Vehicle control method and apparatus, electronic device, and vehicle

Abstract

A vehicle control method and apparatus, an electronic device, and a vehicle. The method comprises: acquiring target subject information, and then determining a motor sound generation control policy on the basis of the target subject information; and, on the basis of the motor sound generation control policy, controlling motor sound generation of a vehicle.

Description

Vehicle control methods and devices, electronic equipment, vehicles

[0001] This application claims priority to Chinese patent application No. 202411205793.0, 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 control technology, and in particular to a vehicle control method and device, electronic equipment, and vehicle. Background Technology

[0003] With the development of human-computer interaction technology, the technology of using electric motors to generate sound is gradually being widely applied. This not only improves the efficiency of human-vehicle interaction but also helps to create an intelligent driving environment. Summary of the Invention

[0004] In view of the above problems, this disclosure proposes a vehicle control method and device, electronic equipment, and vehicle.

[0005] In a first aspect, a vehicle control method is provided, the method comprising: acquiring target object information; determining a motor sound emission control strategy based on the target object information; and controlling the motor sound emission of the vehicle based on the motor sound emission control strategy.

[0006] In some embodiments, the target object information includes a target object type, and determining the motor sound control strategy based on the target object information includes: when the target object type is a vehicle owner, determining the motor sound control strategy as a first sound control strategy; when the target object type is a non-vehicle owner, determining the motor sound control strategy as a second sound control strategy.

[0007] In some embodiments, controlling the vehicle motor to emit sound based on the motor sound control strategy includes: when the motor sound control strategy is the first sound control strategy, controlling the motor to emit first audio information to welcome the vehicle owner.

[0008] In some embodiments, controlling the motor sound of the vehicle based on the motor sound control strategy includes: when the motor sound control strategy is the first sound control strategy, controlling the motor to emit second audio information to guide the vehicle owner to perform voice control of the vehicle.

[0009] In some embodiments, controlling the vehicle motor to emit sound based on the motor sound control strategy includes: when the motor sound control strategy is the second sound control strategy, controlling the motor to emit third audio information for inquiring about the communication intention of the target object.

[0010] In some embodiments, the method further includes: when the target object receives audio information indicating the presence of the communication intention in response to the third audio information, controlling the motor to emit fourth audio information to introduce information about the vehicle.

[0011] In some embodiments, the method further includes: acquiring voice information collected from the target object; determining whether the voice information contains a vehicle control command; and executing the vehicle control command when it is determined that the voice information contains the vehicle control command.

[0012] In some embodiments, the target object type of the target object is determined by the following steps: acquiring initial image data acquired by an image acquisition device; preprocessing the initial image data to obtain target image data; extracting image features from the target image data to obtain a candidate region to be identified; determining whether the candidate region to be identified contains the target object; and when the candidate region to be identified contains the target object, determining the target object type of the target object.

[0013] In some embodiments, the target object information includes a first target distance between the motor and the target object, and determining the motor sound control strategy based on the target object information includes: adjusting the sound intensity of the motor sound based on the first target distance.

[0014] In some embodiments, the first target distance between the motor and the target object is determined by the following steps: acquiring first position information of the target object collected by the target acquisition device of the vehicle; determining second position information of the motor; and calculating the first target distance between the motor and the target object based on the first position information and the second position information.

[0015] In some embodiments, the first location information includes a second target distance between the vehicle and the target object. Acquiring the first location information of the target object collected by the target acquisition device of the vehicle includes: controlling the vehicle to emit target signals in all directions and determining the emission time of the target signals; when receiving the rebound signal of the target signals after contacting the target object, determining the reception time of the rebound signal; and determining the second target distance between the vehicle and the target object based on the emission time and the reception time.

[0016] In some embodiments, controlling the motor sound output of the vehicle based on the motor sound output control strategy includes: acquiring motor information of the vehicle, the motor information including at least one of the number of motors of the vehicle or the position information of the motors of the vehicle; determining audio channel information corresponding to each motor based on the motor information; and controlling the motor sound output of the vehicle based on the motor sound output control strategy and the audio playback mode.

[0017] In some embodiments, controlling the vehicle's motor to produce sound according to the motor sound control strategy and the audio channel information includes: determining audio information to be played according to the motor sound control strategy; and controlling the vehicle motor to play the audio information according to the audio channel information.

[0018] In some embodiments, determining the audio channel information corresponding to each motor based on the motor information includes: if the position information of the target motor matches the first preset position information, determining that the audio channel information of the target motor is dual-channel; if the position information of the target motor matches the second preset position information, determining that the audio channel information of the target motor is mono, wherein the first preset position and the second preset position are different positions of the motor in the vehicle.

[0019] In some embodiments, the method further includes: determining whether the second target distance between the vehicle and the target object is less than a preset distance; and when the second target distance is determined to be less than the preset distance, performing the acquisition of the vehicle's motor information.

[0020] In some embodiments, the method further includes: when it is detected that the display screen of the vehicle is displaying target display information, determining the display type of the target display information; and controlling the motor to play the target display information according to the display type.

[0021] In some embodiments, controlling the motor to play the target display information according to the display type includes: when the display type is a dynamic display type, determining the real-time progress information of the target display information; determining at least one of the sound effect information or tone information of the target display information according to the real-time progress information; and controlling the motor to play at least one of the target display information according to the sound effect information or tone information.

[0022] Secondly, a vehicle control device is provided, the device comprising a target object information determination module, a motor sound emission control strategy determination module, and a motor control module. The target object information determination module is configured to acquire target object information; the motor sound emission control strategy determination module is configured to determine a motor sound emission control strategy based on the target object information; and the motor control module is configured to control the motor sound emission of the vehicle based on the motor sound emission control strategy.

