Vehicle control method and apparatus, electronic device, vehicle, and storage medium

Abstract

A vehicle control method and apparatus, an electronic device, a vehicle, and a storage medium. The method comprises: when a first vehicle successfully matches a second vehicle, controlling the second vehicle to produce sound according to target audio data.

Description

Vehicle control method and device, electronic device, vehicle, and storage medium

[0001] This application claims priority to Chinese Patent Application No. 202411367388.9, filed on September 29, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of vehicle control, and in particular to a vehicle control method and device, an electronic device, a vehicle, and a storage medium. BACKGROUND

[0003] With the development of vehicle technology, more and more entertainment functions can be realized in vehicles, which can increase the fun of driving and riding. SUMMARY

[0004] The present disclosure provides a vehicle control method and device, an electronic device, a vehicle, and a storage medium, which include:

[0005] In a first aspect, a vehicle control method is provided, applied to a first vehicle, and the method includes:

[0006] After determining that the first vehicle and a second vehicle are successfully matched, the second vehicle is controlled to sound in accordance with target audio data.

[0007] In some embodiments, the control of the second vehicle to sound in accordance with the target audio data includes:

[0008] The second vehicle is controlled to sound in accordance with the target audio data and the first vehicle.

[0009] In some embodiments, the control of the second vehicle to sound in accordance with the target audio data and the first vehicle includes:

[0010] The target audio data is sent to the second vehicle, so that the second vehicle sounds in accordance with the target audio data and the first vehicle.

[0011] In some embodiments, the control of the second vehicle to sound in accordance with the target audio data includes:

[0012] The target audio data is sent to the second vehicle, so that the second vehicle sounds in accordance with the target audio data.

[0013] In some embodiments, the control of the second vehicle to sound in accordance with the target audio data includes:

[0014] The first vehicle sends a playing instruction to the second vehicle to control the second vehicle to obtain the target audio data to be played based on the playing instruction and to make a sound according to the target audio data.

[0015] In some embodiments, the first vehicle sends the target audio data to the second vehicle, comprising:

[0016] The first vehicle sends the target audio data corresponding to the second vehicle to the second vehicle;

[0017] Upon receiving the second vehicle, a playing instruction is generated;

[0018] The playing instruction is sent to the second vehicle.

[0019] In some embodiments, upon receiving the first feedback signal returned by the second vehicle after the second vehicle has received the target audio data, a playing instruction is generated, comprising:

[0020] When there are multiple second vehicles, multiple first feedback signals returned by the multiple second vehicles after the multiple second vehicles have received the target audio data are received;

[0021] When the number of the multiple first feedback signals is consistent with the number of the multiple second vehicles, the playing instruction is generated.

[0022] In some embodiments, the playing instruction is sent to the second vehicle, comprising:

[0023] The first time stamp of the first feedback signal is determined to determine the first time delay information of each second vehicle;

[0024] The first instruction sending time corresponding to each second vehicle is determined according to the first time delay information;

[0025] The playing instruction is sent to each second vehicle in the multiple second vehicles according to the first instruction sending time.

[0026] In some embodiments, the first vehicle sends the target audio data to the second vehicle, comprising:

[0027] The first vehicle sends the target audio data corresponding to the second vehicle to the second vehicle;

[0028] Upon receiving the second feedback signal sent by the second vehicle when the amount of data received by the second vehicle is greater than a preset data amount, a playing instruction is generated;

[0029] The playing instruction is sent to the second vehicle.

[0030] In some embodiments, the generating the playing instruction when the second feedback signal sent by the second vehicle when the received data amount is greater than the preset data amount is received comprises:

[0031] When there are multiple second vehicles, receiving multiple second feedback signals sent by the multiple second vehicles when the received data amount is greater than the preset data amount;

[0032] When the number of the multiple second feedback signals is consistent with the number of the multiple second vehicles, generating the playing instruction.

[0033] In some embodiments, the sending the playing instruction to the second vehicle comprises:

[0034] Determining second time delay information of each second vehicle in the multiple second vehicles according to a second timestamp of the second feedback signal;

[0035] Determining a second instruction sending time corresponding to each second vehicle according to the second time delay information;

[0036] Sending the playing instruction to each second vehicle respectively according to the second instruction sending time.

[0037] In some embodiments, the sending the playing instruction to the second vehicle comprises:

[0038] Sending the playing instruction carrying a preset playing time to the second vehicle to control the second vehicle to make sound when the current time is the preset playing time.

[0039] In some embodiments, the first vehicle sends the target audio data to the second vehicle to make the second vehicle perform joint sound with the first vehicle according to the target audio data, comprising:

[0040] In response to the audio playing instruction received by the first vehicle, obtaining initial audio data for controlling the second vehicle to make sound;

[0041] Generating first audio data corresponding to the first vehicle based on the initial audio data, and generating target audio data corresponding to the second vehicle based on the initial audio data;

[0042] Sending the target audio data to the second vehicle to make the first vehicle perform joint sound according to the first audio data, and the second vehicle perform joint sound according to the target audio data.

[0043] In some embodiments, the generating first audio data corresponding to the first vehicle based on the initial audio data, and generating target audio data corresponding to the second vehicle based on the initial audio data, comprises:

[0044] determining first position information of the second vehicle relative to the first vehicle;

[0045] generating a first joint sound strategy of the first vehicle and the second vehicle based on the first position information;

[0046] performing audio processing on the initial audio data according to the first joint sound strategy, to generate first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0047] In some embodiments, the first position information includes at least one of direction information or distance information.

[0048] In some embodiments, the generating the first audio data corresponding to the first vehicle based on the initial audio data, and the generating the target audio data corresponding to the second vehicle based on the initial audio data, includes:

[0049] taking the initial audio data as the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0050] In some embodiments, the performing audio processing on the initial audio data according to the first joint sound strategy, to generate first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle, includes:

[0051] splitting the initial audio data according to the first joint sound strategy to obtain the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0052] In some embodiments, the performing audio processing on the initial audio data according to the first joint sound strategy, to generate first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle, includes:

[0053] splitting the initial audio data according to the first joint sound strategy to obtain split audio data;

[0054] determining a correspondence relationship between the split audio data and the initial audio data, and the first vehicle and the second vehicle according to the first joint sound strategy;

[0055] taking at least one of the split audio data or the initial audio data as first audio data of the first vehicle, which has a corresponding relationship with the first vehicle.

[0056] The at least one of the split audio data or the initial audio data has a corresponding relationship with the audio data of the second vehicle, and the audio data of the second vehicle is taken as target audio data of the second vehicle.

[0057] In some embodiments, the splitting of the initial audio data according to the first joint sound production strategy includes:

[0058] The initial audio data is split according to channel information according to the first joint sound production strategy.

[0059] In some embodiments, the splitting of the initial audio data according to the first joint sound production strategy includes:

[0060] The initial audio data is split according to note information according to the first joint sound production strategy.

[0061] In some embodiments, the audio processing of the initial audio data according to the first joint sound production strategy to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle includes:

[0062] The initial audio data is split according to a preset instrument type to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle according to the first joint sound production strategy.

[0063] In some embodiments, the audio processing of the initial audio data according to the first joint sound production strategy to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle includes:

[0064] The initial audio data is split according to a preset instrument type to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle according to the first joint sound production strategy.

[0065] In some embodiments, the first vehicle sends the target audio data to the second vehicle, so that the second vehicle produces sound according to the target audio data, including:

[0066] In response to an audio playing instruction received by the first vehicle, initial audio data for controlling the second vehicle to produce sound is obtained;

[0067] The target audio data corresponding to the second vehicle is generated based on the initial audio data;

[0068] send the target audio data to the second vehicle, so that the second vehicle makes sound according to the target audio data.

[0069] In some embodiments, the generating the target audio data corresponding to the second vehicle based on the initial audio data comprises:

[0070] When there are multiple second vehicles, determining second position information of each of the multiple second vehicles;

[0071] generating a second joint sound making strategy of the multiple second vehicles based on the second position information;

[0072] audio processing the initial audio data according to the second joint sound making strategy to generate the target audio data corresponding to the multiple second vehicles.

[0073] In some embodiments, the second position information comprises at least one of direction information or distance information.

[0074] In some embodiments, the generating the target audio data corresponding to the second vehicle based on the initial audio data comprises:

[0075] taking the initial audio data as the target audio data corresponding to the second vehicle.

[0076] In some embodiments, the audio processing the initial audio data according to the second joint sound making strategy to generate the target audio data corresponding to the second vehicle comprises:

[0077] splitting the initial audio data according to the second joint sound making strategy to obtain the target audio data corresponding to the second vehicle.

[0078] In some embodiments, the splitting the initial audio data according to the second joint sound making strategy to obtain the target audio data corresponding to the second vehicle comprises:

[0079] for part of the multiple second vehicles, splitting the initial audio data according to the second joint sound making strategy to obtain the target audio data corresponding to the part of the second vehicles;

[0080] taking the initial audio data as the target audio data of the rest of the multiple second vehicles except the part of the second vehicles.

[0081] In some embodiments, the splitting the initial audio data according to the second joint sound making strategy comprises:

[0082] Split the initial audio data according to the second linkage sound production strategy according to channel information.

[0083] In some embodiments, the splitting of the initial audio data according to the second linkage sound production strategy includes:

[0084] Splitting the initial audio data according to the second linkage sound production strategy according to note information.

[0085] In some embodiments, the audio processing of the initial audio data according to the second linkage sound production strategy includes:

[0086] According to the second linkage sound production strategy, the initial audio data is split according to the preset instrument type to generate the target audio data corresponding to the plurality of second vehicles.

