.

3. The method according to claim 1 or 2, wherein, The step of controlling the motor to produce sound according to the third electrical signal includes: The pulse width modulation (PWM) duty cycle of the control signal for the drive controller of the motor is determined based on the third electrical signal. The motor is controlled to produce sound based on the PWM duty cycle of the control signal.

4. The method according to any one of claims 1 to 3, wherein, The step of obtaining the corresponding first electrical signal based on the audio signal includes: The audio signal is demodulated to obtain its frequency and amplitude; The corresponding first electrical signal is obtained based on the frequency and the amplitude.

5. The method according to claim 4, wherein, Before demodulating the audio signal to obtain the frequency and amplitude, the method further includes: Acquire audio signals from devices that communicate with the vehicle.

6. The method according to claim 5, wherein, The acquisition of audio signals from the device communicating with the vehicle includes: Acquire at least one of the following: voice information collected by a microphone communicating with the vehicle, or audio information transmitted by an external mobile terminal communicating with the vehicle. The voice information or the audio information is used as the audio signal of the vehicle.

7. The method according to any one of claims 1 to 6, wherein, The second electrical signal used to determine the motor's operating state based on the motor data includes: The second electrical signal indicating that the motor is in a driving state is determined based on the motor data using a target method.

8. The method according to claim 7, wherein, The target method includes at least one of the following: table lookup method, a combination of table lookup and interpolation method, and piecewise linear fitting method.

9. The method according to claim 2, wherein, The third electrical signal is obtained by mixing and processing the first electrical signal and the second electrical signal, including: The difference signal is obtained by calculating the difference between the first electrical signal and the second electrical signal; The difference signal is used as the third electrical signal.

10. The method according to claim 3, wherein, The step of controlling the motor to produce sound according to the PWM duty cycle of the control signal includes: When the audio signal is played through the car's in-vehicle multimedia system, the motor is controlled to produce sound.

11. The method according to claim 10, wherein, The in-vehicle multimedia system includes an exterior screen. After controlling the motor to emit sound according to the third electrical signal, the method further includes: Image information is displayed on the external screen of the vehicle; The image information is at least one of the following: an image adapted to the sound emitted by the motor, a preset image, or a random image.

12. The method according to claim 3, wherein, The step of controlling the motor to produce sound according to the PWM duty cycle of the control signal includes: The PWM duty cycle of the control signal in the synchronous rotating coordinate system is converted to the PWM duty cycle of the control signal in the stationary coordinate system. The PWM duty cycle of the control signal in the stationary coordinate system is modulated using a space vector pulse width modulation algorithm to obtain the PWM duty cycle of the control signal for each phase arm of the motor. The motor's sound is controlled by the PWM duty cycle of the control signals of each phase bridge arm.

13. A sound playback device, comprising: The first electrical signal acquisition module is configured to acquire the corresponding first electrical signal based on the audio signal; The second electrical signal acquisition module is configured to determine a second electrical signal indicating that the motor is in a working state based on motor data. The third electrical signal acquisition module is configured to obtain a third electrical signal based on the first electrical signal and the second electrical signal; The motor sound-generating module is configured to control the motor to generate sound according to the third electrical signal.

14. An electronic device comprising a processor, a communication interface, a memory, and a communication bus, wherein, The processor, the communication interface, and the memory communicate with each other via the communication bus; The memory is configured to store computer programs; The processor is configured to execute a program stored in the memory to implement the method according to any one of claims 1 to 12.

15. A computer-readable storage medium having instructions stored thereon, wherein, When the instructions are run on a computer, they implement the method according to any one of claims 1 to 12.

16. A vehicle comprising the sound playback device according to claim 13.

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