[0023] Thirdly, an electronic device is provided, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the vehicle control method as described above.

[0024] Fourthly, a vehicle is provided, the vehicle including the electronic equipment described above and a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle control method described above.

[0025] Some embodiments of this disclosure have the following advantages:

[0026] In some embodiments of this disclosure, by obtaining target object information, a motor sound control strategy can be determined based on the target object information. This allows the motor sound of the vehicle to be controlled based on the motor sound control strategy, enabling different motor sound control strategies to be set for different target objects. This is applicable to motor sound control in different scenarios and enriches the motor sound effects. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of this disclosure, the accompanying drawings used in the description of this disclosure will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 is a flowchart of a vehicle motor control method according to some embodiments of the present disclosure;

[0029] Figure 2 is a flowchart of another vehicle motor control method according to some embodiments of the present disclosure;

[0030] Figure 3A is a flowchart of another vehicle motor control method according to some embodiments of the present disclosure;

[0031] Figure 3B is a flowchart of another vehicle motor control method according to some embodiments of the present disclosure;

[0032] Figure 4 is a flowchart of another vehicle motor control method according to some embodiments of the present disclosure;

[0033] Figure 5A is a flowchart of another vehicle motor control method according to some embodiments of the present disclosure;

[0034] Figure 5B is a schematic diagram of a screen-linked motor generating sound according to some embodiments of the present disclosure;

[0035] Figure 6A is a schematic diagram of a human-vehicle interaction system according to some embodiments of the present disclosure;

[0036] Figure 6B is a schematic diagram of a human-vehicle interaction process according to some embodiments of the present disclosure;

[0037] Figure 6C is a schematic diagram of a motor sound generation control process according to some embodiments of the present disclosure;

[0038] Figure 7 is a block diagram of a vehicle motor control device according to some embodiments of the present disclosure;

[0039] Figure 8 is a block diagram of an electronic device according to some embodiments of the present disclosure;

[0040] Figure 9 is a block diagram of a vehicle according to some embodiments of the present disclosure. Detailed Implementation

[0041] To make the above-mentioned objects, features, and advantages of this disclosure more apparent and understandable, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0042] In related technologies, the sound content produced when using motors to generate sound during human-vehicle interaction is limited, and the human-vehicle interaction effect is also limited, making it difficult to meet the needs of human-vehicle interaction in different scenarios.

[0043] To address the aforementioned problems, some embodiments of this disclosure provide a method for controlling a vehicle.

[0044] Referring to FIG1, a flowchart of a vehicle control method according to some embodiments of the present disclosure is shown, which may include the following steps S101 to S103.

[0045] In step S101, target object information is obtained;

[0046] The target object information may include, but is not limited to, any one or more of the target object type and the first target distance between the motor and the target object. The target object type may be either the vehicle owner type or the non-vehicle owner type.

[0047] In practical applications, target object information can be obtained through the vehicle's sensor devices. For example, an image sensor can capture images of the vicinity of the vehicle and perform image recognition processing to determine the object type; data collected by a ranging sensor can be used to calculate the initial target distance between the motor and the target object.

[0048] In step S102, a motor sound control strategy is determined based on the target object information;

[0049] In practical applications, various motor sound control strategies can be pre-set in vehicles according to different scenarios. For example, motor sound control strategies can be set for different scenarios composed of different target object information. Then, after the vehicle obtains the target object information, it can determine the motor sound strategy that matches the target object information. The motor sound control strategy is a strategy used to control the sound output of the vehicle motor. It can include a trigger scenario and the corresponding audio information under that trigger scenario. That is, when the vehicle scenario meets the trigger scenario, the motor sound control strategy controls the vehicle motor to emit the audio information corresponding to that trigger scenario.

[0050] In step S103, the vehicle's motor is controlled to emit sound based on the motor sound control strategy.

[0051] Once the motor sound control strategy is determined, it can be executed to make the motor emit the corresponding sound for that scenario.

[0052] In some embodiments of this disclosure, one or more motors may be installed in the vehicle. In the case of multiple motors installed in the vehicle, the multiple motors can work together to produce sound, thereby achieving different motor sound effects and improving the human-vehicle interaction experience.

[0053] The principle of motor sound control in a vehicle is as follows: The motor control system obtains the target current by injecting harmonic frequency and amplitude data corresponding to the audio frequency. Then, based on the target AC current command, it acquires the quadrature-axis current and direct-axis current in a synchronous rotating coordinate system based on the motor rotor magnetic field orientation. The quadrature-axis current and direct-axis current are then coordinated with the existing quadrature-axis current and direct-axis current in the driving state to calculate the output voltage of each phase and obtain the pulse width modulation (PWM) duty cycle for each phase, thus enabling the motor to produce sound. Therefore, when different audio frequencies and amplitude data are injected, the PWM duty cycles of each phase are different, resulting in different sounds.

[0054] In some embodiments of this disclosure, by obtaining target object information, a motor sound control strategy can be determined based on the target object information. Then, the motor sound of the vehicle can be controlled based on the motor sound control strategy. This enables motor sound control to be performed by setting different motor sound control strategies according to different target objects, which can be applied to motor sound control in different scenarios and enrich the motor sound effect.

[0055] Referring to FIG2, a flowchart of another vehicle motor control method according to some embodiments of the present disclosure is shown, which may include the following steps S201 to S203.

[0056] In step S201, target object information is obtained;

[0057] In step S202, when the target object type is a vehicle owner, the motor sound control strategy is determined to be the first sound control strategy; when the target object type is a non-vehicle owner, the motor sound control strategy is determined to be the second sound control strategy.