[0087] In some embodiments, the splitting of the initial audio data according to the second linkage sound production strategy includes:

[0088] According to the second linkage sound production strategy, the initial audio data is split according to the preset instrument type to generate the target audio data corresponding to the plurality of second vehicles.

[0089] In some embodiments, in response to the audio playing instruction received by the first vehicle, the initial audio data for controlling the second vehicle to produce sound is obtained, including:

[0090] In response to the audio playing instruction received by the first vehicle;

[0091] If it is determined that the initial audio data is in the memory of the first vehicle, the initial audio data is obtained from the memory;

[0092] If it is determined that the initial audio data is not in the memory of the first vehicle, the initial audio data is obtained through a preset network interface.

[0093] In some embodiments, the initial audio data is obtained through a preset network interface, including:

[0094] The initial audio data is obtained from an application program carrying audio data in the first vehicle through the preset network interface;

[0095] Or, the initial audio data is obtained from the audio data sent by the target mobile terminal through the preset network interface.

[0096] In some embodiments, the first vehicle sends target audio data to the second vehicle, comprising:

[0097] When the first vehicle is in driving state, the target audio data is sent to a cloud server for forwarding to the second vehicle by the cloud server.

[0098] In some embodiments, the determination of the successful matching of the first vehicle and the second vehicle comprises:

[0099] Obtaining distance information between the first vehicle and the second vehicle in the surrounding environment, the second vehicle being a vehicle that can be matched by the first vehicle;

[0100] When the distance information is less than or equal to a preset distance, generating a vehicle matching request and sending the vehicle matching request to the second vehicle;

[0101] Upon receiving response data indicating agreement to match from the second vehicle based on the vehicle matching request, determining that the second vehicle and the first vehicle are successfully matched.

[0102] In some embodiments, the obtaining of the distance information between the first vehicle and the second vehicle in the surrounding environment, the second vehicle being a vehicle that can be matched by the first vehicle, comprises:

[0103] In response to a matching instruction received by the first vehicle, starting a function of the first vehicle for searching for surrounding vehicles to determine the distance information between the first vehicle and the second vehicle.

[0104] A vehicle control method applied to a second vehicle, the method comprising:

[0105] After determining that the second vehicle and the first vehicle are successfully matched, making a sound in accordance with the target audio data based on a playing instruction of the first vehicle.

[0106] In some embodiments, the making of the sound in accordance with the target audio data based on the playing instruction of the first vehicle comprises:

[0107] Making a joint sound with the first vehicle in accordance with the target audio data based on the playing instruction of the first vehicle.

[0108] In some embodiments, the making of the sound in accordance with the target audio data based on the playing instruction of the first vehicle comprises:

[0109] The second vehicle receives target audio data sent by the first vehicle;

[0110] The second vehicle generates a feedback signal for the target audio data and sends the feedback signal to the first vehicle;

[0111] The second vehicle receives a playback command sent by the first vehicle, the playback command being generated by the first vehicle based on the feedback signal;

[0112] The second vehicle emits sound according to the target audio data based on the playback command of the first vehicle.

[0113] In some embodiments, the playback command based on the first vehicle, which emits sound according to the target audio data, includes:

[0114] The second vehicle receives the playback command from the first vehicle and obtains the target audio data to be played based on the playback command;

[0115] The second vehicle emits sound according to the target audio data.

[0116] In a second aspect, a vehicle control device is provided, the device being configured to perform the vehicle control method described above.

[0117] 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.

[0118] Fourthly, a vehicle is provided that performs the vehicle control method described above, or the vehicle includes the device described above, or the vehicle includes electronic equipment described above.

[0119] Fifthly, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the vehicle control method described above.

[0120] Some embodiments of this disclosure have the following advantages:

[0121] In some embodiments of this disclosure, after the first vehicle and the second vehicle are successfully matched, the first vehicle controls the second vehicle to make a sound according to the target audio data, thereby realizing the master vehicle controlling the slave vehicle to make the vehicle sound, enriching the vehicle entertainment options. Attached Figure Description

[0122] In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the present application will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0123] Fig. 1 is a flow chart of a vehicle control method according to some embodiments of the present disclosure;

[0124] Fig. 2 is a flow chart of another vehicle control method according to some embodiments of the present disclosure;

[0125] Fig. 3 is a flow chart of yet another vehicle control method according to some embodiments of the present disclosure;

[0126] Fig. 4 is a flow chart of yet another vehicle control method according to some embodiments of the present disclosure;

[0127] Fig. 5 is a flow chart of yet another vehicle control method according to some embodiments of the present disclosure;

[0128] Fig. 6A is a schematic diagram of a whole vehicle motor sound generation control structure according to some embodiments of the present disclosure;

[0129] Fig. 6B is a flow chart of a single vehicle sound generation control method according to some embodiments of the present disclosure;

[0130] Fig. 6C is a flow chart of a multi-vehicle linkage sound generation method in a parking state according to some embodiments of the present disclosure;

[0131] Fig. 6D is a flow chart of a multi-vehicle linkage sound generation method in a parking state according to some embodiments of the present disclosure;

[0132] Fig. 6E is a schematic diagram of a vehicle working condition according to some embodiments of the present disclosure;

[0133] Fig. 6F is a flow chart of a multi-vehicle linkage sound generation method in a driving state according to some embodiments of the present disclosure;

[0134] Fig. 7 is a block diagram of a vehicle control device according to some embodiments of the present disclosure;

[0135] Fig. 8 is a block diagram of an electronic device according to some embodiments of the present disclosure;

[0136] Fig. 9 is a block diagram of a vehicle according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0137] In order to make the above objectives, characteristics and advantages of the present disclosure more obvious and easy to understand, the present disclosure will be further described in detail below with reference to the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present disclosure.

[0138] In the related art, the current vehicle entertainment function has limitations, and the leisure and entertainment function that can be brought to the user is also relatively monotonous. For example, the vehicle is usually configured with an audio playback function, however, the actual audio playback mode is only to play music in the vehicle alone, this kind of entertainment method is single, and cannot meet people's demand for diversified entertainment.

[0139] Referring to FIG. 1, a flowchart of a vehicle control method according to some embodiments of the present disclosure is shown, which is applied to a first vehicle, i.e., a master vehicle in a plurality of vehicles. The method can include the following step S101.

[0140] Step S101, after the first vehicle and the second vehicle are successfully matched, the second vehicle is controlled to sound in accordance with the target audio data.

[0141] The target audio data can be audio data stored locally by the second vehicle or received by the second vehicle from a network. In some embodiments of the present disclosure, the first vehicle is a master vehicle, and the second vehicle is a slave vehicle. In the vehicle sound control process, the number of master vehicles is one, and the number of slave vehicles can be one or more.

[0142] In actual application, the first vehicle can be matched with vehicles in its surrounding environment. The vehicles in the surrounding environment of the first vehicle that are successfully matched with the first vehicle are the second vehicles. In the case that the first vehicle and the second vehicle are successfully matched, the first vehicle can control the second vehicle to sound.

[0143] In some embodiments of the present disclosure, the sound mode of the first vehicle and the second vehicle can include motor sound, and accordingly, the first vehicle can control the second vehicle to sound in accordance with the target audio data.

[0144] In some embodiments of the present disclosure, the step of determining that the first vehicle and the second vehicle are successfully matched includes: obtaining distance information between the first vehicle and the second vehicle in the surrounding environment, the second vehicle being a vehicle that can be matched with the first vehicle; when the distance information is less than or equal to a preset distance, generating a vehicle matching request and sending the vehicle matching request to the second vehicle; and when receiving response data fed back by the second vehicle based on the vehicle matching request, the response data indicating an agreement to match, determining that the second vehicle and the first vehicle are successfully matched.

[0145] The preset distance in some embodiments of the present disclosure can be set according to actual scenes, and the present disclosure does not make too many limitations on this.

[0146] In actual application, the user can send a matching instruction to the first vehicle through the mobile terminal or directly operate on the control screen of the vehicle to generate the matching instruction. The matching instruction is used to realize the matching between the first vehicle and the second vehicle. In the case of successful matching, the first vehicle and the second vehicle can perform data transmission, and then realize the sound control of the vehicle.

[0147] In some embodiments of the present disclosure, the distance information between the first vehicle and the second vehicle can be determined by starting the function of searching for surrounding vehicles of the first vehicle in response to the matching instruction received by the first vehicle.

[0148] The function of searching for surrounding vehicles in the first vehicle can include a wireless Bluetooth search function or a wireless fidelity (WIFI) search function.

[0149] In some embodiments of the present disclosure, after the first vehicle and the second vehicle are successfully matched, the first vehicle controls the second vehicle to sound in accordance with the target audio data, realizing that the master vehicle controls the slave vehicle to sound, and enriching the entertainment mode in the vehicle.

[0150] Referring to FIG. 2, a flowchart of another vehicle control method according to some embodiments of the present disclosure is shown, which is applied to a first vehicle, i.e., a master vehicle in multiple vehicles. The method can include the following step S201.

[0151] Step S201, after the first vehicle and the second vehicle are successfully matched, controlling the second vehicle to sound in accordance with the target audio data and the first vehicle.

[0152] In actual application, after the first vehicle and the second vehicle are successfully matched, the first vehicle and the second vehicle can perform joint sound, for example, the second vehicle can sound in accordance with the target audio data stored or received locally and the first vehicle, and the audio data for sounding in the first vehicle can be audio data stored or received locally, which can be set according to actual needs.

