CN118876879A - Vehicle control method and device, electronic device, vehicle, and storage medium - Google Patents

Abstract

Translated fromChinese

本发明实施例提供了一种车辆控制方法及装置、电子设备、车辆、存储介质，所述方法包括：在第一车辆与第二车辆匹配成功后，控制所述第二车辆依照目标音频数据进行发声，实现了主车控制从车进行车辆发声，丰富车辆娱乐方式。

An embodiment of the present invention provides a vehicle control method and device, an electronic device, a vehicle, and a storage medium. The method includes: after a first vehicle is successfully matched with a second vehicle, controlling the second vehicle to make a sound according to target audio data, thereby enabling a master vehicle to control a slave vehicle to make a vehicle sound and enriching vehicle entertainment methods.

Description

Translated fromChinese

一种车辆控制方法及装置、电子设备、车辆、存储介质Vehicle control method and device, electronic device, vehicle, and storage medium

技术领域Technical Field

本发明涉及车辆控制技术领域，特别是涉及一种车辆控制方法及装置、电子设备、车辆、存储介质。The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method and device, electronic equipment, a vehicle, and a storage medium.

背景技术Background Art

随着车辆技术的发展，在车辆中可以实现越来越多的娱乐功能，然而，当前的车辆娱乐功能仍存在局限性，能够为用户带来的休闲娱乐功能也比较单调。例如，车辆内通常配置有音频播放功能，但实际上的音频播放方式仅仅为车辆单独播放音乐，该种娱乐方式单一，并不能满足人们对多样化娱乐的需求。With the development of vehicle technology, more and more entertainment functions can be realized in vehicles. However, the current vehicle entertainment functions still have limitations, and the leisure and entertainment functions that can be brought to users are relatively monotonous. For example, vehicles are usually equipped with audio playback functions, but the actual audio playback method is only to play music alone in the vehicle. This entertainment method is single and cannot meet people's needs for diversified entertainment.

发明内容Summary of the invention

鉴于上述问题，提出了以便提供克服上述问题或者至少部分地解决上述问题的一种车辆控制方法及装置、电子设备、车辆、存储介质，包括：In view of the above problems, a vehicle control method and device, electronic device, vehicle, and storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

一种车辆控制方法，应用于第一车辆，所述方法包括：A vehicle control method, applied to a first vehicle, comprises:

在所述第一车辆与第二车辆匹配成功后，控制所述第二车辆依照目标音频数据进行发声。After the first vehicle is successfully matched with the second vehicle, the second vehicle is controlled to make a sound according to the target audio data.

可选地，所述控制所述第二车辆依照目标音频数据进行发声，包括：Optionally, controlling the second vehicle to make a sound according to the target audio data includes:

控制所述第二车辆依照目标音频数据与所述第一车辆进行联合发声。The second vehicle is controlled to make a joint sound with the first vehicle according to the target audio data.

可选地，所述控制所述第二车辆依照目标音频数据与所述第一车辆进行联合发声，包括：Optionally, controlling the second vehicle to make a joint sound with the first vehicle according to the target audio data includes:

将目标音频数据发送至所述第二车辆，以使所述第二车辆依照所述目标音频数据与所述第一车辆进行联合发声。The target audio data is sent to the second vehicle, so that the second vehicle makes a joint sound with the first vehicle according to the target audio data.

可选地，所述控制所述第二车辆依照目标音频数据进行发声，包括：Optionally, controlling the second vehicle to make a sound according to the target audio data includes:

将目标音频数据发送至所述第二车辆，以使所述第二车辆依照所述目标音频数据进行发声。The target audio data is sent to the second vehicle, so that the second vehicle makes a sound according to the target audio data.

可选地，所述控制所述第二车辆依照目标音频数据进行发声，包括：Optionally, controlling the second vehicle to make a sound according to the target audio data includes:

所述第一车辆向所述第二车辆发送播放指令，以控制所述第二车辆基于所述播放指令获取待播放的目标音频数据，并依照目标音频数据进行发声。The first vehicle sends a play instruction to the second vehicle to control the second vehicle to obtain target audio data to be played based on the play instruction and to make sound according to the target audio data.

可选地，所述第一车辆将目标音频数据发送至所述第二车辆，包括：Optionally, the first vehicle sends the target audio data to the second vehicle, comprising:

将所述第二车辆对应的目标音频数据发送至所述第二车辆；sending the target audio data corresponding to the second vehicle to the second vehicle;

在接收到所述第二车辆时，生成播放指令；upon receiving the second vehicle, generating a play instruction;

将所述播放指令发送至所述第二车辆。The play instruction is sent to the second vehicle.

可选地，所述在接收到所述第二车辆在接收完所述目标音频数据后返回的第一反馈信号时，生成播放指令，包括：Optionally, when receiving a first feedback signal returned by the second vehicle after receiving the target audio data, generating a play instruction includes:

当存在多个第二车辆时，接收所述多个第二车辆在接收完所述目标音频数据后返回的第一反馈信号；When there are multiple second vehicles, receiving first feedback signals returned by the multiple second vehicles after receiving the target audio data;

在所述第一反馈信号的数量与所述第二车辆的数量一致时，生成播放指令。When the number of the first feedback signals is consistent with the number of the second vehicles, a play instruction is generated.

可选地，所述将所述播放指令发送至所述第二车辆，包括：Optionally, sending the playing instruction to the second vehicle includes:

根据所述第一反馈信号的第一时间戳确定每个第二车辆的第一时延信息；determining first time delay information of each second vehicle according to a first timestamp of the first feedback signal;

依照所述第一时延信息确定每个第二车辆对应的第一指令发送时间；Determining a first instruction sending time corresponding to each second vehicle according to the first time delay information;

按照所述第一指令发送时间将所述播放指令分别发送至每个第二车辆。The playing instruction is sent to each second vehicle respectively according to the first instruction sending time.

可选地，所述第一车辆将目标音频数据分别发送至所述第二车辆，包括：Optionally, the first vehicle sends the target audio data to the second vehicle respectively, including:

所述第一车辆将所述第二车辆对应的目标音频数据发送至对应的第二车辆；The first vehicle sends the target audio data corresponding to the second vehicle to the corresponding second vehicle;

在接收到所述第二车辆在已接收数据量大于预设数据量时发送的第二反馈信号时，生成播放指令；upon receiving a second feedback signal sent by the second vehicle when the amount of received data is greater than a preset amount of data, generating a play instruction;

将所述播放指令发送至所述第二车辆。The play instruction is sent to the second vehicle.

可选地，所述在接收到所述第二车辆在已接收数据量大于预设数据量时发送的第二反馈信号时，生成播放指令，包括：Optionally, when receiving a second feedback signal sent by the second vehicle when the amount of received data is greater than a preset amount of data, generating a play instruction includes:

当存在多个第二车辆时，接收所述多个第二车辆在已接收数据量大于预设数据量时发送的第二反馈信号；When there are multiple second vehicles, receiving second feedback signals sent by the multiple second vehicles when the amount of received data is greater than a preset amount of data;

在所述第二反馈信号的数量与所述第二车辆的数量一致时，生成播放指令。When the number of the second feedback signals is consistent with the number of the second vehicles, a play instruction is generated.

可选地，所述将所述播放指令发送至所述第二车辆，包括：Optionally, sending the playing instruction to the second vehicle includes:

根据所述第二反馈信号的第二时间戳确定每个第二车辆的第二时延信息；determining second time delay information of each second vehicle according to a second timestamp of the second feedback signal;

依照所述第二时延信息确定每个第二车辆对应的第二指令发送时间；Determining a second instruction sending time corresponding to each second vehicle according to the second time delay information;

按照所述第二指令发送时间将所述播放指令分别发送至每个第二车辆。The playing instruction is sent to each second vehicle respectively according to the second instruction sending time.

可选地，所述将所述播放指令发送至所述第二车辆，包括：Optionally, sending the playing instruction to the second vehicle includes:

将携带预设播放时间的播放指令发送至所述第二车辆，以控制所述第二车辆在当前时间为所述预设播放时间时进行发声。A play instruction carrying a preset play time is sent to the second vehicle to control the second vehicle to make a sound when the current time is the preset play time.

可选地，所述第一车辆将所述目标音频数据发送至所述第二车辆，以使所述第二车辆依照所述目标音频数据与所述第一车辆进行联合发声，包括：Optionally, the first vehicle sends the target audio data to the second vehicle, so that the second vehicle makes a joint sound with the first vehicle according to the target audio data, including:

响应于所述第一车辆接收的音频播放指令，获取用于控制所述第二车辆进行发声的初始音频数据；In response to the audio playback instruction received by the first vehicle, acquiring initial audio data for controlling the second vehicle to produce sound;

基于所述初始音频数据生成所述第一车辆对应的第一音频数据，以及基于所述初始音频数据生成所述第二车辆对应的目标音频数据；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;

将所述目标音频数据发送至所述第二车辆，以使所述第一车辆依照第一音频数据，所述第二车辆依照所述目标音频数据进行联合发声。The target audio data is sent to the second vehicle, so that the first vehicle and the second vehicle jointly make sounds according to the first audio data and the target audio data.