[0058] In practical applications, target object types can be divided into vehicle owner types and non-vehicle owner types. Different target object types correspond to different motor sound control strategies. For example, the motor sound control strategy for vehicle owner types is the first sound control strategy, while the motor sound control strategy for non-vehicle owner types is the second sound control strategy. The first and second sound control strategies can each have different control strategies for the vehicle motor sound. The interaction between the human and the vehicle differs between the first and second sound control strategies; for example, the difference in human-vehicle interaction can be reflected in the content of the vehicle motor sound.

[0059] In some embodiments of this disclosure, the target object information includes the target object type, which is determined by the following steps: acquiring initial image data acquired by an image acquisition device; preprocessing the initial image data to obtain target image data; extracting image features from the target image data to obtain a candidate region to be identified; determining whether the candidate region to be identified contains a target object; and when the candidate region to be identified contains a target object, determining the target object type of the target object.

[0060] For example, the image acquisition device can be a vehicle camera or similar acquisition device. Preprocessing can include noise reduction, scaling, and normalization to ensure accurate identification.

[0061] After preprocessing, Convolutional Neural Networks (CNNs) are used to extract features from the image and generate candidate regions that may contain the target person. Each candidate region is classified to determine whether it contains the target object. The classification results are merged, duplicate or false positive regions are removed, the bounding boxes are adjusted, and the final object detection result is output. The object detection result indicates whether the candidate region contains the target object. If the candidate region is determined to contain the target object, the target object type can be further determined.

[0062] For example, a target object can be matched with a car owner image. If the match is successful, the target object type is determined to be the car owner type. If the match fails, the target object type is determined to be the non-car owner type.

[0063] In some examples, in addition to camera-based visual recognition, laser pulses can be emitted by LiDAR, the time it takes for the beam to reflect back can be measured, and a 3D point cloud map can be generated for accurate environmental perception and object recognition. Millimeter-wave radar and camera fusion can also be used to combine camera and radar data to provide more accurate and real-time environmental perception. Deep learning algorithms can be used to improve the recognition of pedestrians and vehicles, and so on.

[0064] In step S203, the vehicle's motors are controlled to emit sound based on either the first motor sound control strategy or the second motor sound control strategy.

[0065] For example, motor sound control can be implemented in scenarios including but not limited to the following:

[0066] (1) When the motor sound control strategy is the first sound control strategy, the motor is controlled to emit the first audio message to welcome the car owner.

[0067] For example, when the target is determined to be the car owner, the motor can emit the first audio information, such as controlling the motor to emit a welcoming sound, such as "Welcome, master" or "Hello, master".

[0068] (2) When the motor sound control strategy is the first sound control strategy, the motor is controlled to emit second audio information to guide the owner to control the vehicle by voice.

[0069] When the target is identified as the car owner, the motor can emit sound to communicate with the owner and guide them through voice control. For example, the second audio message emitted by the motor could ask the owner whether to turn the voice control function on or off. The voice control function is used to perform any voice control action based on the user's voice, such as opening the car door, setting the destination, or adjusting the air conditioning. For instance, the second audio message could be something like, "Do you need me to open the car door for you?", "Do you need me to set the destination for you?", or "Do you need me to adjust the air conditioning temperature or mode for you?"

[0070] The second audio information emitted by the motor can also be used to provide feedback on the voice control results after the vehicle executes the owner's voice control command. For example, after the vehicle opens the door according to the owner's voice control command, the second audio information emitted by the motor can be "The door has been opened for you"; after the vehicle turns on the air conditioner according to the owner's voice control command and sets the temperature to 24°C, the second audio information emitted by the motor can be "The air conditioner has been turned on for you, and the current temperature setting is 24°C".

[0071] (3) When the motor sound control strategy is the second sound control strategy, the motor is controlled to emit a third audio message to inquire about the communication intention of the target object.

[0072] When the target is determined to be someone other than the vehicle owner, the motor can emit a third audio message. For example, the motor can emit a sound to ask if the non-owner needs to communicate, that is, to ask the target's intention to communicate by emitting a sound from the motor.

[0073] In some embodiments of this disclosure, a display mode can be preset in the vehicle. Users can set whether to enable the display mode. In the display mode, the vehicle can introduce itself by emitting sound from the motor. The audio emitted by the motor is the fourth audio information used for the vehicle introduction.

[0074] When the vehicle is in display mode, the motor emits a sound to introduce the vehicle when a non-owner approaches it, thus achieving self-promotion. This not only reduces costs and has a wide range of applications, but also attracts visitors' attention in display mode, enriches the vehicle's appeal, and improves user driving satisfaction.

[0075] (4) When the target object receives audio information that indicates a willingness to communicate in response to the third audio information, the control motor emits a fourth audio information to introduce vehicle information.

[0076] In some embodiments of this disclosure, voice information collected from a target object is acquired; it is determined whether the voice information contains vehicle control commands; and when it is determined that the voice information contains vehicle control commands, the vehicle control commands are executed.

[0077] For example, vehicle control commands may include, but are not limited to, any one of the following: door control commands, window control commands, and air conditioning control commands.

[0078] In practical applications, during human-vehicle interaction, the target can send voice control commands to the vehicle so that the vehicle can perform vehicle control according to the voice control commands. For example, when the voice control command is a door opening control command, the vehicle will open the door after receiving the voice control command.

[0079] In some embodiments of this disclosure, different motor sound control strategies can be set for target objects of different types, such as vehicle owners and non-vehicle owners, and then the motor can sound according to the motor sound control strategy. This can be applied to motor sound control in different scenarios and enrich the motor sound effect.

[0080] Referring to FIG3A, a flowchart of another vehicle motor control method according to some embodiments of the present disclosure is shown, which may include the following steps S301 to S303.

[0081] In step S301, target object information is obtained; the target object information includes the first target distance between the motor and the target object.