[0153] In some embodiments of the present disclosure, the first vehicle sends the target audio data to the second vehicle, including: the first vehicle sends the target audio data corresponding to the second vehicle to the second vehicle; when receiving the first feedback signal returned by the second vehicle after receiving the target audio data, a playing instruction is generated; and the playing instruction is sent to the second vehicle.

[0154] The first feedback information is used to inform the first vehicle that the second vehicle has received the target audio data. The playing instruction can be used to control the second vehicle to play the target audio data.

[0155] In some embodiments of the present disclosure, when there are multiple second vehicles, the first feedback signals returned by the multiple second vehicles after receiving the target audio data are received; when the number of the first feedback signals is consistent with the number of the second vehicles, a playing instruction is generated.

[0156] In actual application, when there are multiple second vehicles, the first vehicle can send corresponding target audio information to the multiple second vehicles respectively, the second vehicles can generate first feedback information after receiving the target audio data, and send the first feedback signals to the first vehicle, the number of the first feedback information received can be counted in the first vehicle, and it is determined whether the number of the first feedback signals is consistent with the number of the second vehicles, when the number of the first feedback signals is consistent with the number of the second vehicles, a playing instruction is generated, and the playing instruction can be used to control the multiple second vehicles to play the target audio data. When the number of the first feedback signals is not consistent with the number of the second vehicles, an alarm information can be generated to inform the first vehicle that the number of the first feedback signals is not consistent with the number of the second vehicles.

[0157] The playing instruction is sent to the second vehicles, including: determining the first time delay information of each second vehicle according to the first time stamp of the first feedback signal; determining the first instruction sending time corresponding to each second vehicle according to the first time delay information; and sending the playing instruction to each second vehicle according to the first instruction sending time.

[0158] The first time stamp can be the time when the second vehicle receives the target audio data, which can reflect the time delay of different second vehicles. For example, the second vehicle can obtain the current time of the second vehicle as the first time stamp when receiving the target audio data of the first vehicle, and then add the first time stamp in the first feedback information when generating the first feedback information, so that the first feedback information generated by the second vehicle carries the first time stamp.

[0159] The first vehicle can send the target audio data corresponding to the multiple second vehicles to the multiple second vehicles respectively, and then the first feedback signals can be generated by the multiple second vehicles after completing the target audio data reception, the first feedback signals contain the first time stamp, the first feedback signals carrying the first time stamp returned by the multiple second vehicles to the first vehicle, the first vehicle can determine the time delay inconsistency of each second vehicle according to the first time stamp, and calibrate and calculate the first time delay information of each second vehicle. For example, the sending time can be recorded when the first vehicle sends the target audio data, the first vehicle can also parse the received first feedback information to obtain the first time stamp, so that the transmission time of each target audio data can be determined according to the sending time and the first time stamp, and then the first time delay information of each second vehicle in the actual data transmission process can be determined according to the transmission time.

[0160] Further, the first instruction sending time corresponding to each second vehicle is determined according to the first time delay information, so that each second vehicle can receive the playing instruction sent by the first vehicle at the same time, thereby controlling the plurality of second vehicles to play the audio according to the target audio data.

[0161] In some embodiments of the present disclosure, the first vehicle can send the target audio data to the second vehicle, including: the first vehicle can send the target audio data corresponding to the second vehicle to the corresponding second vehicle; when receiving the second feedback signal sent by the second vehicle when the received data amount is greater than the preset data amount, a playing instruction is generated; and the playing instruction is sent to the second vehicle.

[0162] In actual application, the first vehicle can send the target audio data to be played by the second vehicle to the second vehicle, and the second vehicle can receive the target audio data and determine the received data amount of the target audio data, and then generate the second feedback information when the received data amount is greater than the preset data amount, and then the second vehicle can send the second feedback information to the first vehicle, and the first vehicle can generate a playing instruction after receiving the second feedback information, and the playing instruction can be used to control the plurality of second vehicles to play the target audio data.

[0163] For example, when there are a plurality of second vehicles, the second feedback signals sent by the plurality of second vehicles when the received data amount is greater than the preset data amount are received; when the number of the second feedback signals is consistent with the number of the second vehicles, a playing instruction is generated.

[0164] In actual application, when the number of the second feedback signals is consistent with the number of the second vehicles, a playing instruction is generated, and when the number of the second feedback signals is not consistent with the number of the second vehicles, an alarm information can be generated to notify the first vehicle that the number of the second feedback signals is not consistent with the number of the second vehicles.

[0165] The playing instruction is sent to the second vehicle, including: determining the second time delay information of each second vehicle according to the second timestamp of the second feedback signal; determining the second instruction sending time corresponding to each second vehicle according to the second time delay information; and sending the playing instruction to each second vehicle according to the second instruction sending time.

[0166] In some embodiments of the present disclosure, the first vehicle can send the playing instruction to the second vehicle, and the process is: sending the playing instruction carrying the preset playing time to the second vehicle to control the second vehicle to make a sound when the current time is the preset playing time.

[0167] In some embodiments of the present disclosure, the first vehicle sends target audio data to the second vehicle, so that the second vehicle performs joint sound emission with the first vehicle according to the target audio data, including the following process:

[0168] In response to the audio playing instruction received by the first vehicle, initial audio data for controlling the second vehicle to emit sound is obtained; first audio data corresponding to the first vehicle is generated based on the initial audio data, and target audio data corresponding to the second vehicle is generated based on the initial audio data; the target audio data is sent to the second vehicle, so that the first vehicle performs joint sound emission with the second vehicle according to the first audio data and the target audio data.

[0169] The audio playing instruction can be generated when the user performs an audio playing operation. The initial audio data is original audio data corresponding to the target audio data and the first audio data. In some embodiments of the present disclosure, the target audio data and the first audio data are obtained by performing audio processing on the initial audio data, so as to realize the joint sound emission control of the first vehicle and the second vehicle.

[0170] In some embodiments of the present disclosure, the process of generating the first audio data corresponding to the first vehicle based on the initial audio data and generating the target audio data corresponding to the second vehicle based on the initial audio data includes: determining first position information of the second vehicle relative to the first vehicle; generating a first joint sound emission strategy of the first vehicle and the second vehicle based on the position information; and performing audio processing on the initial audio data according to the first joint sound emission strategy, to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle. The first position information includes direction information and / or distance information.

[0171] The first joint sound emission strategy is a strategy for how the first vehicle and the second vehicle emit sound in actual application. The first joint sound emission strategy can include audio information, playing order, etc. used by the first vehicle and the second vehicle for sound emission.

[0172] For example, the user terminal software processes the audio data according to the distribution of the vehicle motor, decomposes the cached audio information into multiple parts, such as left and right channels, high and low pitches, different instrument sounds, vocals and accompaniment, or different time periods for different motors to emit sound at different times, or to form a stereo surround sound, etc. Each motor can also be instructed to obtain the same audio information and emit the same sound. The user terminal and the micro control unit (MCU) perform data communication, and the corresponding audio information is transmitted into the motor controller of the corresponding front drive and rear drive by the controller area network (CAN) protocol.

[0173] In some embodiments of the present disclosure, the initial audio data can be generated as the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0174] In some embodiments of the present disclosure, the initial audio data can be generated as the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle according to the preset musical instrument type based on the first joint sound production strategy.

[0175] For example, the initial audio data can be converted into audio data of a preset musical instrument type based on the tone and the note of the initial audio data.

[0176] In some embodiments of the present disclosure, the initial audio data can be converted into audio data of a preset musical instrument type based on the first joint sound production strategy, and then the converted initial audio data can be audio split to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0177] In actual application, the initial audio data can be converted into audio data of a preset musical instrument type, and then the converted audio data can be split to obtain the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0178] For example, the first audio data and the target audio data can be at least one of the initial audio data, the audio data converted into a preset musical instrument type, and the split audio data.

[0179] In some embodiments of the present disclosure, the initial audio data can be processed based on the first joint sound production strategy to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle, including: splitting the initial audio data based on the first joint sound production strategy to obtain the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

[0180] In actual application, the initial audio data can be split to obtain the audio data of the first vehicle and the second vehicle in the joint sound production process.

[0181] In some embodiments of the present disclosure, the initial audio data can be processed based on the first joint sound production strategy to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle, including: splitting the initial audio data based on the first joint sound production strategy to obtain split audio data; determining the correspondence between the split audio data and the initial audio data and the first vehicle and the second vehicle based on the first joint sound production strategy; taking the audio data corresponding to the first vehicle in the split audio data and / or the initial audio data as the first audio data of the first vehicle; and taking the audio data corresponding to the second vehicle in the split audio data and / or the initial audio data as the target audio data of the second vehicle.

[0182] In actual application, the initial audio data can be split to obtain split audio data, and the splitting manner can be set according to actual scene, and the present disclosure does not make too many limitations on this,

[0183] In some embodiments of the present disclosure, the initial audio data is split according to the first joint sound production strategy, including any one of the following types:

[0184] Channel information splitting: the initial audio data is split according to the first joint sound production strategy according to channel information. The channel information can include a left channel, a right channel, and a dual channel.

[0185] Note information splitting: the initial audio data is split according to the first joint sound production strategy according to note information. The audio data is music data, and the music data includes a plurality of note information.

[0186] In some embodiments of the present disclosure, the target audio data can also be audio data with different amplitude sizes (such as high or low sound intensity).

[0187] In some embodiments of the present disclosure, the first vehicle sends the target audio data of the second vehicle to the second vehicle, including: when the first vehicle is in a driving state, the target audio data is sent to a cloud server to be forwarded to the second vehicle by the cloud server.