可选地，所述基于所述初始音频数据生成所述第一车辆对应的第一音频数据，以及基于所述初始音频数据生成所述第二车辆对应的目标音频数据，包括：Optionally, the generating first audio data corresponding to the first vehicle based on the initial audio data, and the generating target audio data corresponding to the second vehicle based on the initial audio data, comprises:

确定所述第二车辆相对于所述第一车辆的第一位置信息；determining first position information of the second vehicle relative to the first vehicle;

基于所述位置信息生成所述第一车辆与所述第二车辆的第一联动发声策略；generating a first linkage sounding strategy for the first vehicle and the second vehicle based on the position information;

根据所述第一联动发声策略对所述初始音频数据进行音频处理，生成所述第一车辆对应的第一音频数据和所述第二车辆对应的目标音频数据。The initial audio data is audio-processed according to the first linkage sounding strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

可选地，所述第一位置信息包括方向信息和/或距离信息。Optionally, the first location information includes direction information and/or distance information.

可选地，所述基于所述初始音频数据生成所述第一车辆对应的第一音频数据，以及基于所述初始音频数据生成所述第二车辆对应的目标音频数据，包括：Optionally, the generating first audio data corresponding to the first vehicle based on the initial audio data, and the generating target audio data corresponding to the second vehicle based on the initial audio data, comprises:

将所述初始音频数据作为所述第一车辆对应的第一音频数据和所述第二车辆对应的目标音频数据。The initial audio data is used as first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

可选地，所述根据所述第一联动发声策略对所述初始音频数据进行音频处理，生成所述第一车辆对应的第一音频数据和所述第二车辆对应的目标音频数据，包括：Optionally, performing audio processing on the initial audio data according to the first linked sounding strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle includes:

根据所述第一联动发声策略对所述初始音频数据进行拆分，得到所述第一车辆对应的第一音频数据和所述第二车辆对应的目标音频数据。The initial audio data is split according to the first linkage sounding strategy to obtain first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

可选地，所述根据所述第一联动发声策略对所述初始音频数据进行音频处理，生成所述第一车辆对应的第一音频数据和所述第二车辆对应的目标音频数据，包括：Optionally, performing audio processing on the initial audio data according to the first linked sounding strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle includes:

根据所述第一联动发声策略对所述初始音频数据进行拆分，得到拆分音频数据；Splitting the initial audio data according to the first linkage sounding strategy to obtain split audio data;

根据所述第一联动发声策略确定所述拆分音频数据和所述初始音频数据与所述第一车辆以及所述第二车辆的对应关系；Determining a correspondence between the split audio data and the initial audio data and the first vehicle and the second vehicle according to the first linkage sounding strategy;

将所述拆分音频数据和/或所述初始音频数据中与所述第一车辆存在对应关系的音频数据作为所述第一车辆的第一音频数据；Using 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;

将所述拆分音频数据和/或所述初始音频数据中与所述第二车辆存在对应关系的音频数据作为所述第二车辆的目标音频数据。The audio data in the split audio data and/or the initial audio data that corresponds to the second vehicle is used as the target audio data of the second vehicle.

可选地，所述根据所述第一联动发声策略对所述初始音频数据进行拆分，包括：Optionally, splitting the initial audio data according to the first linked sounding strategy includes:

根据所述第一联动发声策略将所述初始音频数据按照声道信息进行拆分。The initial audio data is split according to channel information according to the first linked sound generation strategy.

可选地，所述根据所述第一联动发声策略对所述初始音频数据进行拆分，包括：Optionally, splitting the initial audio data according to the first linked sounding strategy includes:

根据所述第一联动发声策略将所述初始音频数据按照音符信息进行拆分。The initial audio data is split according to the note information according to the first linkage sounding strategy.

可选地，所述根据所述第一联动发声策略对所述初始音频数据进行音频处理，生成所述第一车辆对应的第一音频数据和所述第二车辆对应的目标音频数据，包括：Optionally, performing audio processing on the initial audio data according to the first linked sounding strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle includes:

根据所述第一联动发声策略将所述初始音频数据按照预设的乐器类型生成所述第一车辆对应的第一音频数据和所述第二车辆对应的目标音频数据。According to the first linkage sounding strategy, the initial audio data is used to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle according to a preset instrument type.

可选地，所述根据所述第一联动发声策略将所述初始音频数据按照预设的乐器类型生成所述第一车辆对应的第一音频数据和所述第二车辆对应的目标音频数据，包括：Optionally, the generating, according to the first linkage sounding strategy, first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle from the initial audio data according to a preset instrument type includes:

根据所述第一联动发声策略将所述初始音频数据按照预设的乐器类型进行音频转换后，对转换后的初始音频数据进行音频拆分，生成所述第一车辆对应的第一音频数据和所述第二车辆对应的目标音频数据。After the initial audio data is converted according to the preset instrument type according to the first linkage sounding strategy, the converted initial audio data is audio-split to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

可选地，所述第一车辆将目标音频数据发送至所述第二车辆，以使所述第二车辆依照所述目标音频数据进行发声，包括：Optionally, 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, comprising:

响应于所述第一车辆接收的音频播放指令，获取用于控制所述第二车辆进行发声的初始音频数据；In response to the audio playback instruction received by the first vehicle, acquiring initial audio data for controlling the second vehicle to produce sound;

基于所述初始音频数据生成所述第二车辆对应的目标音频数据；generating target audio data corresponding to the second vehicle based on the initial audio data;

将所述目标音频数据发送至所述第二车辆，以使所述第二车辆依照所述目标音频数据进行发声。The target audio data is sent to the second vehicle, so that the second vehicle makes a sound according to the target audio data.

可选地，所述基于所述初始音频数据生成所述第二车辆对应的目标音频数据，包括：Optionally, generating target audio data corresponding to the second vehicle based on the initial audio data includes:

当存在多个第二车辆时，确定每个第二车辆的第二位置信息；When there are multiple second vehicles, determining second position information of each second vehicle;

基于所述位置信息生成多个第二车辆的第二联动发声策略；generating a second linkage sounding strategy for a plurality of second vehicles based on the position information;

根据所述第二联动发声策略对所述初始音频数据进行音频处理，生成所述第二车辆对应的目标音频数据。The initial audio data is audio-processed according to the second linkage sound emission strategy to generate target audio data corresponding to the second vehicle.

可选地，所述第二位置信息包括方向信息和/或距离信息。Optionally, the second location information includes direction information and/or distance information.

可选地，所述基于所述初始音频数据生成所述第二车辆对应的目标音频数据，包括：Optionally, generating target audio data corresponding to the second vehicle based on the initial audio data includes:

将所述初始音频数据作为所述第二车辆对应的目标音频数据。The initial audio data is used as target audio data corresponding to the second vehicle.

可选地，所述根据所述第二联动发声策略对所述初始音频数据进行音频处理，生成所述第二车辆对应的目标音频数据，包括：Optionally, performing audio processing on the initial audio data according to the second linked sounding strategy to generate target audio data corresponding to the second vehicle includes:

根据所述第二联动发声策略对所述初始音频数据进行拆分，得到所述第二车辆对应的目标音频数据。The initial audio data is split according to the second linkage sound emission strategy to obtain target audio data corresponding to the second vehicle.

可选地，所述根据所述第二联动发声策略对所述初始音频数据进行拆分，得到所述第二车辆对应的目标音频数据，包括：Optionally, splitting the initial audio data according to the second linkage sounding strategy to obtain target audio data corresponding to the second vehicle includes:

针对所述多个第二车辆中部分第二车辆，根据所述第二联动发声策略对所述初始音频数据进行拆分，得到所述部分第二车辆对应的目标音频数据；For some of the plurality of second vehicles, splitting the initial audio data according to the second linkage sounding strategy to obtain target audio data corresponding to the some of the second vehicles;

将所述初始音频数据作为所述多个第二车辆中所述部分第二车辆以外的其余部分第二车辆的目标音频数据。The initial audio data is used as target audio data of the remaining second vehicles other than the part of the second vehicles among the plurality of second vehicles.

可选地，所述根据所述第二联动发声策略对所述初始音频数据进行拆分，包括：Optionally, splitting the initial audio data according to the second linked sounding strategy includes:

根据所述第二联动发声策略将所述初始音频数据按照声道信息进行拆分。The initial audio data is split according to the channel information according to the second linked sound generation strategy.