[0082] In some embodiments of this disclosure, as shown in FIG3B, the first target distance between the motor and the target object is determined by the following steps S11 to S13.

[0083] In step S11, the first location information of the target object collected by the vehicle's target acquisition device is obtained.

[0084] In practical applications, the first location information may include the second target distance between the vehicle and the target object. For example, acquiring the first location information of the target object collected by the vehicle's target acquisition device includes: controlling the vehicle to emit target signals in all directions and determining the emission time of the target signals; when receiving the rebound signal of the target signal after contacting the target object, determining the reception time of the rebound signal; and determining the second target distance between the vehicle and the target object based on the emission time and reception time.

[0085] For example, the target acquisition device can be a reversing radar, ultrasonic sensor, infrared sensor or other device that can emit signals, and the emitted signals will bounce when they encounter obstacles.

[0086] For example, a reversing radar or other ultrasonic sensor can emit sound waves, which bounce back when they encounter a human body. Electromagnetic waves can also be used; after being sent out, the reflected signal is received, and the position, speed, and direction of the object are determined by calculating the round-trip time. Infrared sensors can also identify infrared radiation, especially at night or in low-light conditions, to detect the heat signal from a human body. The system calculates a second target distance between the vehicle and the target object based on the received echo time. This second target distance is the distance between the sensor and the target object.

[0087] In step S12, the second position information of the motor is determined.

[0088] The second position information of the motor is the installation position of the motor, for example, it can be the coordinate position of the motor installation.

[0089] In step S13, the first target distance between the motor and the target object is calculated based on the first position information and the second position information.

[0090] After obtaining the first position information and the second position information, the distance between each motor and the target object can be determined by combining the first position information and the second position information.

[0091] In practical applications, the target acquisition device used to detect the first position information is fixed in its position inside the vehicle, and the second position information of the motor is also fixed. After determining the first position information, the position between the target object and the motor can be calculated based on the positional relationship between the target acquisition device and the target object (i.e., the first position information) and the positional relationship between the target acquisition device and the motor.

[0092] For example, taking the center of the vehicle as the origin, the coordinates of the target object can be determined based on the first position information and the coordinates of the target acquisition device. Then, the first target distance between each motor and the target object can be determined based on the coordinates of the second position of the motor.

[0093] In step S302, the sound intensity of the motor is adjusted according to the first target distance.

[0094] In practical applications, one or more motors in a vehicle can adjust the sound amplitude data according to the distance between the motor and the person. For example, the greater the distance, the greater the sound amplitude, and the closer the distance, the smaller the sound amplitude, so that the target can clearly hear the sound emitted by the motor.

[0095] In step S303, the vehicle's motor is controlled to emit sound based on the sound intensity.

[0096] In some embodiments of this disclosure, the sound intensity of the motor can be determined based on the distance between the target object and the motor, so that target objects at different distances can clearly hear the sound emitted by the motor.

[0097] Referring to FIG4, a flowchart of another vehicle motor control method according to some embodiments of the present disclosure is shown, which may include the following steps S401 to S405.

[0098] In step S401, target object information is obtained.

[0099] In step S402, a motor sound control strategy is determined based on the target object information.

[0100] In step S403, the vehicle's motor information is obtained, which includes at least one of the vehicle's motor quantity information or vehicle motor location information.

[0101] The number of motors refers to the data on the number of motors in the vehicle that can be used for voice control. In some embodiments of this disclosure, the number of motors can be one or more. The motor position information refers to the location where the motors are installed. Motors at different locations control different locations to emit sound, thereby producing surround sound when multiple motors are combined. Compared to a single motor, this can improve the human-computer interaction experience and enrich the sound effects. In some embodiments of this disclosure, the sound control of multiple motors in the vehicle is independent of each other.

[0102] For example, the motor position in a vehicle can be set to four positions, such as left front drive, left rear drive, right front drive, and right rear drive.

[0103] When the vehicle has only one motor for voice control, the motor can be located in any of the four positions mentioned above.

[0104] When a vehicle has two motors for voice control, the positions of these two motors can be any two of the four positions mentioned above, such as: left front-wheel drive + left rear-wheel drive, right front-wheel drive + right rear-wheel drive, left front-wheel drive + right front-wheel drive, left rear-wheel drive + right rear-wheel drive, left front-wheel drive + right rear-wheel drive, and right front-wheel drive + left rear-wheel drive.

[0105] When a vehicle has three motors for voice control, the positions of these three motors can be any three of the four positions mentioned above, such as: left front-wheel drive + left rear-wheel drive + right front-wheel drive, left front-wheel drive + left rear-wheel drive + right front-wheel drive, right rear-wheel drive + left front-wheel drive + right front-wheel drive, left rear-wheel drive + right front-wheel drive + right rear-wheel drive.

[0106] When a vehicle has four motors for voice control, the positions of these four motors are: left front-wheel drive, left rear-wheel drive, right front-wheel drive, and right rear-wheel drive.

[0107] In step S404, the audio channel information corresponding to each motor is determined based on the motor information.

[0108] For example, audio channel information includes mono or stereo.

[0109] Once the audio channel information is determined, the current and voltage of the motor can be controlled based on the audio channel information, thereby controlling the motor to produce sound.

[0110] The motor control principle in a vehicle is as follows: The motor control system obtains the target current by injecting harmonic frequency and amplitude data corresponding to the audio frequency. Then, based on the target AC current command, it acquires the quadrature-axis current and direct-axis current in a synchronous rotating coordinate system oriented by the motor rotor's magnetic field. The quadrature-axis current and direct-axis current are then coordinated with the existing quadrature-axis current and direct-axis current in the driving state to calculate the output voltage of each phase and obtain the PWM duty cycle of each phase, thus causing the motor to produce sound. Therefore, when different audio frequencies and amplitude data are injected, the PWM duty cycles of each phase are different, resulting in different sounds.