[0188] In actual application, the working condition of the vehicle can include a parking working condition and a driving working condition. In the driving working condition, in order to ensure the stability of the connection state, the cloud synchronization mode is adopted to realize the connection between the vehicles and the transmission of data.

[0189] When the first vehicle is in a driving state, the first vehicle can send the target audio data to the cloud server, and then the cloud server can forward the target audio data to the second vehicle.

[0190] In some embodiments of the present disclosure, after the first vehicle and the second vehicle are successfully matched, the first vehicle controls the second vehicle to produce sound in conjunction with the first vehicle according to the target audio data, realizing the joint sound production of the vehicle and the master vehicle, and enriching the entertainment mode in the vehicle.

[0191] Referring to FIG. 3, a flowchart of another vehicle control method according to some embodiments of the present disclosure is shown, which is applied to a first vehicle, i.e., a master vehicle in a plurality of vehicles. The method can include the following step S301.

[0192] Step S301, after the first vehicle and the second vehicle are successfully matched, the first vehicle sends the target audio data to the second vehicle, so that the second vehicle produces sound according to the target audio data.

[0193] In some embodiments of the present disclosure, after the first vehicle and the second vehicle are successfully matched, the first vehicle can send target audio data to the second vehicle, thereby realizing control of the second vehicle to sound in accordance with the target audio data. The data of the second vehicle can be one or more.

[0194] Step S301 includes the following process: in response to the audio playing instruction received by the first vehicle, obtaining initial audio data for controlling the second vehicle to sound; generating target audio data corresponding to the second vehicle based on the initial audio data; and sending the target audio data to the second vehicle, so that the second vehicle sounds in accordance with the target audio data.

[0195] In some embodiments of the present disclosure, when there are multiple second vehicles, the second position information of each second vehicle can be determined, and then the second linkage sound strategy of the multiple second vehicles can be generated based on the position information; and the initial audio data is audio processed according to the second linkage sound strategy to generate target audio data corresponding to the second vehicle. The second position information includes direction information and / or distance information.

[0196] The second linkage sound strategy is a strategy for how the second vehicle sounds in actual application. The second linkage sound strategy can include audio information, playing order, etc. used by the second vehicle for sounding.

[0197] In some embodiments of the present disclosure, the initial audio data can be used as the target audio data corresponding to the second vehicle.

[0198] In some embodiments of the present disclosure, the initial audio data is generated into target audio data corresponding to the second vehicle according to a preset musical instrument type according to the second linkage sound strategy.

[0199] In some examples, after the initial audio data is audio converted according to the preset musical instrument type according to the second linkage sound strategy, the converted initial audio data is audio split.

[0200] In some embodiments of the present disclosure, the second vehicle can be controlled to play the split audio, for example, the audio splitting strategy can include:

[0201] (I) The initial audio data is split according to channel information according to the second linkage sound strategy.

[0202] For example, the channel information can include left channel, right channel, and dual channel.

[0203] (II) The initial audio data is split according to note information according to the second linkage sound strategy.

[0204] For example, the audio data is music data, and the music data includes multiple note information.

[0205] In some embodiments of the present disclosure, in response to the audio playing instruction received by the first vehicle, the initial audio data for controlling the second vehicle to make a sound is obtained, including: in response to the audio playing instruction received by the first vehicle, determining whether the initial audio data corresponding to the audio playing instruction is in the memory of the first vehicle; when the initial audio data is in the memory of the first vehicle, obtaining the initial audio data from the memory; and when the initial audio data is not in the memory of the first vehicle, obtaining the initial audio data through a preset network interface.

[0206] In actual application, when the user terminal sends an audio playing instruction to play music, the current application scenario and the audio name search information corresponding to the audio playing instruction can be determined, and it is determined whether the initial audio data corresponding to the audio playing instruction is in the memory of the first vehicle according to the application scenario and / or the audio name search information.

[0207] In some examples, the initial audio data is obtained through the preset network interface, including: obtaining the initial audio data from an application program carrying audio data in the first vehicle through the preset network interface; and the application program carrying audio data can be a music playing application program.

[0208] In other examples, the initial audio data is obtained from the audio data sent by the target mobile terminal through the preset network interface. For example, the target mobile terminal can send audio data to the first vehicle through a Bluetooth transmission mode, and then the initial audio data is obtained from such audio data.

[0209] Some embodiments of the present disclosure obtain the initial audio data through the preset network interface, so that the first vehicle can realize the function of audio playing without carrying an additional loudspeaker outside the vehicle, and at the same time, the entertainment property outside the vehicle can be improved, the human-vehicle interaction is strengthened, and the user experience is improved.

[0210] In some embodiments of the present disclosure, after the first vehicle and the second vehicle are successfully matched, the first vehicle sends the target audio data to the second vehicle, so that the second vehicle makes a sound according to the target audio data, thereby realizing that the main vehicle controls the slave vehicle to make a sound, and enriching the entertainment mode in the vehicle.

[0211] Referring to FIG. 4, a flowchart of another vehicle control method according to some embodiments of the present disclosure is shown, which is applied to a first vehicle, i.e., a main vehicle in a plurality of vehicles, and the method can include the following steps:

[0212] Step S401, after the first vehicle and the second vehicle are successfully matched, the first vehicle sends a playing instruction to the second vehicle to control the second vehicle to obtain target audio data to be played based on the playing instruction, and make a sound according to the target audio data.

[0213] In actual application, after the first vehicle and the second vehicle are successfully matched, the first vehicle can send a playing instruction to the second vehicle, and the second vehicle acquires target audio data to be played from the local according to the playing instruction after receiving the playing instruction, and then makes a sound according to the target audio data.

[0214] The number of the second vehicles can be one or more.

[0215] In some examples, the playing instruction carries a preset playing time, which can control the second vehicle to make a sound when the current time is the preset playing time.

[0216] In some embodiments of the present disclosure, the first vehicle can control the second vehicle to make a sound, which realizes that the master vehicle controls the slave vehicle to make a sound, and enriches the vehicle entertainment mode.

[0217] Referring to FIG. 5, a flowchart of another vehicle control method according to some embodiments of the present disclosure is shown, which is applied to a second vehicle, i.e., a slave vehicle in a plurality of vehicles, and the method can include the following step S501.

[0218] Step S501, after the second vehicle and the first vehicle are successfully matched, making a sound according to target audio data based on a playing instruction of the first vehicle.

[0219] The target audio data can be audio data stored locally by the second vehicle or received by the second vehicle from a network.

[0220] In actual application, when the first vehicle initiates matching, the second vehicle responds to the matching, the second vehicle and the first vehicle are successfully matched, and then the first vehicle can control the second vehicle to make a sound through a playing instruction.

[0221] In some embodiments of the present disclosure, making a sound according to target audio data based on a playing instruction of the first vehicle includes: the second vehicle receiving target audio data sent by the first vehicle; the second vehicle generating a feedback signal of the target audio data and sending the feedback signal to the first vehicle; the second vehicle receiving a playing instruction sent by the first vehicle, the playing instruction being generated by the first vehicle based on the feedback signal; and the second vehicle making a sound according to the target audio data based on the playing instruction of the first vehicle.

[0222] In actual application, the first vehicle sends target audio data to the second vehicle, and the second vehicle can generate feedback information for notifying the first vehicle that the second vehicle has received the target audio data after receiving the audio data, and then the first vehicle confirms that the second vehicle has received the target audio data after receiving the feedback information, so that the first vehicle can generate a playing instruction and send the playing instruction to the second vehicle, and the second vehicle makes a sound according to the playing instruction.

[0223] The second vehicle can be provided with one or more electric machines, and the one or more electric machines can be used to realize the electric machine sounding of the vehicle.

[0224] In some embodiments of the present disclosure, the sounding based on the playing instruction of the first vehicle in accordance with the target audio data comprises: sounding in accordance with the target audio data in combination with the first vehicle based on the playing instruction of the first vehicle.

[0225] In actual application, the first vehicle can send a playing instruction to the second vehicle, and then the second vehicle sounds in combination with the first vehicle in accordance with the playing instruction after receiving the playing instruction. The target audio data can be audio data stored locally by the second vehicle, or audio data sent by the first vehicle to the second vehicle.

[0226] In some examples, the feedback information is generated when the second vehicle has received all the target audio data or has received an amount of data greater than a preset amount of data.

[0227] In some examples, when there are multiple second vehicles, the first vehicle generates a playing instruction when the number of received feedback information is equal to the number of second vehicles, and the playing instruction can be a playing instruction for controlling the second vehicle to play the target audio data.

[0228] In some embodiments of the present disclosure, the sounding based on the playing instruction of the first vehicle in accordance with the target audio data comprises: the second vehicle receiving the playing instruction of the first vehicle, and obtaining the target audio data to be played based on the playing instruction; and the second vehicle sounding in accordance with the target audio data.

[0229] Referring to FIG. 6A, it is a block diagram of a whole vehicle electric machine sounding control structure in some embodiments of the present disclosure, which comprises a vehicle multimedia system, a positioning system, a power domain system, and a body controller.