可选地，所述根据所述第二联动发声策略对所述初始音频数据进行拆分，包括：Optionally, splitting the initial audio data according to the second linked sounding strategy includes:

根据所述第二联动发声策略将所述初始音频数据按照音符信息进行拆分。The initial audio data is split according to the note information according to the second linked sounding strategy.

可选地，根据所述第二联动发声策略对所述初始音频数据进行音频处理，生成所述第二车辆对应的目标音频数据，包括：Optionally, performing audio processing on the initial audio data according to the second linkage sounding strategy to generate target audio data corresponding to the second vehicle includes:

根据所述第二联动发声策略将所述初始音频数据按照预设的乐器类型生成所述第二车辆对应的目标音频数据。According to the second linkage sounding strategy, the initial audio data is used to generate target audio data corresponding to the second vehicle according to a preset instrument type.

可选地，所述根据所述第二联动发声策略将所述初始音频数据按照预设的乐器类型生成所述第二车辆对应的目标音频数据，包括：Optionally, generating target audio data corresponding to the second vehicle from the initial audio data according to a preset instrument type according to the second linkage sounding strategy includes:

根据所述第二联动发声策略将所述初始音频数据按照预设的乐器类型进行音频转换后，对转换后的初始音频数据进行音频拆分。After the initial audio data is converted into audio according to the preset instrument type according to the second linkage sounding strategy, the converted initial audio data is audio split.

可选地，响应于所述第一车辆接收的音频播放指令，获取用于所述第一车辆的初始音频数据，包括：Optionally, in response to the audio playback instruction received by the first vehicle, obtaining initial audio data for the first vehicle includes:

响应于所述第一车辆接收的音频播放指令，判断所述音频播放指令对应的初始音频数据是否在所述第一车辆的存储器中；In response to an audio playback instruction received by the first vehicle, determining whether initial audio data corresponding to the audio playback instruction is in a memory of the first vehicle;

当所述初始音频数据在所述第一车辆的存储器中时，从所述存储器中获取所述初始音频数据；When the initial audio data is in a memory of the first vehicle, acquiring the initial audio data from the memory;

当所述初始音频数据不在所述第一车辆的存储器中，通过预设的网络接口获取所述初始音频数据。When the initial audio data is not in the memory of the first vehicle, the initial audio data is obtained through a preset network interface.

可选地，所述通过预设的网络接口获取所述初始音频数据，包括：Optionally, the obtaining the initial audio data through a preset network interface includes:

通过预设的网络接口从所述第一车辆中携带音频数据的应用程序获取所述初始音频数据；Acquiring the initial audio data from an application program carrying audio data in the first vehicle through a preset network interface;

或，通过预设的网络接口从目标移动终端发送的音频数据中获取所述初始音频数据。Or, the initial audio data is obtained from audio data sent by the target mobile terminal through a preset network interface.

可选地，所述第一车辆将所述第二车辆的目标音频数据发送至所述第二车辆，包括：Optionally, the first vehicle sends the target audio data of the second vehicle to the second vehicle, comprising:

当所述第一车辆处于行车状态时，将所述目标音频数据发送至云端服务器，以由所述云端服务器转发至所述第二车辆。When the first vehicle is in a driving state, the target audio data is sent to a cloud server, so as to be forwarded to the second vehicle by the cloud server.

可选地，确定所述第一车辆与所述第二车辆匹配成功的步骤，包括：Optionally, the step of determining whether the first vehicle and the second vehicle are successfully matched includes:

获取所述第一车辆与周围环境中第二车辆之间的距离信息，所述第二车辆为所述第一车辆可匹配的车辆；Acquire distance information between the first vehicle and a second vehicle in a surrounding environment, where the second vehicle is a vehicle that can be matched with the first vehicle;

当所述距离信息小于或等于预设距离时，生成车辆匹配请求，并将所述车辆匹配请求发送至所述第二车辆；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;

在接收到所述第二车辆基于所述车辆匹配请求反馈的用于表示同意匹配的响应数据时，确定所述第二车辆与所述第一车辆匹配成功。When response data indicating agreement to match is received from the second vehicle based on the vehicle matching request, it is determined that the second vehicle is successfully matched with the first vehicle.

可选地，所述获取所述第一车辆与周围环境中第二车辆之间的距离信息，所述第二车辆为所述第一车辆可匹配的车辆，包括：Optionally, the acquiring distance information between the first vehicle and a second vehicle in the surrounding environment, where the second vehicle is a vehicle that can be matched with the first vehicle, includes:

响应于所述第一车辆接收的匹配指令，启动所述第一车辆的用于搜索周围车辆的功能，确定所述第一车辆与所述第二车辆之间的距离信息。In response to the matching instruction received by the first vehicle, a function of the first vehicle for searching surrounding vehicles is started, and distance information between the first vehicle and the second vehicle is determined.

一种车辆控制方法，应用于第二车辆，所述方法包括：A vehicle control method, applied to a second vehicle, comprising:

在所述第二车辆与第一车辆匹配成功后，基于所述第一车辆的播放指令依照目标音频数据进行发声。After the second vehicle is successfully matched with the first vehicle, the target audio data is sounded based on the playback instruction of the first vehicle.

可选地，所述基于所述第一车辆的播放指令依照目标音频数据进行发声，包括：Optionally, the playing instruction based on the first vehicle is uttered according to target audio data, including:

基于所述第一车辆的播放指令依照目标音频数据与所述第一车辆进行联合发声。Based on the playback instruction of the first vehicle, a joint sound is produced with the first vehicle according to the target audio data.

可选地，所述基于所述第一车辆的播放指令依照目标音频数据进行发声，包括：Optionally, the playing instruction based on the first vehicle is uttered according to target audio data, including:

所述第二车辆接收所述第一车辆发送的目标音频数据；The second vehicle receives the target audio data sent by the first vehicle;

所述第二车辆生成所述目标音频数据的反馈信号，并将所述反馈信号发送至所述第一车辆；The second vehicle generates a feedback signal of the target audio data and sends the feedback signal to the first vehicle;

所述第二车辆接收所述第一车辆发送的播放指令，所述播放指令为所述第一车辆基于所述反馈信号生成；The second vehicle receives a playback instruction sent by the first vehicle, where the playback instruction is generated by the first vehicle based on the feedback signal;

所述第二车辆基于所述第一车辆的播放指令依照目标音频数据进行发声。The second vehicle makes a sound according to the target audio data based on the playback instruction of the first vehicle.

可选地，所述基于所述第一车辆的播放指令依照目标音频数据进行发声，包括：Optionally, the playing instruction based on the first vehicle is uttered according to target audio data, including:

所述第二车辆接收所述第一车辆的播放指令，并基于所述播放指令获取待播放的目标音频数据；The second vehicle receives the play instruction of the first vehicle, and acquires the target audio data to be played based on the play instruction;

所述第二车辆按照所述目标音频数据进行发声。The second vehicle makes a sound according to the target audio data.

一种车辆控制装置，所述装置用于执行如上所述的车辆控制方法。A vehicle control device, the device is used to execute the vehicle control method as described above.

一种电子设备，包括处理器、存储器及存储在所述存储器上并能够在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如上所述车辆控制方法。An electronic device comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the vehicle control method as described above when executed by the processor.

一种车辆，所述车辆执行如上所述车辆控制方法，或所述车辆包括如上所述的装置，或所述车辆包括如上所述的电子设备。A vehicle, wherein the vehicle executes the vehicle control method as described above, or the vehicle includes the device as described above, or the vehicle includes the electronic equipment as described above.

一种计算机可读存储介质，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现如上所述车辆控制方法。A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method described above is implemented.