[0111] When there are multiple motors, each motor can be assigned the corresponding audio frequency and amplitude data, and then each motor controls the sound to produce sound, which is finally mixed to form surround sound.

[0112] The core of some embodiments of this disclosure is to provide clear feedback to users, effectively conveying key information while ensuring the comfort of the vehicle interior environment. Through the coordination of screen and sound, the driver's experience of using vehicle functions is enhanced.

[0113] In step S405, the vehicle's motor is controlled to produce sound according to the motor sound control strategy and audio channel information.

[0114] After obtaining the motor sound control strategy and audio channel information, the motor sound control strategy determines the sound content, and the audio channel information determines the sound channel. The two are then combined to control the vehicle motor's sound output.

[0115] In some embodiments of this disclosure, controlling the vehicle's motor to produce sound according to a motor sound control strategy and audio channel information includes: determining the audio information to be played according to the motor sound control strategy; and controlling the vehicle motor to play the audio information according to the audio channel information.

[0116] The audio information to be played can be any one of the following: a first audio message to welcome the car owner, a second audio message to guide the car owner to control the vehicle by voice, a third audio message to inquire about the communication intention of the target object, a fourth audio message to introduce the vehicle information, or audio information corresponding to the target display information currently displayed on the vehicle's screen. The motor can play the corresponding audio according to the current scene.

[0117] For example, if the position information of the target motor matches the first preset position information, the audio channel information of the target motor is determined to be dual-channel; if the position information of the target motor matches the second preset position information, the audio channel information of the target motor is determined to be mono. The first preset position and the second preset position are different positions of the motor in the vehicle.

[0118] For example, when the number of motors n is 1 (n=1), the motor controller controls the motor to make a sound. The motor control system obtains the target current by injecting harmonics into the frequency and amplitude data of the corresponding audio frequency. Then, according to the target AC current command, it obtains the quadrature axis current and direct axis current in the synchronous rotating coordinate system based on the orientation of the motor rotor magnetic field. The quadrature axis current and direct axis current are coordinated with the quadrature axis current and direct axis current that were originally in the driving state to calculate the output voltage of each phase and obtain the PWM duty cycle of each phase, so that the motor makes a sound.

[0119] When the number of motors, n, is 2 (n=2), each motor can play different audio signals based on the channel information of the audio signal. For example, the left / front motor can emit analog sound (i.e., stereo), while the right / rear motor can be used to create a sense of space and sound image localization (i.e., stereo). Furthermore, depending on the position of the motors, they can be controlled by two independent motor controllers. The audio signals emitted by the motors have slight phase and volume differences. For example, when sound enters the left ear from the left motor and the right ear from the right motor, the brain will perceive the front and back and distance of the sound based on this difference.

[0120] When the number of motors n is 3 (n=3), each motor plays a different audio signal according to the channel information of the audio signal. The front / rear single motor emits simulated sound (i.e., dual channel), and the rear / front dual motor emits sound to create a sense of space and sound image positioning (i.e., dual channel).

[0121] When the number of motors, n, is 4 (n=4), the front motor emits a simulated sound, while the rear motors emit sound to create a sense of space and for sound image localization. The volume of the sound emitted by the motors can be determined by the amplitude of the sound data. When a pedestrian is detected approaching, the sound amplitude data can be adjusted according to the distance between the person and the vehicle to regulate the volume. After confirming the number of motors, the motor sound emission process begins.

[0122] In some embodiments of this disclosure, it is determined whether the second target distance between the vehicle and the target object is less than a preset distance; when it is determined that the second target distance is less than the preset distance, the motor information of the vehicle is obtained.

[0123] Referring to FIG5A, a flowchart of another vehicle motor control method according to some embodiments of the present disclosure is shown, the method may include the following steps:

[0124] In step S501, target object information is obtained.

[0125] In step S502, a motor sound control strategy is determined based on the target object information.

[0126] In step S503, the vehicle's motor is controlled to emit sound based on the motor sound control strategy.

[0127] In step S504, when it is detected that the vehicle's display screen is displaying target display information, the display type of the target display information is determined.

[0128] In practical applications, when it is detected that the vehicle's display screen is showing target information, a preset event to trigger the motor to make a sound can be determined, and then the display type of the target information can be determined, so as to control the motor to make a sound in combination with the display type.

[0129] For example, a vehicle's display screen can include in-vehicle displays, pixel screens on the vehicle's grille, and other similar displays. Display types can include dynamic and static displays. Static displays can show information such as charging information, weather, temperature, pet-related information, drones, and camping information. Dynamic displays can show information linked to driving, such as acceleration, or the vehicle's driving path, such as steering direction and parking status.

[0130] In step S505, the motor is controlled to play the target display information according to the display type.

[0131] In some embodiments of this disclosure, motor sound display rules for display information of different display types can be preset, and then after the display type is determined, the motor is controlled to play the target display information according to the display rules corresponding to the display type.

[0132] In some embodiments of this disclosure, controlling the motor to play target display information according to the display type includes: when the display type is a dynamic display type, determining the real-time progress information of the target display information; determining at least one of the sound effect information or tone information of the target display information based on the real-time progress information; and controlling the motor to play at least one of the target display information according to the sound effect information or tone information. When the display type is a static display type, the target display information is played according to at least one of the preset sound effect information or tone information.

[0133] When displaying static information on the screen, corresponding motor sound feedback can be set to inform the user that the operation has been completed or changed. When displaying dynamic information on the screen, the current progress can be indicated by changes in the sound effects or tone of the motor sound (such as increasing or decreasing volume). These sounds can be designed to be easy to understand but not intrusive.