[0230] The vehicle-mounted multimedia system includes a vehicle machine for the main driver and the passenger, a vehicle-mounted touch screen, and a user terminal control module. The user controls the playing of the motor audio and matches the vehicle through the module to issue operation instructions. The network interface includes a wireless local area network (WLAN), Bluetooth, 4th generation mobile communication technology (4G) / 5th generation mobile communication technology (5G), etc. The network interface realizes the interconnection of multiple vehicles, online transmission of music, and synchronization of audio. The user can control or transmit audio through the mobile phone application. The data processing module analyzes and processes the original audio, such as separating the audio into left and right channels, separating the audio into low, medium, and high pitches, separating the audio into vocals and accompaniment, and separating different musical instruments. The data processing module converts the audio into amplitude information and frequency information that allows the motor to play music. The storage can be a FLASH memory, a random access memory (RAM), a read-only memory (ROM), etc. The storage can buffer the online analyzed audio information or store the audio information in the storage.

[0231] The positioning system is used to position the distance between the main vehicle and other vehicles to facilitate the adoption of different connection measures. The positioning system includes navigation positioning, laser radar, camera, etc. First, the navigation searches for and positions the nearby vehicles and determines the approximate distance between the vehicles. Then, the laser radar and camera are used to identify the vehicles to achieve more accurate positioning. In addition, the Bluetooth and WLAN can be used to directly search for nearby matching vehicles. When the vehicles are close to each other, the WLAN interconnection is used to realize the matching connection and signal transmission between the vehicles. When the vehicles are relatively far apart or the WLAN and Bluetooth signals are weak, the pre-downloaded and cloud-synchronized method is used to make the vehicles in the same local area network to ensure the synchronization of the music.

[0232] In some embodiments, the sound emitting object is a driving motor. For electric vehicles, the driving motor can be divided into front drive, rear drive and four-wheel drive structure according to power, and can be divided into single motor, double motor, three motor and four motor structure according to the number of motors, and can be divided into permanent magnet synchronous motor, asynchronous motor, excitation motor, etc. according to the type of driving motor. The vehicle-mounted multimedia system and the power domain are connected through a bus. The MCU obtains the playing instruction and audio information through the CAN communication protocol, and distributes the complete audio information or part of the information required to be played by the front drive motor and the rear drive motor according to the distribution of the motor of the whole vehicle. According to the frequency, amplitude and other information of the audio, the inverter generates a pulse width modulation (PWM) wave with adjustable duty cycle and frequency, and converts it into a three-phase current corresponding to the three-phase current input to the stator winding of the three-phase motor, so that the front drive motor and the rear drive motor generate the sound of the target audio. Different sound emitting strategies are combined to make the motor emit sound alone or multiple motors emit stereo sound.

[0233] In addition, the electric drive sound emitting system can be combined with other systems on the vehicle, such as the atmosphere light system and the external light system, to realize the rhythm of sound and light. The light controller presets different application scenarios, obtains different responses through music rhythm and music amplitude information, and thus forms different rhythms such as soft, brisk, energetic and dynamic, thereby bringing a more immersive atmosphere experience. In the welcome mode, when the vehicle owner is identified to be close or a unlocking signal is received, the electric drive system can generate welcome music, the light system can emit corresponding preset welcome light, and the light-emitting diode (LED) pixel screen carried on the vehicle can display welcome images.

[0234] Referring to FIG. 6B, it is a sound emitting control flowchart of a single vehicle in some embodiments of the present disclosure. The control process steps are as follows S10 to S16.

[0235] Step S10: The user terminal issues a music playing instruction.

[0236] Step S11: It is judged whether the audio needs to be read from the storage. If not in the storage, the audio needs to be obtained through the network interface; if in the storage, the audio information can be directly read from the storage.

[0237] In actual application, the audio can exist in the storage or the cloud. In some application scenarios (such as when the vehicle is in driving state), data transmission can have a delay, and the data needs to be obtained from the cloud. In some embodiments of the present disclosure, whether the audio is pre-stored in the storage can be determined according to the application scenario and the name search, or whether the pre-stored audio in the storage needs to be read can be determined according to the strategy.

[0238] The name of the audio can be used to determine the audio type, and then determine the audio storage location according to the audio type. In actual application, for some simple and commonly used audio types, they are generally stored in the memory, and the complex and less frequently used audio types can be stored in the cloud to avoid excessive occupation of local storage.

[0239] In actual application, the first vehicle (main vehicle) acquires the audio in the following ways: (1) acquiring the audio through a network interface, acquiring the audio from a music software mounted on the vehicle, or transmitting the audio from the user's mobile phone through Bluetooth and analyzing the frequency, audio amplitude and other information of the audio in real time through the user terminal software, and when multiple vehicles are linked, the audio information transmitted by the main vehicle can be acquired from the vehicle through WLAN or other wireless networks and stored in the cache area; (2) the audio is pre-stored in the memory, and the audio information can be directly read from the memory.

[0240] Step S12, after receiving the music playing instruction, the user terminal software can process the audio data according to the distribution of the motor of the whole vehicle.

[0241] The processing of the audio data can include audio data splitting. The splitting processing can decompose the cached audio information into multiple parts, for example, splitting into left and right channels according to the sound track, splitting into high and low pitches according to the pitch, splitting into different instrument sounds according to the instrument type, splitting into vocals and accompaniment according to the sound object, and making different motors sound at different times according to the time period,

[0242] In other examples, the sound generating motor of each second vehicle can also acquire the same audio information, so that each motor emits the same sound. The user terminal and the MCU communicate data, and the corresponding audio information is transmitted by the CAN protocol into the motor controller of the corresponding front drive and rear drive.

[0243] Step S13, the MCU data acquisition module acquires the front drive and rear drive audio information transmitted by the user terminal through CAN communication, and transmits the audio information to the front drive and rear drive motor controllers. The front drive and rear drive controllers calculate the target three-phase current of the corresponding motor stator winding according to the acquired audio information, and further obtain the duty cycle of the corresponding PWM waveform.

[0244] Step S14, according to the target current, the switching time of each bridge arm power switch unit of the inverter is calculated, and each bridge arm is controlled according to the switching time, forming a corresponding current to drive the motor to sound, so that the motor emits the sound corresponding to the target audio.

[0245] Step S15, the front drive and rear drive motors emit corresponding partial audio or all audio to realize stereo sound with rich levels.

[0246] Step S16, the light system on the vehicle, the LED pixel screen outside the vehicle and the electric drive system cooperate to create a more immersive sound and light effect.

[0247] In practical applications, the light and pixel screen of one or more second vehicles can be controlled to move with the sound or display preset light and graphics according to different scene modes to create a more immersive atmosphere.

[0248] Referring to FIG. 6C, it is a flowchart of a multi-vehicle linkage sound generation method in a parking state according to some embodiments of the present disclosure, including the following processes:

[0249] Step S20: the user terminal sends a matching instruction.

[0250] Step S21: set the current vehicle as the master vehicle V0, and search for nearby slave vehicles V1, V2, … that can be matched. The search for nearby vehicles can be divided into two ways: ① through navigation positioning: first, locate the current positions of the master vehicle and other vehicles through navigation positioning, find nearby vehicles and determine whether they meet the distance conditions for matching; ② search and find nearby vehicles that can be connected and matched through Bluetooth, WLAN, etc.

[0251] Step S22: after finding the vehicles that can be matched, determine the straight-line distances between the vehicles through positioning, laser radar, camera and other sensors. If the maximum distance is less than or equal to the preset distance in the parking mode, the master vehicle V0 sends a matching application to each vehicle. After each vehicle agrees to the application, it will be connected to the master vehicle V0 through Bluetooth or WLAN, or connected to the cloud server through a 4G / 5G network and complete the matching. After the matching is completed, the vehicles will form a local area network, and each slave vehicle will be numbered from small to large according to the straight-line distance from the master vehicle V0.

[0252] Step S23: the user sends an audio playing instruction on the master vehicle user terminal or the user's mobile phone terminal. The master vehicle V0 determines whether the audio is in the storage. If not, the audio needs to be obtained through a network interface. The method for obtaining the audio is to obtain it from the music software on the vehicle machine through a network, or to transmit it from the user's mobile phone through Bluetooth. For the transmitted audio, the user terminal software analyzes the frequency, amplitude and other information of the audio. If the audio is in the storage, the audio information can be directly read from the storage.

[0253] Step S24: According to the strategy of multi-vehicle linkage sound, all slave vehicles can play the same audio, or according to the distance and position of the slave vehicle relative to the master vehicle, match with the preset scene, or provide the user to select the scene and play the corresponding part of the audio, for example: in the parking condition as shown in FIG. 2, the slave vehicle V1 is on the right side of the master vehicle V0, and the slave vehicle V2 is on the left side of the master vehicle V0, then the slave vehicle V1 corresponds to play the right channel of the audio, and the slave vehicle V2 corresponds to play the left channel of the audio. In addition, different musical instrument sounds can be played by each vehicle, and the corresponding main channel and sub-channel can be played by each vehicle. When playing a piano piece, one vehicle can be responsible for playing one or several notes, thereby forming a concert. If each slave vehicle needs to emit different parts of the audio, according to the multi-vehicle linkage sound strategy, the master vehicle data processing module processes the audio information correspondingly, and different parts of the parsed audio information are also numbered and correspond to the number of the slave vehicle. The master vehicle V0 transmits the audio information to each slave vehicle according to the number, or uploads it to the cloud server, and the cloud server sends it to each slave vehicle. After each slave vehicle receives all the audio information and stores it in the cache, the slave vehicle returns a receiving completion signal to the master vehicle, and waits for the master vehicle to send a synchronous playback instruction.