本发明实施例具有以下优点：The embodiments of the present invention have the following advantages:

在本发明实施例中，在第一车辆与第二车辆匹配成功后，第一车辆控制第二车辆依照目标音频数据进行发声，实现了主车控制从车进行车辆发声，丰富车辆娱乐方式。In the embodiment of the present invention, after the first vehicle is successfully matched with the second vehicle, the first vehicle controls the second vehicle to make sounds according to the target audio data, thereby realizing the master vehicle controlling the slave vehicle to make vehicle sounds and enriching the vehicle entertainment mode.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

为了更清楚地说明本发明的技术方案，下面将对本发明的描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

图1是本发明一实施例提供的一种车辆控制方法的步骤流程图；FIG1 is a flow chart of the steps of a vehicle control method provided by an embodiment of the present invention;

图2是本发明一实施例提供的另一种车辆控制方法的步骤流程图；FIG2 is a flowchart of another vehicle control method provided by an embodiment of the present invention;

图3是本发明一实施例提供的另一种车辆控制方法的步骤流程图；FIG3 is a flowchart of another vehicle control method provided by an embodiment of the present invention;

图4是本发明一实施例提供的另一种车辆控制方法的步骤流程图；FIG4 is a flowchart of another vehicle control method provided by an embodiment of the present invention;

图5是本发明一实施例提供的另一种车辆控制方法的步骤流程图；FIG5 is a flowchart of another vehicle control method provided by an embodiment of the present invention;

图6a是本发明一实施例提供的一种整车电机发声控制结构；FIG6a is a whole vehicle motor sound control structure provided by an embodiment of the present invention;

图6b是本发明一实施例提供的一种单车辆的发声控制流程示意图；FIG6 b is a schematic diagram of a sound control process for a single vehicle provided by an embodiment of the present invention;

图6c是本发明一实施例提供的一种在驻车状态下的多车联动发声方法；FIG6c is a method for multi-vehicle linkage sound generation in a parking state provided by an embodiment of the present invention;

图6d是本发明一实施例提供的一种在驻车状态下的多车联动发声方法；FIG6d is a multi-vehicle linkage sounding method in a parking state provided by an embodiment of the present invention;

图6e是本发明一实施例提供的一种车辆工况示意图；FIG6e is a schematic diagram of a vehicle operating condition provided by an embodiment of the present invention;

图6f是本发明一实施例提供的中一种在行车状态下的多车联动发声方法的步骤流程图。FIG. 6f is a flowchart of a method for producing sound in coordination with multiple vehicles in a driving state provided by an embodiment of the present invention.

具体实施方式DETAILED DESCRIPTION

为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

参照图1，示出了本发明一实施例提供的一种车辆控制方法的步骤流程图，应用于第一车辆，即多车辆中的主车，具体可以包括如下步骤：1 , a flow chart of a vehicle control method provided by an embodiment of the present invention is shown, which is applied to a first vehicle, that is, a main vehicle in a plurality of vehicles, and may specifically include the following steps:

步骤S101，在第一车辆与第二车辆匹配成功后，控制第二车辆依照目标音频数据进行发声。Step S101, after the first vehicle and the second vehicle are successfully matched, the second vehicle is controlled to make a sound according to the target audio data.

其中，目标音频数据可以为第二车辆本地存储或网络接收的音频数据。本发明实施例中，第一车辆为主车，第二车辆为从车，在车辆发声控制过程中，主车数量为一个，从车数量可以为一个或多个。The target audio data may be audio data stored locally in the second vehicle or received over a network. In the embodiment of the present invention, the first vehicle is a master vehicle and the second vehicle is a slave vehicle. During the vehicle sound control process, there is one master vehicle and one or more slave vehicles.

在实际应用中，第一车辆可以与其周围环境中的车辆进行匹配，第一车辆周围环境中与第一车辆匹配成功的车辆为第二车辆，在第一车辆与第二车辆匹配成功的情况下，第一车辆可以控制第二车辆进行发声。In actual applications, the first vehicle can be matched with vehicles in its surrounding environment, and the vehicle in the surrounding environment of the first vehicle that successfully matches the first vehicle is the second vehicle. When the first vehicle and the second vehicle are successfully matched, the first vehicle can control the second vehicle to make a sound.

在本发明实施例中，第一车辆和第二车辆的发声方式可以包括电机发声，进而，第一车辆可以控制第二车辆依照目标音频数据进行电机发声。In the embodiment of the present invention, the sound generation mode of the first vehicle and the second vehicle may include motor generation, and then, the first vehicle may control the second vehicle to generate motor generation according to the target audio data.

在本发明一实施例中，确定第一车辆与第二车辆匹配成功的步骤，包括：获取第一车辆与周围环境中第二车辆之间的距离信息，第二车辆为第一车辆可匹配的车辆；当距离信息小于或等于预设距离时，生成车辆匹配请求，并将车辆匹配请求发送至第二车辆；在接收到第二车辆基于车辆匹配请求反馈的用于表示同意匹配的响应数据时，确定第二车辆与第一车辆匹配成功。In one embodiment of the present invention, the step of determining that the first vehicle and the second vehicle are successfully matched includes: obtaining distance information between the first vehicle and a 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; when receiving response data for indicating agreement to match fed back by the second vehicle based on the vehicle matching request, determining that the second vehicle and the first vehicle are successfully matched.

其中，本发明实施例中的预设距离可以根据实际场景设置，在发明实施例中对此不做过多限制。Among them, the preset distance in the embodiment of the present invention can be set according to the actual scene, and no excessive restrictions are made on this in the embodiment of the invention.

在实际应用中，用户可以通过移动终端向第一车辆发送匹配指令或用户直接在车辆的控制屏上进行操作，生成匹配指令。该匹配指令用于实现第一车辆与第二车辆之间的匹配，在匹配成功的情况下，第一车辆与第二车辆之间才能进行数据传输，进而实现车辆的发声控制。In actual applications, the user can send a matching instruction to the first vehicle through a mobile terminal or directly operate on the control screen of the vehicle to generate a matching instruction. The matching instruction is used to achieve matching between the first vehicle and the second vehicle. If the matching is successful, data can be transmitted between the first vehicle and the second vehicle, thereby achieving sound control of the vehicle.

在本发明实施例中，可以通过响应于第一车辆接收的匹配指令，启动第一车辆的用于搜索周围车辆的功能，确定第一车辆与第二车辆之间的距离信息。In the embodiment of the present invention, the distance information between the first vehicle and the second vehicle may be determined by starting a function of the first vehicle for searching surrounding vehicles in response to a matching instruction received by the first vehicle.

其中，第一车辆中用于搜索周围车辆的功能可以包括：无线蓝牙搜索功能或无线WIFI搜索功能。The function for searching surrounding vehicles in the first vehicle may include: a wireless Bluetooth search function or a wireless WIFI search function.

在本发明实施例中，可以在第一车辆与第二车辆匹配成功后，第一车辆控制第二车辆依照目标音频数据进行发声，实现了主车控制从车进行车辆发声，丰富车辆中的娱乐方式。In an embodiment of the present invention, after the first vehicle and the second vehicle are successfully matched, the first vehicle can control the second vehicle to make sounds according to the target audio data, thereby realizing the master vehicle controlling the slave vehicle to make vehicle sounds and enriching the entertainment methods in the vehicle.

参照图2，示出了本发明一实施例提供的一种车辆控制方法的步骤流程图，应用于第一车辆，即多车辆中的主车，具体可以包括如下步骤：2, a flow chart of a vehicle control method according to an embodiment of the present invention is shown, which is applied to a first vehicle, that is, a main vehicle in a plurality of vehicles, and may specifically include the following steps:

步骤S201，在第一车辆与第二车辆匹配成功后，控制第二车辆依照目标音频数据与第一车辆进行联合发声。Step S201, after the first vehicle and the second vehicle are successfully matched, the second vehicle is controlled to make a joint sound with the first vehicle according to the target audio data.

在实际应用中，在第一车辆与第二车辆匹配成功后，第一车辆和第二车辆可以进行联动发声，具体的，第二车辆可以依照其本地存储或接收的目标音频数据与第一车辆进行联合发声，第一车辆中进行发声的音频数据可以为本地存储或接收的音频数据，具体可以根据实际需求设置。In actual applications, after the first vehicle and the second vehicle are successfully matched, the first vehicle and the second vehicle can make joint sounds. Specifically, the second vehicle can make joint sounds with the first vehicle according to the target audio data stored or received locally, and the audio data sounded in the first vehicle can be audio data stored or received locally, which can be set according to actual needs.

在本发明一实施例中，第一车辆将目标音频数据发送至第二车辆，包括：第一车辆将第二车辆对应的目标音频数据发送至第二车辆；在接收到第二车辆在接收完目标音频数据后返回的第一反馈信号时，生成播放指令；将播放指令发送至第二车辆。In one embodiment of the present invention, a first vehicle sends target audio data to a second vehicle, comprising: the first vehicle sends the target audio data corresponding to the second vehicle to the second vehicle; upon receiving a first feedback signal returned by the second vehicle after receiving the target audio data, generating a play instruction; and sending the play instruction to the second vehicle.

其中，第一反馈信息用于告知第一车辆第二车辆已接收完目标音频数据。播放指令可以用于控制第二车辆播放目标音频数据的指令。The first feedback information is used to inform the first vehicle that the second vehicle has received the target audio data. The play instruction can be used to control the second vehicle to play the target audio data.

在本发明一实施例中，当存在多个第二车辆时，接收多个第二车辆在接收完目标音频数据后返回的第一反馈信号；在第一反馈信号的数量与第二车辆的数量一致时，生成播放指令。In one embodiment of the present invention, when there are multiple second vehicles, first feedback signals returned by the multiple second vehicles after receiving the target audio data are received; when the number of first feedback signals is consistent with the number of second vehicles, a play instruction is generated.