[0134] Figure 5B shows a schematic diagram of a screen-linked motor sound generation in some embodiments of this disclosure. The overall control system is connected to the motor control system. The overall control system includes screen control, and the motor control system includes motor control. Through this architecture, the motor can generate sound for the screen display content.

[0135] In some embodiments of this disclosure, the display screen can be used to display corresponding information by emitting sound through a motor, thereby assisting the display screen in explaining the information.

[0136] Referring to Figure 6A, which is a structural diagram of a human-vehicle interaction system according to some embodiments of this disclosure, the human-vehicle interaction system is connected to a vehicle controller, which in turn is connected to a battery pack, a multimedia system, and multiple motor controllers. The multiple motor controllers are connected to multiple motors, and the multimedia system is connected to a camera configured to acquire image data of the vehicle's surroundings.

[0137] Referring to Figure 6B, which is a schematic diagram of a human-vehicle interaction process in some embodiments of this disclosure, the process includes the following steps S001 to S010.

[0138] In step S001, the camera identifies whether anyone is approaching. If "yes", proceed to step S002; if "no", end the process.

[0139] In step S002, when it is determined that there are people approaching, the shape, color and motion characteristics of pedestrians and other targets captured by the camera are analyzed, and a target detection algorithm is used for identification.

[0140] In step S003, the detection results are output through steps such as image processing, feature extraction, region extraction, classification and localization, and post-processing.

[0141] In step S004, it is determined whether the person is the vehicle owner. If "yes", then proceed to step S0051; if "no", then proceed to step S0052.

[0142] In step S0051, when the target is determined to be the vehicle owner, the entire vehicle power domain is powered on, i.e., N=1.

[0143] In step S0052, when the target is not the vehicle owner, the vehicle power domain is powered on, and N = 0 is recorded.

[0144] In step S006, sound waves are emitted by a reversing radar or other ultrasonic sensors. When the sound waves encounter a human body, they bounce back, and the system calculates the distance based on the received echo time.

[0145] In step S007, when the distance is less than a specific value s.

[0146] In step S008, the number of motors n is determined.

[0147] In step S009, when n=1, the motor controller controls the motor to produce sound; when n=2, it is determined whether it is a front / rear dual motor or a left / right dual motor, and each motor plays a different audio signal according to the channel information of the audio signal. The left / front motor emits simulated sound, and the right / rear motor emits sound to create a sense of space and sound image localization; when n=3, it is determined whether it is a front single motor or a rear single motor, and each motor plays a different audio signal according to the channel information of the audio signal. The front / rear single motor emits simulated sound, and the rear / front dual motor emits sound to create a sense of space and sound image localization; when n=4, the front motor emits simulated sound, and the rear motor emits sound to create a sense of space and sound image localization. The creation of a sense of space and sound image localization uses mono, while the simulated sound uses stereo. Different numbers of motors correspond to different audio playback modes.

[0148] In step S010, the motor is controlled to make a sound.

[0149] Referring to Figure 6C, it is a flowchart of a motor sound control in some embodiments of the present disclosure, including the following steps S011 to S022.

[0150] In step S011, it is determined whether the person is the car owner; that is, N=1. When the target person is the car owner, step S012 is executed, and when the target person is not the car owner, step S021 is executed.

[0151] In step S012, the motor emits a welcoming sound (i.e., the first audio information), and the owner can give commands to the vehicle through voice recognition and natural language processing.

[0152] In step S013, through voice interaction (i.e., the second audio information), the car owner can directly operate the vehicle, such as opening the car door, setting the destination, adjusting the air conditioning, etc.

[0153] In step S021, the motor sends an inquiry to determine whether to communicate (i.e., the third audio message).

[0154] In step S022, the motor emits a sound to introduce itself and communicate briefly (i.e., the fourth audio information).

[0155] Based on some embodiments of this disclosure, the above solutions can enrich human-vehicle interaction scenarios and improve the human-vehicle interaction experience.

[0156] It should be noted that, for the sake of simplicity, the method embodiments are 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 embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to some embodiments of this disclosure.

[0157] Referring to FIG7, a schematic diagram of a vehicle control device according to some embodiments of the present disclosure is shown. The vehicle control device 700 may include the following modules: a target object information determination module 701, a motor sound emission control strategy determination module 702, and a motor sound emission control module 703. The target object information determination module 701 is configured to acquire target object information. The motor sound emission control strategy determination module 702 is configured to determine a motor sound emission control strategy based on the target object information. The motor sound emission control module 703 is configured to control the motor sound emission of the vehicle based on the motor sound emission control strategy.

[0158] In some embodiments of this disclosure, the target object information includes the target object type, and the motor sound control strategy determination module 702 may include a first sound control strategy submodule and a second sound control strategy submodule.

[0159] The first sound control strategy submodule is configured to determine the motor sound control strategy as the first sound control strategy when the target object type is a vehicle owner;

[0160] The second sound control strategy submodule is configured to determine the motor sound control strategy as the second sound control strategy when the target object type is a non-vehicle owner.

[0161] In some embodiments of this disclosure, the first sound control strategy submodule may include a first audio information sound generation unit. The first audio information sound generation unit is configured to control the motor to emit a first audio message configured to welcome the vehicle owner when the motor sound control strategy is the first sound control strategy.

[0162] In some embodiments of this disclosure, the first sound control strategy submodule may include a second audio information sound generation unit. The second audio information sound generation unit is configured to control the motor to emit second audio information configured to guide the vehicle owner to perform voice control when the motor sound control strategy is the first sound control strategy.