[0254] Step S25: When the master vehicle receives all the receiving completion signals returned by the slave vehicles, that is, when the number of received completion signals is consistent with the number of slave vehicles, the master vehicle sends a synchronous playback instruction. According to the time delay inconsistency of the signal arriving at different slave vehicles and being received, the delay time of each vehicle is calibrated and calculated, and the master vehicle sends a playback instruction to each slave vehicle at different time according to the delay time, and each slave vehicle plays music after receiving the synchronous instruction; or each vehicle connected to the same local area network is calibrated to the same time, and the master vehicle sends a synchronous playback signal containing a time stamp, and each vehicle plays music according to the time described on the time stamp.

[0255] Step S26: After receiving the synchronous playback instruction sent by the master vehicle, the slave vehicle starts to read the audio information from the cache area. After each vehicle receives the audio information, the data processing module carried by each vehicle can distribute and process the audio information according to the distribution of the motor on each vehicle, such as making the front motor sound, making the rear motor sound, or making the front and rear motors sound, etc. The audio information is transmitted from the cache to the corresponding MCU of each vehicle via the CAN communication protocol. The data acquisition module of the MCU acquires the audio data and drives the motor to emit the audio. While reading the cached audio information and playing the audio, the slave vehicle continues to receive and cache the corresponding information of the next audio sent by the master vehicle, so as to shorten the caching time. At the same time, according to the user's requirements, the master vehicle sends instructions such as increasing the volume, pausing, next song, etc. After receiving the instructions, the slave vehicle executes the corresponding measures.

[0256] Step S27: The light system on the vehicle, the LED pixel screen outside the vehicle, and the electric drive system cooperate to make the light and the pixel screen move with the sound, or display preset light and graphics according to different scene modes, to create a more immersive atmosphere.

[0257] Referring to FIG. 6D, a flowchart of a multi-vehicle linkage sound generation method in a parking state is shown, which includes the following processes:

[0258] Step S30: The user terminal sends a matching instruction.

[0259] Step S31: Set the current vehicle as the master vehicle V0, and search for nearby slave vehicles V1, V2, …, which can be matched. The search for nearby vehicles can be divided into two ways: ① Through navigation positioning: first, locate the current positions of the master vehicle and other vehicles through navigation, find nearby vehicles, and determine whether the distance meets the matching conditions; ② Through Bluetooth, WLAN, etc. to search and find nearby vehicles that can be matched.

[0260] Step S32: After searching for a vehicle that can be matched, the straight-line distance between the vehicles is determined through positioning, laser radar, camera, etc. If the maximum distance is less than or equal to the preset distance in the parking mode, the master vehicle V0 sends a matching application to each vehicle. After each vehicle agrees to the application, it will be connected to the master vehicle V0 through Bluetooth or WLAN, or connected to the cloud server through a 4 / 5G network and complete the matching. After the matching is completed, each vehicle will form a local area network, and each slave vehicle will be numbered according to the straight-line distance from the master vehicle V0 from small to large.

[0261] Step S33: The user sends an audio playing instruction on the master vehicle user terminal or the user's mobile phone terminal. The master vehicle V0 determines whether the audio is in the storage. If not, the audio needs to be obtained through the network interface. The method of obtaining the audio is to obtain it from the music software on the vehicle machine through the network, or to transmit it by Bluetooth from the user's mobile phone. For the transmitted audio, the user terminal software analyzes the frequency, amplitude, etc. of the audio. If it is in the storage, the audio information can be directly read from the storage.

[0262] Step S34: According to the strategy of multi-vehicle linkage sound emission, all slave vehicles can play the same audio, or can be matched with the preset scene according to the distance and position of the slave vehicle relative to the master vehicle, or the user can select the scene and play the corresponding part of the audio, for example: in the parking condition as shown in FIG. 2, the slave vehicle V1 is on the right side of the master vehicle V0, and the slave vehicle V2 is on the left side of the master vehicle V0, then the slave vehicle V1 corresponds to play the right channel of the audio, and the slave vehicle V2 corresponds to play the left channel of the audio. In addition, different musical instrument sounds can be played by each vehicle, and the corresponding main channel and sub-channel can be played by each vehicle. When playing a piano piece, one vehicle can be responsible for playing one or several notes, thereby forming a concert. If each slave vehicle needs to emit different parts of the audio, the master vehicle data processing module will process the audio information according to the multi-vehicle linkage sound emission strategy, and the different parts of the parsed audio information will also be numbered and correspond to the number of the slave vehicle. The master vehicle V0 transmits the audio information to each slave vehicle according to the number, or uploads it to the cloud server and downloads it from the cloud server to each slave vehicle. The master vehicle does not need to wait for all slave vehicles to receive the complete audio before sending the synchronous playback instruction, but judges whether the data amount of the received audio data of each slave vehicle meets the synchronous playback condition. If the received data amount is greater than the required data amount to meet the synchronous playback condition, the slave vehicle returns a waiting playback signal to the master vehicle, and waits for the master vehicle to send the synchronous playback instruction.

[0263] Step S35: When the master vehicle receives all the waiting playback signals returned by the slave vehicles, that is, the number of received waiting playback signals is consistent with the number of slave vehicles, the master vehicle sends a synchronous playback instruction. According to the inconsistency of the time delay of the signal arriving at different slave vehicles and being received, the delay time of each vehicle is calibrated and calculated, and the master vehicle sends a playback instruction to each slave vehicle at different time according to the delay time, and each slave vehicle plays music after receiving the synchronous instruction; or each vehicle connected to the same local area network can be calibrated to the same time, and the master vehicle sends a synchronous playback signal containing a time stamp, and each vehicle plays music according to the time described on the time stamp.

[0264] Step S36: After receiving the synchronization playing instruction sent by the host vehicle, the slave vehicle starts reading the audio information from the cache area, without waiting for all data to be received. The data processing module on each vehicle distributes the audio information according to the distribution of the motor on each vehicle, such as making the front motor sound, making the rear motor sound, or making the front and rear motors sound, and so on. The audio information is transmitted from the cache to the corresponding MCU of each vehicle via the CAN communication protocol. The data acquisition module of the MCU acquires the audio data and drives the motor to emit the audio. While the slave vehicle reads the audio information in the cache area, it continues to receive and cache the audio information sent by the host vehicle, so as to shorten the delay time. Compared with example two, the audio can be played without waiting for the complete transmission of the audio to be completed, but the audio is played while being transmitted when the transmitted audio data reaches a certain value, which greatly reduces the delay but requires a higher timing sequence for data transmission. At the same time, according to the user's requirements, the host vehicle sends instructions to increase the volume, pause, and play the next song, and the slave vehicle receives the instructions and executes the corresponding measures.

[0265] Step S37: The light system on the vehicle, the LED pixel screen outside the vehicle, and the electric drive system cooperate to make the light and the pixel screen move with the sound, or display preset light and graphics according to different scene modes, to create a more immersive atmosphere.

[0266] In the embodiments of the present application, after the first vehicle is successfully matched with a plurality of second vehicles, the first vehicle sends target audio data corresponding to the plurality of second vehicles to the corresponding second vehicles; a waiting playing signal sent by the second vehicle is received, the waiting playing signal is generated when the amount of data received by the second vehicle is greater than a preset data amount; when the number of waiting playing signals is consistent with the number of second vehicles, a synchronization playing instruction is generated; and the synchronization playing instruction is sent to the plurality of second vehicles, so that the second vehicles emit sound according to the target audio data, thereby realizing the sound emission of the plurality of vehicles in linkage.

[0267] Referring to FIG. 6E, it is a schematic diagram of a vehicle working condition in some embodiments of the present disclosure. The working condition of the vehicle can include a parking working condition and a driving working condition. In the driving working condition, in order to ensure the stability of the connection state, the cloud synchronization mode is adopted to realize the connection of the plurality of vehicles and the transmission of data.

[0268] Referring to FIG. 6F, it is a flowchart of a multi-vehicle linkage sound emission method in a driving state in some embodiments of the present disclosure. The method includes the following processes:

[0269] Step S40: The user end sends a matching instruction.

[0270] Step S41: The current vehicle is set as a host vehicle V0, and nearby slave vehicles V1, V2, … that can be used for matching are searched. The current positions of the host vehicle and other vehicles are determined through navigation positioning, nearby vehicles are found through positioning, and whether the distance condition for matching is met is judged.

[0271] Step S42: After searching for a matching vehicle, the straight-line distance between each vehicle is determined by positioning. If the maximum distance is less than or equal to the preset distance in the driving mode, the cloud pushes the matching application to each vehicle. After each vehicle agrees to the application, it is connected to the cloud server through the 4 / 5G network and the matching is completed. After the matching is completed, each vehicle will form a local area network, and each slave vehicle will be numbered according to the straight-line distance from the master vehicle V0 from small to large.

[0272] Step S43: The user sends an audio playback instruction on the master vehicle user end or user mobile phone end, and sends the audio id from the cloud to each vehicle. If the audio is not in the memory, it needs to be obtained through the network interface. The master vehicle obtains the audio by downloading it from the music software on the car machine, or by Bluetooth from the user's mobile phone. The method for the slave vehicle to obtain the audio is to download it from the cloud network. For the incoming audio, the user end software analyzes the frequency, amplitude, and other information of the audio. If it is in the memory, each vehicle sends a waiting playback signal to the cloud and waits to receive the cloud's synchronous playback instruction.