在实际应用中，当存在多个第二车辆时，第一车辆可以理想多个第二车辆分别发送对应的目标音频信息，第二车辆在接收完目标音频数据后，可以生成第一反馈信息，并将第一反馈信号发送至第一车辆，在第一车辆中可以设置统计接收到第一反馈信息数量，并判断在第一反馈信号的数量与第二车辆的数量是否一致，当第一反馈信号的数量与第二车辆的数量一致时，则生成播放指令，播放指令可以用于控制多个第二车辆播放目标音频数据。当第一反馈信号的数量与第二车辆的数量不一致时，则可以生成告警信息，以通知第一车辆当前第一反馈信号的数量与第二车辆的数量不一致。In actual applications, when there are multiple second vehicles, the first vehicle can send corresponding target audio information to the multiple second vehicles respectively. After receiving the target audio data, the second vehicle can generate first feedback information and send the first feedback signal to the first vehicle. In the first vehicle, statistics can be set to count the number of first feedback information received, and determine whether the number of first feedback signals is consistent with the number of second vehicles. When the number of first feedback signals is consistent with the number of second vehicles, a play instruction is generated, and the play instruction can be used to control multiple second vehicles to play the target audio data. When the number of first feedback signals is inconsistent with the number of second vehicles, an alarm message can be generated to notify the first vehicle that the current number of first feedback signals is inconsistent with the number of second vehicles.

其中，将播放指令发送至第二车辆，包括：根据第一反馈信号的第一时间戳确定每个第二车辆的第一时延信息；依照第一时延信息确定每个第二车辆对应的第一指令发送时间；按照第一指令发送时间将播放指令分别发送至每个第二车辆。Among them, sending the playback instruction to the second vehicle includes: determining the first delay information of each second vehicle according to the first timestamp of the first feedback signal; determining the first instruction sending time corresponding to each second vehicle according to the first delay information; and sending the playback instruction to each second vehicle respectively according to the first instruction sending time.

其中，第一时间戳可以为第二车辆在接收到目标音频数据的时间，可以反映不同从车（第二车辆）的时延。具体的，第二车辆可以在接收到第一车辆的目标音频数据时，获取第二车辆当前的时间作为第一时间戳，进而在生成第一反馈信息时，可以在第一反馈信息中添加第一时间戳，从而使第二车辆生成的第一反馈信息中携带第一时间戳。The first timestamp may be the time when the second vehicle receives the target audio data, and may reflect the delay of different slave vehicles (second vehicles). Specifically, when the second vehicle receives the target audio data of the first vehicle, it may obtain the current time of the second vehicle as the first timestamp, and then when generating the first feedback information, it may add the first timestamp to the first feedback information, so that the first feedback information generated by the second vehicle carries the first timestamp.

第一车辆可以将多个第二车辆对应的目标音频数据分别发送至多个第二车辆，进而在每个第二车辆完成目标音频数据接收后，可以生成第一反馈信号，该第一反馈信号中包含第一时间戳，将多个第二车辆将各自携带第一时间戳的第一反馈信号返回第一车辆，第一车辆可以按照第一时间戳确定每个第二车辆的时延不一致性，并标定并计算得到的各第二车辆的第一时延信息。具体的，在第一车辆发送目标音频数据时可以记录发送时间，第一车辆还可以解析接收的第一反馈信息，获取第一时间戳，从而，根据发送时间和第一时间戳可以确定每个目标音频数据的传输时长，进而依照传输时长可以确定每个第二车辆在实际数据传输过程中的第一时延信息。The first vehicle can send the target audio data corresponding to the multiple second vehicles to the multiple second vehicles respectively, and then after each second vehicle completes the reception of the target audio data, a first feedback signal can be generated, and the first feedback signal includes a first timestamp, and the multiple second vehicles return the first feedback signals carrying the first timestamp to the first vehicle, and the first vehicle can determine the delay inconsistency of each second vehicle according to the first timestamp, and calibrate and calculate the first delay information of each second vehicle. Specifically, when the first vehicle sends the target audio data, the sending time can be recorded, and the first vehicle can also parse the received first feedback information to obtain the first timestamp, so that the transmission time of each target audio data can be determined according to the sending time and the first timestamp, and then the first delay information of each second vehicle in the actual data transmission process can be determined according to the transmission time.

进而依照第一时延信息确定每个第二车辆对应的第一指令发送时间，该第一指令发送时间可以使各第二车辆可以在同一时间接收到第一车辆发送的播放指令，以便于控制多个第二车辆按照目标音频数据播放音频。Then, the first instruction sending time corresponding to each second vehicle is determined according to the first delay information. The first instruction sending time enables each second vehicle to receive the playback instruction sent by the first vehicle at the same time, so as to control multiple second vehicles to play audio according to the target audio data.

在本发明一实施例中，第一车辆可以将目标音频数据分别发送至第二车辆，包括：第一车辆可以将第二车辆对应的目标音频数据发送至对应的第二车辆；在接收到第二车辆在已接收数据量大于预设数据量时发送的第二反馈信号时，生成播放指令；将播放指令发送至第二车辆。In one embodiment of the present invention, the first vehicle can send target audio data to the second vehicle respectively, including: the first vehicle can send the target audio data corresponding to the second vehicle to the corresponding second vehicle; when receiving a second feedback signal sent by the second vehicle when the received data amount is greater than the preset data amount, generating a play instruction; sending the play instruction to the second vehicle.

在实际应用中，第一车辆可以将第二车辆需要播放的目标音频数据发送至第二车辆中，第二车辆可以在接收目标音频数据，并确定目标音频数据的已接收数据量，进而可以在已接收数据量大于预设数据量时，生成第二反馈信息，进而第二车辆可以将第二反馈信息发送至第一车辆，第一车辆接收到第二反馈信息后，可以生成播放指令，播放指令可以用于控制多个第二车辆播放目标音频数据。In actual applications, the first vehicle can send the target audio data that the second vehicle needs to play to the second vehicle. The second vehicle can receive the target audio data and determine the amount of received data of the target audio data. When the amount of received data is greater than the preset data amount, it can generate second feedback information. The second vehicle can then send the second feedback information to the first vehicle. After the first vehicle receives the second feedback information, it can generate a play instruction, and the play instruction can be used to control multiple second vehicles to play the target audio data.

具体的，当存在多个第二车辆时，接收多个第二车辆在已接收数据量大于预设数据量时发送的第二反馈信号；在第二反馈信号的数量与第二车辆的数量一致时，生成播放指令。Specifically, when there are multiple second vehicles, second feedback signals sent by multiple second vehicles when the amount of received data is greater than a preset amount of data are received; when the number of second feedback signals is consistent with the number of second vehicles, a play instruction is generated.

在实际应用中，当第二反馈信号的数量与第二车辆的数量一致时，则生成播放指令，当第二反馈信号的数量与第二车辆的数量不一致时，则可以生成告警信息，以通知第一车辆当前第二反馈信号的数量与第二车辆的数量不一致。In actual application, when the number of second feedback signals is consistent with the number of second vehicles, a play instruction is generated; when the number of second feedback signals is inconsistent with the number of second vehicles, an alarm message can be generated to notify the first vehicle that the current number of second feedback signals is inconsistent with the number of second vehicles.

其中，将播放指令发送至第二车辆，包括：根据第二反馈信号的第二时间戳确定每个第二车辆的第二时延信息；依照第二时延信息确定每个第二车辆对应的第二指令发送时间；按照第二指令发送时间将播放指令分别发送至每个第二车辆。Among them, sending the playback instruction to the second vehicle includes: determining the second 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 delay information; and sending the playback instruction to each second vehicle respectively according to the second instruction sending time.

在本发明一实施例中，第一车辆可以将播放指令发送至第二车辆，具体过程为：将携带预设播放时间的播放指令发送至第二车辆，以控制第二车辆在当前时间为预设播放时间时进行发声。In one embodiment of the present invention, the first vehicle can send a play instruction to the second vehicle. The specific process is: sending a play instruction carrying a preset play time to the second vehicle to control the second vehicle to make a sound when the current time is the preset play time.

在本发明一实施例，第一车辆将目标音频数据发送至第二车辆，以使第二车辆依照目标音频数据与第一车辆进行联合发声，包括如下过程：In one embodiment of the present invention, a first vehicle sends target audio data to a second vehicle so that the second vehicle makes a joint sound with the first vehicle according to the target audio data, including the following process:

响应于第一车辆接收的音频播放指令，获取用于控制第二车辆进行发声的初始音频数据；基于初始音频数据生成第一车辆对应的第一音频数据，以及基于初始音频数据生成第二车辆对应的目标音频数据；将目标音频数据发送至第二车辆，以使第一车辆依照第一音频数据，第二车辆依照目标音频数据进行联合发声。In response to an audio playback instruction received by the first vehicle, initial audio data for controlling the second vehicle to make a 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 makes a joint sound according to the first audio data and the second vehicle makes a joint sound according to the target audio data.