[0163] In some embodiments of this disclosure, the second sound control strategy submodule may include a third audio information emission unit. The third audio information emission unit is configured to control the motor to emit third audio information configured to inquire about the communication intention of the target object when the motor sound control strategy is the second sound control strategy.

[0164] In some embodiments of this disclosure, the second sound control strategy submodule may include a fourth audio information emitting unit. The fourth audio information emitting unit is configured to control the motor to emit fourth audio information configured to introduce vehicle information when it receives audio information from the target object in response to the third audio information, which is configured to indicate a willingness to communicate.

[0165] In some embodiments of this disclosure, the device further includes a voice information acquisition module, a vehicle control command determination module, and a control command execution module. The voice information acquisition module is configured to acquire voice information collected from the target object; the vehicle control command determination module is configured to determine whether the voice information contains a vehicle control command; and the control command execution module is configured to execute the vehicle control command when it is determined that the voice information contains a vehicle control command.

[0166] In some embodiments of this disclosure, the apparatus further includes an initial image data acquisition module, an image preprocessing module, a candidate region determination module, a target object determination module, and a target object type determination module. The initial image data acquisition module is configured to acquire initial image data acquired by an image acquisition device; the image preprocessing module is configured to preprocess the initial image data to obtain target image data; the candidate region determination module is configured to extract image features from the target image data to obtain candidate regions; the target object determination module is configured to determine whether the candidate regions contain a target object; and the target object type determination module is configured to determine the target object type of the target object when the candidate regions contain a target object.

[0167] In some embodiments of this disclosure, the target object information includes a first target distance between the motor and the target object, and the motor sound emission control strategy determination module 702 includes a sound intensity adjustment submodule. The sound intensity adjustment submodule is configured to adjust the sound intensity of the motor sound emission based on the first target distance.

[0168] In some embodiments of this disclosure, the device further includes a first location information acquisition module and a second location galaxy determination module. The first location information acquisition module is configured to acquire first location information of the target object collected by the target acquisition device of the vehicle; the second location galaxy determination module is configured to determine second location information of the motor; and the first target distance determination module is configured to calculate a first target distance between the motor and the target object based on the first location information and the second location information.

[0169] In some embodiments of this disclosure, the first location information includes a second target distance between the vehicle and the target object. The first location information acquisition module includes a transmission signal determination submodule, a reception signal determination submodule, and a second target distance determination submodule. The transmission signal determination submodule is configured to control the vehicle to transmit target signals in all directions and determine the transmission time of the target signals. The reception signal determination submodule is configured to determine the reception time of the rebound signal when receiving the rebound signal of the target signal after it contacts the target object. The second target distance determination submodule is configured to determine the second target distance between the vehicle and the target object based on the transmission time and the reception time.

[0170] In some embodiments of this disclosure, the motor sound control module 703 may include a motor information determination submodule, an audio channel information determination submodule, and a motor sound control submodule. The motor information determination submodule is configured to acquire motor information of the vehicle, including the number of motors in the vehicle and / or the motor position information of the vehicle's motors; the audio channel information determination submodule is configured to determine the audio channel information corresponding to each motor based on the motor information; and the motor sound control submodule is configured to control the motor sound output of the vehicle according to the motor sound control strategy and the audio playback mode.

[0171] In some embodiments of this disclosure, the motor sound control submodule may include an audio information determination unit and an audio information playback unit. The audio information determination unit is configured to determine the audio information to be played according to the motor sound control strategy; the audio information playback unit is configured to control the vehicle motor to play the audio information according to the audio channel information.

[0172] In some embodiments of this disclosure, the audio channel information determination submodule may include a dual-channel determination unit and a mono-channel determination unit. The dual-channel determination unit is configured to determine that the audio channel information of the target motor is dual-channel if the position information of the target motor matches a first preset position information; the mono-channel determination unit is configured to determine that the audio channel information of the target motor is mono if the position information of the target motor matches a second preset position information, wherein the first preset position and the second preset position are different positions of the motor in the vehicle.

[0173] In some embodiments of this disclosure, the device further includes a second target distance determination module and an execution module. The second target distance determination module is configured to determine whether the second target distance between the vehicle and the target object is less than a preset distance; the execution module is configured to, when determining whether the target distance is less than the preset distance, execute the acquisition of the vehicle's motor information.

[0174] In some embodiments of this disclosure, the apparatus further includes a display type determination module and a motor playback module. The display type determination module is configured to determine the display type of the target display information when it is detected that the vehicle's display screen is displaying target display information; the motor playback module is configured to control the motor to play the target display information according to the display type.

[0175] In some embodiments of this disclosure, the motor playback module may include a real-time progress information determination submodule, a sound effect and tone determination submodule, and a target display information playback submodule. The real-time progress information determination submodule is configured to determine the real-time progress information of the target display information when the display type is a dynamic display type; the sound effect and tone determination submodule is configured to determine the sound effect information and / or tone information of the target display information based on the real-time progress information; and the target display information playback submodule is configured to control the motor to play the target display information according to the sound effect information and / or tone information.

[0176] Referring to FIG8, a block diagram of an electronic device according to some embodiments of the present disclosure is shown. Some embodiments of the present disclosure also provide an electronic device 800, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the vehicle motor control method described above.

[0177] Referring to FIG9, a block diagram of a vehicle according to some embodiments of the present disclosure is shown. Some embodiments of the present disclosure also provide a vehicle 900. FIG9 shows a vehicle 900 including an electronic device 800 as an example. It should be noted that the vehicle 900 may include at least one of the above-described electronic device 800 or a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the vehicle control method described above.

[0178] 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.

[0179] 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.

[0180] Those skilled in the art will understand that some 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. Furthermore, some embodiments of this disclosure can take the form of computer program products implemented on one or more computer-usable storage media (including, but not limited to, disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) containing computer-usable program code.