[0273] Step S44: According to the strategy of multi-vehicle linkage sound emission, all slave vehicles can play the same audio, or according to the distance and position of the slave vehicle relative to the master vehicle, match with the preset scene, or provide the user with the option to select the scene and play the corresponding part of the audio. The master vehicle data processing module processes the audio information accordingly and numbers the different parts of the parsed audio information, which correspond to the slave vehicle numbers. The master vehicle V0 uploads the audio information to the cloud server according to the numbering, and the cloud server sends it to each slave vehicle. It is judged whether the amount of data received by each slave vehicle meets the synchronous playback condition. If the amount of data received is greater than the required amount of data to meet the synchronous playback condition, each slave vehicle returns a waiting playback signal to the cloud and waits for the cloud to issue a synchronous playback instruction.

[0274] Step S45: If the cloud receives the same number of waiting playback signals as the number of slave vehicles, it sends a synchronous playback instruction to each vehicle through the cloud. When each vehicle is matched and in the same local area network, it needs to be calibrated to the same time. The synchronous playback instruction sent by the cloud is a synchronous playback signal containing a timestamp, and each vehicle plays the music at the time described on the timestamp.

[0275] Step S46: After receiving the synchronization playing instruction sent by the host vehicle, each vehicle starts reading the audio information from the cache area. The data processing module carried by each vehicle distributes the audio information according to the distribution of the motor on each vehicle, such as making the front motor sound, making the rear motor sound, or making the front and rear motors sound, etc. The audio information is transmitted from the cache to the corresponding MCU of each vehicle via the CAN communication protocol. The data acquisition module of the MCU corresponds to acquire the audio data and drive the motor to emit the audio. At the same time, according to the user's requirements, the user sends instructions such as increasing the volume, pausing, next song, etc. to the cloud through the mobile phone terminal or the host vehicle multimedia terminal, and the vehicle receives the instructions and executes the corresponding measures.

[0276] Step S47: The light system carried on the vehicle, the external LED pixel screen and the electric drive system cooperate to make the light and the pixel screen move with the sound, or display preset light and graphics according to different scene modes, to create a more immersive atmosphere.

[0277] In some embodiments of the present disclosure, a multi-vehicle linkage sound generation method in a driving state can include the following processes:

[0278] (1) The vehicle locates the current position through navigation and judges the distance between vehicles within a certain range in real time.

[0279] (2) The vehicle judges the distance between the front and rear vehicles and whether there is a vehicle coming from the opposite lane through sensors such as laser radar and camera. If there is a vehicle coming from the opposite lane and the straight-line distance is less than a set value, it is determined that the current state is meeting; if the straight-line distance between the current vehicle and the front vehicle is less than a set value and the vehicle speed is greater than the speed of the front vehicle, it is determined that the current state is too close to the front vehicle; if the straight-line distance between the current vehicle and the rear vehicle is less than a set value and the vehicle speed is less than the speed of the rear vehicle, it is determined that the current state is too close to the rear vehicle.

[0280] (3) The storage pre-stores prompt sounds and patterns for meeting, being too close to the front vehicle, and being too close to the rear vehicle. When the scene is triggered, the MCU data acquisition module reads the corresponding audio information pre-stored in the storage, calculates the target three-phase current flowing into the stator winding of the motor, and drives the motor to emit the prompt sound corresponding to the target audio. At the same time, the pre-stored pixel screen pattern information is read to control the screen to display the corresponding pattern, providing interactive information to the opposite vehicle to realize the interaction between vehicles. When the vehicles meet, the vehicle emits a prompt to the opposite vehicle and greets the opposite vehicle. When the vehicles are too close to the front and rear vehicles, the corresponding prompt sound is triggered to prompt the front and rear vehicles.

[0281] (4) The vehicle recognizes the communication information sent by the opposite vehicle through a microphone, a camera, etc., and determines the communication message that needs to be replied by the intelligent voice system. The audio information is transmitted from the bus to the front and rear drive MCUs through the CAN communication protocol. The data acquisition module of the MCU acquires the audio data and drives the motor to send a reply sound, and also controls the screen to display the corresponding pattern, realizing the interactive communication between the vehicles.

[0282] In some embodiments of the present disclosure, after the first vehicle is successfully matched with the plurality of second vehicles, the target audio data is sent to the cloud server, so that the cloud server sends the target audio data to the corresponding second vehicle. The second vehicle makes the motor sound in accordance with the target audio data, realizing the multi-vehicle motor sound linkage.

[0283] It should be noted that, for the method embodiments, in order to simply describe, it is expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present disclosure are not limited to the action sequence described, because according to some embodiments of the present disclosure, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by some embodiments of the present disclosure.

[0284] As shown in FIG. 7, some embodiments of the present disclosure further provide a vehicle control device 1000, which is used to execute the vehicle control method as described above.

[0285] As shown in FIG. 8, some embodiments of the present disclosure further provide an electronic device 2000, which can include a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the vehicle control method as described above is realized.

[0286] As shown in FIG. 9, some embodiments of the present disclosure further provide a vehicle 3000, which executes the vehicle control method as described above, or includes the device as described above, or includes the electronic device as described above.

[0287] Some embodiments of the present disclosure further provide a computer readable storage medium, which stores a computer program. When the computer program is executed by the processor, the vehicle control method as described above is realized.

[0288] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the related parts are referred to the part of the method embodiments.

[0289] The various embodiments in the specification are described with respect to progressive manner. Each of the embodiments focuses on different aspects and implementations of the present disclosure, and the same or similar parts between the embodiments can be mutually referred to.

[0290] Those skilled in the art will appreciate that some embodiments of the present disclosure can be implemented as a method, apparatus, or computer program product. Accordingly, some embodiments of the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, some embodiments of the present disclosure can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0291] Some embodiments of the present disclosure are described with reference to the flowchart illustrations and / or block diagrams of the methods, terminal devices (systems), and computer program products according to some embodiments of the present 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, an embedded processor, or other programmable data processing terminal devices to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal devices, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0292] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal devices to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means that implement the function specified in the flowchart illustrations and / or block diagrams block or blocks.

[0293] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices, such that a series of operational steps are performed on the computer or other programmable terminal devices to create a computer-implemented process so that the instructions executed on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0294] Although the preferred embodiments of some embodiments of the present disclosure have been described, those skilled in the art will appreciate that additional changes and modifications can be made to these embodiments once they have been made aware of the basic inventive concepts. Therefore, the appended claims are intended to encompass all changes and modifications of the preferred embodiments and all of the alternative embodiments falling within the scope of some embodiments of the present disclosure.

[0295] Finally, it is to be understood that the phraseology or terminology such as "first" and "second" etc. is used by way of example, and is merely used to distinguish one from another entity or action without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0296] The above provides a kind of vehicle control method and device, electronic equipment, vehicle, storage medium, have carried out detailed introduction, the principle and implementation of this disclosure are described in this paper by example, the above example is only for helping to understand the method of some embodiments of the present disclosure and its core idea;Meanwhile, for the person skilled in the art, according to the idea of the present disclosure, there will be changes in specific implementation and application range, as described above, the content of the specification should not be understood as the limitation of the present disclosure.

Claims

1. A vehicle control method applied to a first vehicle, the method comprising: controlling a second vehicle to sound in accordance with target audio data after determining that the first vehicle and the second vehicle are successfully matched.

2. The method of claim 1, wherein, The controlling the second vehicle to sound in accordance with target audio data comprises: controlling the second vehicle to sound in conjunction with the first vehicle in accordance with the target audio data.

3. The method of claim 2, wherein, The controlling the second vehicle to sound in conjunction with the first vehicle in accordance with the target audio data comprises: sending the target audio data to the second vehicle to enable the second vehicle to sound in conjunction with the first vehicle in accordance with the target audio data.

4. The method of claim 1, wherein, The controlling the second vehicle to sound in accordance with target audio data comprises: sending the target audio data to the second vehicle to enable the second vehicle to sound in accordance with the target audio data.

5. The method of claim 1, wherein, The controlling the second vehicle to sound in accordance with target audio data comprises: The first vehicle sends a playing instruction to the second vehicle to control the second vehicle to obtain the target audio data to be played based on the playing instruction and to sound in accordance with the target audio data.

6. The method of claim 3 or 4, wherein, The first vehicle sending the target audio data to the second vehicle comprises: sending the target audio data corresponding to the second vehicle to the second vehicle; generating a playing instruction upon receiving a first feedback signal returned by the second vehicle after the second vehicle has received the target audio data; sending the playing instruction to the second vehicle.

7. The method of claim 6, wherein, The generating a playing instruction upon receiving a first feedback signal returned by the second vehicle after the second vehicle has received the target audio data comprises: when there are multiple second vehicles, receiving multiple first feedback signals returned by the multiple second vehicles after the multiple second vehicles have received the target audio data; generating the playing instruction when the number of the multiple first feedback signals is consistent with the number of the multiple second vehicles.

8. The method of claim 7, wherein, The sending the playing instruction to the second vehicle comprises: determining first time delay information of each second vehicle in the multiple second vehicles according to a first timestamp of the first feedback signal; determining a first instruction sending time corresponding to each second vehicle in accordance with the first time delay information; sending the playing instruction to each second vehicle in accordance with the first instruction sending time.

9. The method of claim 3 or 4, wherein, The first vehicle sending the target audio data to the second vehicle comprises: The first vehicle sends the target audio data corresponding to the second vehicle to the second vehicle; generating a playing instruction upon receiving a second feedback signal sent by the second vehicle when an amount of data received by the second vehicle is greater than a preset amount of data; sending the playing instruction to the second vehicle.

10. The method of claim 9, wherein, The generating a playing instruction upon receiving a second feedback signal sent by the second vehicle when an amount of data received by the second vehicle is greater than a preset amount of data comprises: when there are multiple second vehicles, receiving multiple second feedback signals sent by the multiple second vehicles when an amount of data received by the multiple second vehicles is greater than a preset amount of data; The playing instruction is generated when the number of the second feedback signals is consistent with the number of the second vehicles.