其中，音频播放指令可以为用户执行音频播放操作时生成。初始音频数据为目标音频数据以及第一音频数据对应的原始音频数据，在本发明实施例中通过对初始音频数据进行音频处理得到目标音频数据和第一音频数据，实现第一车辆与第二车辆进行联动发声控制。The audio playback instruction may be generated when the user performs an audio playback operation. The initial audio data is the target audio data and the original audio data corresponding to the first audio data. In the embodiment of the present invention, 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 linkage sound control between the first vehicle and the second vehicle.

在本发明一实施例中，基于初始音频数据生成第一车辆对应的第一音频数据，以及基于初始音频数据生成第二车辆对应的目标音频数据的具体过程为：确定第二车辆相对于第一车辆的第一位置信息；基于位置信息生成第一车辆与第二车辆的第一联动发声策略；根据第一联动发声策略对初始音频数据进行音频处理，生成第一车辆对应的第一音频数据和第二车辆对应的目标音频数据。其中，第一位置信息包括方向信息和/或距离信息。In one embodiment of the present invention, the specific 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 is as follows: determining the first position information of the second vehicle relative to the first vehicle; generating the first linkage sounding strategy of the first vehicle and the second vehicle based on the position information; performing audio processing on the initial audio data according to the first linkage sounding 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.

其中，第一联动发声策略为实际应用中，第一车辆与第二车辆具体如何发声的策略。第一联动发声策略可以包括第一车辆与第二车辆用于发声的音频信息、播放顺序等。The first linkage sounding strategy is a strategy for how the first vehicle and the second vehicle specifically sound in actual applications. The first linkage sounding strategy may include audio information and a play order for the first vehicle and the second vehicle to sound.

例如，用户端软件根据整车电机的分布情况，对音频数据进行处理，将缓存的音频信息分解为多个部分，如分为左右声道，分为高音低音，分为不同乐器声，分为人声与伴奏，或者将音频按时间段让不同电机不同时刻发声，或者形成立体环绕声等，也可以令每个电机获取相同的音频信息，让每个电机发出相同的声音。用户端与MCU进行数据通讯，将对应音频信息由CAN协议传入对应前驱和后驱的电机控制器内。For example, the user-side software processes the audio data according to the distribution of the motors in the vehicle, and decomposes the cached audio information into multiple parts, such as left and right channels, high and low pitches, different musical instruments, human voices and accompaniment, or makes different motors sound at different times according to time periods, or forms stereo surround sound, etc. It can also make each motor obtain the same audio information and make each motor emit the same sound. The user-side communicates data with the MCU, and transmits the corresponding audio information to the corresponding front-wheel drive and rear-wheel drive motor controllers through the CAN protocol.

在本发明一实施例中，可以将初始音频数据作为第一车辆对应的第一音频数据和第二车辆对应的目标音频数据。In an embodiment of the present invention, the initial audio data may be used as the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle.

在本发明另一实施例中，还可以根据第一联动发声策略将初始音频数据按照预设的乐器类型生成第一车辆对应的第一音频数据和第二车辆对应的目标音频数据。In another embodiment of the present invention, the initial audio data may be converted into first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle according to a preset instrument type according to the first linkage sounding strategy.

例如，基于初始音频数据的音调、音符将其转换为预设乐器类型的音频数据。For example, the original audio data is converted into audio data of a preset instrument type based on its pitch and note.

在本发明一实施例中，根据第一联动发声策略将初始音频数据按照预设的乐器类型进行音频转换后，对转换后的初始音频数据进行音频拆分，生成第一车辆对应的第一音频数据和第二车辆对应的目标音频数据。In one embodiment of the present invention, after the initial audio data is converted according to a preset instrument type according to the first linkage sounding strategy, the converted initial audio data is audio split to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

在实际应用中，可以先对初始音频数据进行乐器类型转化，再将转换后的音频进行拆分，从而得到第一车辆对应的第一音频数据和第二车辆对应的目标音频数据。In practical applications, the initial audio data may be first converted into instrument types, and then the converted audio may be split to obtain first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

具体的，第一音频数据和目标音频数据可以为初始音频数据、转换乐器类型后的音频数据、拆分后的音频数据中的任一项或多项组合。Specifically, the first audio data and the target audio data may be any one or a combination of multiple items of the original audio data, the audio data after the instrument type is converted, and the audio data after being split.

在本发明一实施例中，根据第一联动发声策略对初始音频数据进行音频处理，生成第一车辆对应的第一音频数据和第二车辆对应的目标音频数据，包括：根据第一联动发声策略对初始音频数据进行拆分，得到第一车辆对应的第一音频数据和第二车辆对应的目标音频数据。In one embodiment of the present invention, audio processing is performed on initial audio data according to a first linkage sound strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle, including: splitting the initial audio data according to the first linkage sound strategy to obtain first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

在实际应用中，可以对初始音频数据进行拆分，得到第一车辆和第二车辆在联合发声过程中的音频数据。In practical applications, the initial audio data may be split to obtain audio data of the first vehicle and the second vehicle during the joint sound emission process.

在本发明一实施例中，根据第一联动发声策略对初始音频数据进行音频处理，生成第一车辆对应的第一音频数据和第二车辆对应的目标音频数据，包括：根据第一联动发声策略对初始音频数据进行拆分，得到拆分音频数据；根据第一联动发声策略确定拆分音频数据和初始音频数据与第一车辆以及第二车辆的对应关系；将拆分音频数据和/或初始音频数据中与第一车辆存在对应关系的音频数据作为第一车辆的第一音频数据；将拆分音频数据和/或初始音频数据中与第二车辆存在对应关系的音频数据作为第二车辆的目标音频数据。In one embodiment of the present invention, audio processing is performed on initial audio data according to a first linkage voice strategy to generate first audio data corresponding to a first vehicle and target audio data corresponding to a second vehicle, including: splitting the initial audio data according to the first linkage voice 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 according to the first linkage voice strategy; using the audio data in the split audio data and/or the initial audio data that has a corresponding relationship with the first vehicle as the first audio data of the first vehicle; using the audio data in the split audio data and/or the initial audio data that has a corresponding relationship with the second vehicle as the target audio data of the second vehicle.

在实际应用中，可以针对初始音频数据进行拆分，得到拆分音频数据，拆分方式可以根据实际场景设置，在本发明实施例中对此不做过多限制，In practical applications, the initial audio data may be split to obtain split audio data. The splitting method may be set according to the actual scenario, and no excessive restrictions are imposed on this in the embodiments of the present invention.

在本发明一实施例中，根据第一联动发声策略对初始音频数据进行拆分，包括如下类型中任一项：In an embodiment of the present invention, the initial audio data is split according to the first linkage sounding strategy, including any one of the following types:

声道信息拆分：根据第一联动发声策略将初始音频数据按照声道信息进行拆分。其中，声道信息可以包括左声道、右声道、双声道。Channel information splitting: splitting the initial audio data according to the channel information according to the first linkage sound emission strategy, wherein the channel information may include left channel, right channel, and dual channel.

音符信息拆分：根据第一联动发声策略将初始音频数据按照音符信息进行拆分。其中，音频数据为音乐数据，音乐数据包括多个音符信息。Note information splitting: splitting the initial audio data according to the note information according to the first linkage sounding strategy, wherein the audio data is music data, and the music data includes a plurality of note information.

在本发明一实施例中，目标音频数据还可以为音幅大小不同（如声音强度高或低）的音频数据。In an embodiment of the present invention, the target audio data may also be audio data with different sound amplitudes (such as high or low sound intensity).

在本发明一实施例中，第一车辆将第二车辆的目标音频数据发送至第二车辆，包括：当第一车辆处于行车状态时，将目标音频数据发送至云端服务器，以由云端服务器转发至第二车辆。In one embodiment of the present invention, 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, sending the target audio data to a cloud server, so that the cloud server forwards it to the second vehicle.

在实际应用中，车辆的工况状态可以包括驻车工况和行车工况，在行车工况下，为了保证连接状态的稳定，采取云端同步的方式实现车辆之间的连接和数据的传输。In practical applications, the vehicle's operating status may include parking conditions and driving conditions. Under driving conditions, in order to ensure the stability of the connection status, cloud synchronization is adopted to achieve connection between vehicles and data transmission.

当第一车辆处于行车状态时，第一车辆可以将目标音频数据发送至云端服务器，进而云端服务器可以将目标音频数据转发至第二车辆。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.