[0181] 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. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0182] 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 flowcharts and / or one or more block diagrams.

[0183] 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 flowcharts and / or one or more block diagrams.

[0184] While preferred embodiments of some embodiments of this disclosure have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the embodiments of this invention.

[0185] 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.

[0186] The above provides a detailed description of a vehicle control method, device, electronic equipment, and vehicle. Examples 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 method and its core ideas. 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.

Claims

1. A vehicle control method, comprising: Obtain target object information; Determine the motor sound generation control strategy based on the target object information; The motor of the vehicle is controlled to produce sound based on the motor sound control strategy.

2. The method according to claim 1, wherein, The target object information includes the target object type, and the step of determining the motor sound control strategy based on the target object information includes: When the target object type is a car owner, the motor sound control strategy is determined to be the first sound control strategy; When the target object type is a non-vehicle owner, the motor sound control strategy is determined to be the second sound control strategy.

3. The method according to claim 2, wherein, The method of controlling the motor sound output of the vehicle based on the motor sound control strategy includes: When the motor sound control strategy is the first sound control strategy, the motor is controlled to emit a first audio message to welcome the vehicle owner.

4. The method according to claim 3, wherein, The method of controlling the motor sound output of the vehicle based on the motor sound control strategy includes: When the motor sound control strategy is the first sound control strategy, the motor is controlled to emit second audio information to guide the vehicle owner to control the vehicle by voice.

5. The method according to claim 4, further comprising: Acquire voice information collected from the target object; Determine whether the voice information contains vehicle control commands; When it is determined that the voice information contains the vehicle control command, the vehicle control command is executed.

6. The method according to claim 2, wherein, The method of controlling the vehicle motor to emit sound based on the motor sound control strategy includes: When the motor sound control strategy is the second sound control strategy, the motor is controlled to emit third audio information to inquire about the communication intention of the target object.

7. The method according to claim 6, further comprising: When the target object receives audio feedback indicating the intention to communicate in response to the third audio information, the motor is controlled to emit a fourth audio message to introduce information about the vehicle.

8. The method according to any one of claims 2 to 7, wherein, The target object type is determined through the following steps: Acquire the initial image data captured by the image acquisition device; The initial image data is preprocessed to obtain the target image data; Image features are extracted from the target image data to obtain candidate regions to be identified; Determine whether the target object is contained within the candidate region to be identified; When the target object is contained within the candidate region to be identified, the target object type of the target object is determined.

9. The method according to any one of claims 1 to 8, wherein, The target object information includes a first target distance between the motor and the target object. Determining the motor sound emission control strategy based on the target object information includes: The sound intensity of the motor is adjusted according to the first target distance.

10. The method according to claim 9, wherein, The first target distance between the motor and the target object is determined by the following steps: Obtain the first location information of the target object collected by the target acquisition device of the vehicle; Determine the second position information of the motor; The first target distance between the motor and the target object is calculated based on the first location information and the second location information.

11. The method according to claim 10, wherein, The first location information includes a second target distance between the vehicle and the target object. The step of acquiring the first location information of the target object collected by the target acquisition device of the vehicle includes: Control the vehicle to emit target signals in all directions and determine the emission time of the target signals; When receiving the rebound signal of the target signal after it contacts the target object, the reception time of the rebound signal is determined; The second target distance between the vehicle and the target object is determined based on the launch time and the reception time.

12. The method according to any one of claims 1 to 11, wherein, The method of controlling the motor sound output of the vehicle based on the motor sound control strategy includes: Obtain the motor information of the vehicle, wherein the motor information includes at least one of the number of motors in the vehicle or the location information of the motors in the vehicle; The audio channel information corresponding to each motor is determined based on the motor information; The vehicle's motor is controlled to produce sound according to the motor sound control strategy and the audio channel information.

13. The method according to claim 12, wherein, The step of controlling the vehicle's motor sound output according to the motor sound control strategy and the audio channel information includes: The audio information to be played is determined according to the motor sound control strategy. The vehicle motor is controlled to play the audio information according to the audio channel information.

14. The method according to claim 12, wherein, The step of determining the audio channel information corresponding to each motor based on the motor information includes: If the position information of the target motor matches the first preset position information, the audio channel information of the target motor is determined to be dual-channel. If the position information of the target motor matches the second preset position information, the audio channel information of the target motor is determined to be mono, and the first preset position and the second preset position are different positions of the motor in the vehicle.

15. The method according to any one of claims 12 to 14, further comprising: Determine whether the distance between the vehicle and the target object is less than a preset distance; When it is determined that the distance to the second target is less than the preset distance, the motor information of the vehicle is obtained.

16. The method according to any one of claims 1 to 15, further comprising: When it is detected that the vehicle's display screen is displaying target display information, the display type of the target display information is determined; The motor is controlled to play the target display information according to the display type.

17. The method according to claim 16, wherein, The step of controlling the motor to play the target display information according to the display type includes: When the display type is a dynamic display type, determine the real-time progress information of the target display information; Determine at least one of the sound effect information or tone information of the target display information based on the real-time progress information; Control the motor to play the target display information according to at least one of the sound effect information or the tone information.

18. A vehicle control device, comprising: The target object information determination module is configured to obtain target object information; The motor sound emission control strategy determination module is configured to determine the motor sound emission control strategy based on the target object information; as well as The motor sound control module is configured to control the motor sound of the vehicle based on the motor sound control strategy.

19. An electronic device comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the vehicle control method according to any one of claims 1 to 17.

20. A vehicle comprising at least one of an electronic device or a computer-readable storage medium according to claim 19, wherein the computer-readable storage medium stores a computer program that, when executed by a processor, implements the vehicle control method according to any one of claims 1 to 17.

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