11. The method of claim 10, wherein, The sending of the playing instruction to the second vehicle comprises: Second time delay information of each second vehicle in the second vehicles is determined according to a second time stamp of the second feedback signal; A second instruction sending time corresponding to each second vehicle is determined according to the second time delay information; The playing instruction is sent to each second vehicle according to the second instruction sending time.

12. The method of any one of claims 7 to 11, wherein, The sending of the playing instruction to the second vehicle comprises: The playing instruction carrying a preset playing time is sent to the second vehicle to control the second vehicle to make a sound when the current time is the preset playing time.

13. The method of claim 4, wherein, The first vehicle sends the target audio data to the second vehicle to make the second vehicle make a sound in combination with the first vehicle according to the target audio data, which comprises: In response to the audio playing instruction received by the first vehicle, initial audio data for controlling the second vehicle to make a sound is obtained; The first audio data corresponding to the first vehicle is generated based on the initial audio data, and the target audio data corresponding to the second vehicle is generated based on the initial audio data; The target audio data is sent to the second vehicle to make the first vehicle make a sound according to the first audio data and the second vehicle make a sound according to the target audio data.

14. The method of claim 13, wherein, The generation of the first audio data corresponding to the first vehicle based on the initial audio data and the generation of the target audio data corresponding to the second vehicle based on the initial audio data comprise: First position information of the second vehicle relative to the first vehicle is determined; A first combined sound making strategy of the first vehicle and the second vehicle is generated based on the first position information; The initial audio data is audio processed according to the first combined sound making strategy to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

15. The method of claim 14, wherein, The first position information comprises at least one of direction information or distance information.

16. The method of claim 13, wherein, The generation of the first audio data corresponding to the first vehicle based on the initial audio data and the generation of the target audio data corresponding to the second vehicle based on the initial audio data comprise: The initial audio data is taken as the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

17. The method of claim 14, wherein, The audio processing of the initial audio data according to the first combined sound making strategy to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle comprises: The initial audio data is split according to the first combined sound making strategy to obtain the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

18. The method of claim 14, wherein, The audio processing of the initial audio data according to the first combined sound making strategy to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle comprises: split the initial audio data according to the first joint sound production strategy, to obtain split audio data; determine the split audio data and the initial audio data according to the first joint sound production strategy, and a corresponding relationship between the first vehicle and the second vehicle; at least one of the split audio data or the initial audio data, and audio data corresponding to the first vehicle, as the first audio data of the first vehicle; at least one of the split audio data or the initial audio data, and audio data corresponding to the second vehicle, as the target audio data of the second vehicle.

19. The method of claim 17 or 18, wherein, The splitting of the initial audio data according to the first joint sound production strategy comprises: splitting the initial audio data according to the first joint sound production strategy according to channel information.

20. The method of claim 17 or 18, wherein, The splitting of the initial audio data according to the first joint sound production strategy comprises: splitting the initial audio data according to the first joint sound production strategy according to note information.

21. The method of claim 14, wherein, The audio processing of the initial audio data according to the first joint sound production strategy, to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle, comprises: generating the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle according to the initial audio data according to a preset instrument type according to the first joint sound production strategy.

22. The method of claim 21, wherein, The generation of the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle according to the initial audio data according to a preset instrument type according to the first joint sound production strategy comprises: audio conversion of the initial audio data according to a preset instrument type according to the first joint sound production strategy, and audio splitting of the converted initial audio data to generate the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

23. The method of claim 4, wherein, The first vehicle sends the target audio data to the second vehicle, so that the second vehicle sounds according to the target audio data, comprising: in response to an audio playing instruction received by the first vehicle, obtaining initial audio data for controlling the second vehicle to sound; generating the target audio data corresponding to the second vehicle based on the initial audio data; sending the target audio data to the second vehicle, so that the second vehicle sounds according to the target audio data.

24. The method of claim 23, wherein, The generation of the target audio data corresponding to the second vehicle based on the initial audio data comprises: when there are multiple second vehicles, determining second position information of each of the multiple second vehicles; generating a second joint sound production strategy for the multiple second vehicles based on the second position information; audio processing of the initial audio data according to the second joint sound production strategy to generate the target audio data corresponding to the multiple second vehicles.

25. The method of claim 24, wherein, The second position information comprises at least one of direction information or distance information.

26. The method of claim 24, wherein, The generating the target audio data corresponding to the second vehicle based on the initial audio data comprises: Taking the initial audio data as the target audio data corresponding to the second vehicle.

27. The method of claim 24, wherein, The audio processing of the initial audio data according to the second joint sound production strategy comprises: Splitting the initial audio data according to the second joint sound production strategy to obtain the target audio data corresponding to the second vehicle.

28. The method of claim 27, wherein, The splitting the initial audio data according to the second joint sound production strategy to obtain the target audio data corresponding to the second vehicle comprises: For part of the second vehicles, splitting the initial audio data according to the second joint sound production strategy to obtain the target audio data corresponding to the part of the second vehicles; Taking the initial audio data as the target audio data of the rest of the second vehicles except the part of the second vehicles.

29. The method of claim 27, wherein, The splitting the initial audio data according to the second joint sound production strategy comprises: Splitting the initial audio data according to the channel information according to the second joint sound production strategy.

30. The method of claim 27, wherein, The splitting the initial audio data according to the second joint sound production strategy comprises: Splitting the initial audio data according to the note information according to the second joint sound production strategy.

31. The method of claim 24, wherein, The audio processing of the initial audio data according to the second joint sound production strategy comprises: Generating the target audio data corresponding to the plurality of second vehicles according to the initial audio data and the second joint sound production strategy comprises:

32. The method of claim 31, wherein, Generating the target audio data corresponding to the plurality of second vehicles according to the initial audio data and the second joint sound production strategy comprises: Generating the target audio data corresponding to the plurality of second vehicles according to the initial audio data and the second joint sound production strategy comprises:

33. The method of claim 13 or 23, wherein, The obtaining the initial audio data for controlling the second vehicle to produce sound in response to the audio playing instruction received by the first vehicle comprises: In response to the audio playing instruction received by the first vehicle; If it is determined that the initial audio data is in the storage of the first vehicle, obtaining the initial audio data from the storage; If it is determined that the initial audio data is not in the storage of the first vehicle, obtaining the initial audio data through a preset network interface.

34. The method of claim 33, wherein, The obtaining the initial audio data through a preset network interface comprises: Obtaining the initial audio data from an application program carrying audio data in the first vehicle through the preset network interface; Or, obtaining the initial audio data from audio data sent by a target mobile terminal through the preset network interface.

35. The method of claim 3 or 4, wherein, The sending of the target audio data from the first vehicle to the second vehicle comprises: When the first vehicle is in a driving state, the target audio data is sent to a cloud server for forwarding to the second vehicle by the cloud server.

36. The method of claim 1, wherein, The determination that the first vehicle and the second vehicle are successfully matched includes: Obtaining distance information between the first vehicle and the second vehicle in the surrounding environment, the second vehicle being a vehicle that can be matched with the first vehicle; When the distance information is less than or equal to a preset distance, generating a vehicle matching request and sending the vehicle matching request to the second vehicle; Upon receiving response data indicating agreement to match that is fed back by the second vehicle based on the vehicle matching request, determining that the second vehicle and the first vehicle are successfully matched.

37. The method of claim 36, wherein, The obtaining of the distance information between the first vehicle and the second vehicle in the surrounding environment, the second vehicle being a vehicle that can be matched with the first vehicle, includes: In response to a matching instruction received by the first vehicle, starting a function of the first vehicle for searching for surrounding vehicles to determine the distance information between the first vehicle and the second vehicle. 38.A vehicle control method applied to a second vehicle, the method comprising: After determining that the second vehicle and a first vehicle are successfully matched, making a sound in accordance with target audio data based on a playing instruction of the first vehicle.

39. The method of claim 38, wherein, The making of the sound in accordance with the target audio data based on the playing instruction of the first vehicle includes: Jointly making a sound with the first vehicle in accordance with the target audio data based on the playing instruction of the first vehicle.

40. The method of claim 38, wherein, The making of the sound in accordance with the target audio data based on the playing instruction of the first vehicle includes: The second vehicle receives target audio data sent by the first vehicle; The second vehicle generates a feedback signal of the target audio data and sends the feedback signal to the first vehicle; The second vehicle receives a playing instruction sent by the first vehicle, the playing instruction being generated by the first vehicle based on the feedback signal; The second vehicle makes a sound in accordance with the target audio data based on the playing instruction of the first vehicle.

41. The method of claim 38, wherein, The making of the sound in accordance with the target audio data based on the playing instruction of the first vehicle includes: The second vehicle receives a playing instruction of the first vehicle and obtains target audio data to be played based on the playing instruction; The second vehicle makes a sound in accordance with the target audio data.

42. A vehicle control device, wherein, The apparatus is configured to perform the vehicle control method according to any one of claims 1 to 41.

43. An electronic device, comprising: The electronic device includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being executed by the processor to implement the vehicle control method according to any one of claims 1 to 41.

44. A vehicle, wherein, The vehicle performs the vehicle control method according to any one of claims 1 to 41, or the vehicle includes the apparatus according to claim 42, or the vehicle includes the electronic device according to claim 43.

45. A computer readable storage medium, wherein, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the vehicle control method according to any one of claims 1 to 41.

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