在本发明实施例中，可以在第一车辆与第二车辆匹配成功后，第一车辆控制第二车辆依照目标音频数据与第一车辆进行联合发声，实现了从车与主车进行联合发声，丰富车辆中的娱乐方式。In an embodiment of the present invention, after the first vehicle and the second vehicle are successfully matched, the first vehicle can control the second vehicle to make joint sound with the first vehicle according to the target audio data, thereby realizing the joint sound of the slave vehicle and the host vehicle and enriching the entertainment methods in the vehicle.

参照图3，示出了本发明一实施例提供的一种车辆控制方法的步骤流程图，应用于第一车辆，即多车辆中的主车，具体可以包括如下步骤：3, a flow chart of a vehicle control method provided by an embodiment of the present invention is shown, which is applied to a first vehicle, that is, a main vehicle in a plurality of vehicles, and specifically may include the following steps:

步骤S301，在第一车辆与第二车辆匹配成功后，第一车辆将目标音频数据发送至第二车辆，以使第二车辆依照目标音频数据进行发声。Step S301, after the first vehicle and the second vehicle are successfully matched, the first vehicle sends target audio data to the second vehicle, so that the second vehicle makes a sound according to the target audio data.

在本发明实施例中，在第一车辆与第二车辆匹配成功后，第一车辆可以将目标音频数据发送至第二车辆，进而实现控制第二车辆按照目标音频数据进行发声。其中，第二车辆的数据可以为一个或多个。In an embodiment of the present invention, after the first vehicle and the second vehicle are successfully matched, the first vehicle can send the target audio data to the second vehicle, thereby controlling the second vehicle to make a sound according to the target audio data. The data of the second vehicle can be one or more.

其中，步骤S301具体包括如下过程：响应于第一车辆接收的音频播放指令，获取用于控制第二车辆进行发声的初始音频数据；基于初始音频数据生成第二车辆对应的目标音频数据；将目标音频数据发送至第二车辆，以使第二车辆依照目标音频数据进行发声。Among them, step S301 specifically includes the following process: in response to the audio playback instruction received by the first vehicle, obtaining initial audio data for controlling the second vehicle to make sound; generating 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 makes sound according to the target audio data.

在本发明一实施例中，当存在多个第二车辆时，可以确定每个第二车辆的第二位置信息，进而可以基于位置信息生成多个第二车辆的第二联动发声策略；根据第二联动发声策略对初始音频数据进行音频处理，生成第二车辆对应的目标音频数据。其中，第二位置信息包括方向信息和/或距离信息。In one embodiment of the present invention, when there are multiple second vehicles, the second position information of each second vehicle can be determined, and then the second linkage sounding strategies of the multiple second vehicles can be generated based on the position information; the initial audio data is audio-processed according to the second linkage sounding strategy to generate the target audio data corresponding to the second vehicle. The second position information includes direction information and/or distance information.

其中，第二联动发声策略为实际应用中，第二车辆具体如何发声的策略。第二联动发声策略可以包括第二车辆用于发声的音频信息、播放顺序等。The second linkage sounding strategy is a strategy for how the second vehicle specifically sounds in actual applications. The second linkage sounding strategy may include audio information, a play order, etc., used by the second vehicle for making sounds.

在本发明一实施例中，可以将初始音频数据作为第二车辆对应的目标音频数据。In an embodiment of the present invention, the initial audio data may be used as the target audio data corresponding to the second vehicle.

在本发明另一实施例中，根据第二联动发声策略将初始音频数据按照预设的乐器类型生成第二车辆对应的目标音频数据。In another embodiment of the present invention, the initial audio data is converted into target audio data corresponding to the second vehicle according to a preset instrument type according to the second linkage sound generation strategy.

在一示例中，根据第二联动发声策略将初始音频数据按照预设的乐器类型进行音频转换后，对转换后的初始音频数据进行音频拆分。In one example, after the initial audio data is converted into audio according to a preset instrument type according to the second linkage sounding strategy, the converted initial audio data is audio-split.

在本发明实施例中可以控制第二车辆可以播放拆分的音频，具体的，音频拆分策略可以包括：In the embodiment of the present invention, the second vehicle can be controlled to play the split audio. Specifically, the audio splitting strategy may include:

（一）根据第二联动发声策略将初始音频数据按照声道信息进行拆分。(i) Splitting the initial audio data according to the channel information according to the second linkage sound generation strategy.

其中，声道信息可以包括左声道、右声道、双声道。The channel information may include a left channel, a right channel, and dual channels.

（二）根据第二联动发声策略将初始音频数据按照音符信息进行拆分。(ii) splitting the initial audio data according to the note information according to the second linkage sounding strategy.

其中，音频数据为音乐数据，音乐数据包括多个音符信息。The audio data is music data, and the music data includes a plurality of note information.

在本发明一实施例中，响应于第一车辆接收的音频播放指令，获取用于第一车辆的初始音频数据，包括：响应于第一车辆接收的音频播放指令，判断音频播放指令对应的初始音频数据是否在第一车辆的存储器中；当初始音频数据在第一车辆的存储器中时，从存储器中获取初始音频数据；当初始音频数据不在第一车辆的存储器中，通过预设的网络接口获取初始音频数据。In one embodiment of the present invention, in response to an audio playback instruction received by the first vehicle, initial audio data for the first vehicle is obtained, including: in response to the audio playback instruction received by the first vehicle, determining whether the initial audio data corresponding to the audio playback 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; when the initial audio data is not in the memory of the first vehicle, obtaining the initial audio data through a preset network interface.

在实际应用中，用户端发出播放音乐的音频播放指令时，可以确定当前的应用场景以及音频播放指令对应的音频名称搜索信息，根据应用场景和/或音频名称搜索信息判断音频播放指令对应的初始音频数据是否在第一车辆的存储器中。In actual applications, when the user terminal issues an audio playback instruction to play music, it can determine the current application scenario and the audio name search information corresponding to the audio playback instruction, and determine whether the initial audio data corresponding to the audio playback instruction is in the memory of the first vehicle based on the application scenario and/or the audio name search information.

在一示例中，通过预设的网络接口获取初始音频数据，包括：通过预设的网络接口从第一车辆中携带音频数据的应用程序获取初始音频数据；其中，携带音频数据的应用程序可以为音乐播放应用程序。In one example, obtaining initial audio data through a preset network interface includes: obtaining initial audio data from an application carrying audio data in a first vehicle through a preset network interface; wherein the application carrying audio data may be a music playing application.

在另一示例中，通过预设的网络接口从目标移动终端发送的音频数据中获取初始音频数据。具体的，目标移动终端可以通过蓝牙传输方式向扯断发送音频数据，进而从这类音频数据中获取初始音频数据。In another example, the initial audio data is obtained from the audio data sent by the target mobile terminal through a preset network interface. Specifically, the target mobile terminal can send audio data to the device through Bluetooth transmission, and then obtain the initial audio data from such audio data.

本发明实施例通过预设网络接口方式获取初始音频数据，可以使第一车辆可以在车外不搭载额外的扬声器情况下，实现音频播放的功能，同时也可以提升在车外的娱乐属性，加强了人车交互，提高了用户体验。The embodiment of the present invention obtains initial audio data through a preset network interface, so that the first vehicle can realize the audio playback function without installing additional speakers outside the vehicle, and can also enhance the entertainment attributes outside the vehicle, strengthen the interaction between people and vehicles, and improve the user experience.

在本发明实施例中，在第一车辆与第二车辆匹配成功后，第一车辆将目标音频数据发送至第二车辆，以使第二车辆依照目标音频数据进行发声，实现了主车控制从车进行车辆发声，丰富车辆中的娱乐方式。In an embodiment of the present invention, 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 sound according to the target audio data, thereby realizing the main vehicle controlling the slave vehicle to make vehicle sounds and enriching the entertainment methods in the vehicle.

参照图4，示出了本发明一实施例提供的一种车辆控制方法的步骤流程图，应用于第一车辆，即多车辆中的主车，具体可以包括如下步骤：4, a flowchart of a vehicle control method provided by an embodiment of the present invention is shown, which is applied to a first vehicle, that is, a main vehicle in a plurality of vehicles, and specifically may include the following steps:

步骤S401，在第一车辆与第二车辆匹配成功后，第一车辆向第二车辆发送播放指令，以控制第二车辆基于播放指令获取待播放的目标音频数据，并依照目标音频数据进行发声。Step S401, after the first vehicle and the second vehicle are successfully matched, the first vehicle sends a play instruction to the second vehicle to control the second vehicle to obtain target audio data to be played based on the play instruction and make sound according to the target audio data.

在实际应用中，在第一车辆与第二车辆匹配成功后，第一车辆可以向第二车辆发送播放指令，第二车辆在接收到播放指令后，按照播放指令从本地获取待播放目标音频数据，进而依照目标音频数据进行发声。In actual applications, after the first vehicle and the second vehicle are successfully matched, the first vehicle can send a play instruction to the second vehicle. After receiving the play instruction, the second vehicle obtains the target audio data to be played locally according to the play instruction, and then makes sound according to the target audio data.

其中，第二车辆的数量可以为一个或多个。The number of the second vehicles may be one or more.

在一示例中，播放指令中携带预设播放时间，该预设播放时间可以控制第二车辆在当前时间为预设播放时间时进行发声。In one example, the play instruction carries a preset play time, and the preset play time can control the second vehicle to make a sound when the current time is the preset play time.

在本发明实施例中，可以实现第一车辆控制第二车辆发声，实现了主车控制从车进行车辆发声，丰富车辆娱乐方式。In the embodiment of the present invention, the first vehicle can control the second vehicle to make sounds, and the master vehicle can control the slave vehicle to make sounds, thereby enriching the vehicle entertainment mode.

参照图5，示出了本发明一实施例提供的一种车辆控制方法的步骤流程图，应用于第二车辆，即多车辆中的从车，具体可以包括如下步骤：5 , a flowchart of a vehicle control method provided by an embodiment of the present invention is shown, which is applied to a second vehicle, that is, a slave vehicle in a multi-vehicle system, and may specifically include the following steps:

步骤S501，在第二车辆与第一车辆匹配成功后，基于第一车辆的播放指令依照目标音频数据进行发声。Step S501, after the second vehicle is successfully matched with the first vehicle, the target audio data is sounded based on the play instruction of the first vehicle.

其中，目标音频数据可以为第二车辆本地存储或网络接收的音频数据。The target audio data may be audio data stored locally in the second vehicle or received over a network.

在实际应用中，当第一车辆起匹配，第二车辆响应匹配，第二车辆与第一车辆匹配成功，进而第一车辆可以通过播放指令控制第二车辆进行发声。In actual applications, when the first vehicle starts matching, the second vehicle responds to matching, and the second vehicle successfully matches the first vehicle, the first vehicle can then control the second vehicle to make a sound by playing instructions.

在本发明一实施例中，基于第一车辆的播放指令依照目标音频数据进行发声，包括：第二车辆接收第一车辆发送的目标音频数据；第二车辆生成目标音频数据的反馈信号，并将反馈信号发送至第一车辆；第二车辆接收第一车辆发送的播放指令，播放指令为第一车辆基于反馈信号生成；第二车辆基于第一车辆的播放指令依照目标音频数据进行发声。In one embodiment of the present invention, sound is made according to target audio data based on the playback instruction of the first vehicle, including: the second vehicle receives the 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 the playback instruction sent by the first vehicle, and the playback instruction is generated by the first vehicle based on the feedback signal; the second vehicle makes sound according to the target audio data based on the playback instruction of the first vehicle.

在实际应用中，第一车辆向第二车辆发送目标音频数据，第二车辆在接收到音频数据后，可以生成用于通知第一车辆第二车辆已收到目标音频数据的反馈信息，进而第一车辆在接收到反馈信息后，确认第二车辆已接收到目标音频数据，从而第一车辆可以生成播放指令，并将播放指令发送至第二车辆，第二车辆则依照播放指令进行发声。In actual applications, the first vehicle sends target audio data to the second vehicle. After receiving the audio data, 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 feedback information, the first vehicle confirms that the second vehicle has received the target audio data, so that the first vehicle can generate a play instruction and send the play instruction to the second vehicle, and the second vehicle makes a sound according to the play instruction.

其中，第二车辆中可以设置有一个或多个电机，一个或多个电机可以用于实现车辆的电机发声。The second vehicle may be provided with one or more motors, and the one or more motors may be used to realize motor sound generation of the vehicle.

在本发明一实施例中，所述基于所述第一车辆的播放指令依照目标音频数据进行发声，包括：基于所述第一车辆的播放指令依照目标音频数据与所述第一车辆进行联合发声。In one embodiment of the present invention, the playing instruction based on the first vehicle is pronounced according to target audio data, including: the playing instruction based on the first vehicle is pronounced jointly with the first vehicle according to the target audio data.

在实际应用中，第一车辆可以向第二车辆发送播放指令，进而第二车辆在接收到播放指令后，依照播放指令进行第一车辆与第二车辆的联动发声，其中，目标音频数据可以为第二车辆本地存储的音频数据，也可以为第一车辆发送至第二车辆的音频数据。In actual applications, the first vehicle can send a play instruction to the second vehicle, and after receiving the play instruction, the second vehicle performs linked sound production with the first vehicle in accordance with the play instruction, wherein the target audio data can be audio data stored locally in the second vehicle, or can be audio data sent from the first vehicle to the second vehicle.

在一示例中，当第二车辆全部接收目标音频数据或已接收数据量大于预设数据量时，生成反馈信息。In one example, when the second vehicle receives all the target audio data or the amount of received data is greater than a preset amount of data, feedback information is generated.

在一示例中，当存在多个第二车辆时，第一车辆在确认接收的反馈信息数量与第二车辆的数量相同时，生成播放指令，该播放指令可以为用于控制第二车辆播放目标音频数据的播放指令。In one example, when there are multiple second vehicles, the first vehicle generates a play instruction upon confirming that the number of received feedback information is the same as the number of second vehicles. The play instruction may be a play instruction for controlling the second vehicles to play the target audio data.

在本发明另一实施例中，基于第一车辆的播放指令依照目标音频数据进行发声，包括：第二车辆接收第一车辆的播放指令，并基于播放指令获取待播放的目标音频数据；第二车辆按照目标音频数据进行发声。In another embodiment of the present invention, making sound according to target audio data based on the playback instruction of the first vehicle includes: the second vehicle receives the playback instruction of the first vehicle, and obtains the target audio data to be played based on the playback instruction; the second vehicle makes sound according to the target audio data.

参照图6a所示，为本发明实施例中一种整车电机发声控制结构，包括车载多媒体系统、定位系统以及动力域系统，车声控制器。6a shows a whole vehicle motor sound control structure according to an embodiment of the present invention, including an on-board multimedia system, a positioning system, a power domain system, and a vehicle sound controller.

车载多媒体系统包含了主副驾及后座的车机、车载触摸屏等，并配置有用户端控制模块，用户通过该模块控制电机音频的播放以及匹配车辆，下发操作指令；网络接口包含WLAN、蓝牙、4/5G等，通过网络接口实现多车的互联，音乐在线传输，音频的同步，同时可通过蓝牙与手机互联，用户可通过手机端应用控制或传输音频；数据处理模块对原始音频进行解析处理，如将音频分为左右声道，分为低中高音，分离人声和伴奏，分离不同乐器等，并转换为令电机能够播放音乐的幅值信息和频率信息；存储器可以为FLASH、RAM、ROM等，可以缓存在线解析的音频信息，或者将音频信息存储到存储器内。The in-vehicle multimedia system includes the driver's, co-driver's and rear seat's computer, in-vehicle touch screen, etc., and is equipped with a user-side control module, through which the user controls the motor audio playback and matches the vehicle, and issues operating instructions; the network interface includes WLAN, Bluetooth, 4/5G, etc., through which multiple vehicles can be interconnected, music can be transmitted online, and audio can be synchronized. At the same time, it can be interconnected with mobile phones via Bluetooth, and users can control or transmit audio through mobile phone applications; the data processing module parses and processes the original audio, such as dividing the audio into left and right channels, low, medium and high pitches, separating vocals and accompaniment, separating different instruments, etc., and converts it into amplitude information and frequency information that enables the motor to play music; the memory can be FLASH, RAM, ROM, etc., which can cache the audio information parsed online, or store the audio information in the memory.

定位系统用于定位主车与其他车辆之间的距离，便于采取不同的连接措施。定位系统包含导航定位、激光雷达、摄像头等，首先通过导航搜索定位附近车辆，并判断各车之间的大致距离，然后通过激光雷达、摄像头等识别车辆，更精准定位。此外，也可以直接通过蓝牙、WLAN直接搜索附近可匹配车辆，在车辆距离较近时，采用WLAN互联的方式实现车与车之间的匹配连接以及信号传输，在车辆距离相对较远，或者WLAN及蓝牙信号较弱时，采取预下载且云端同步的方式，使车辆处于同一局域网下，保证音乐的同步性。The positioning system is used to locate the distance between the main vehicle and other vehicles, so as to facilitate different connection measures. The positioning system includes navigation positioning, laser radar, camera, etc. First, the nearby vehicles are located through navigation search and the approximate distance between each vehicle is determined. Then the vehicle is identified through laser radar, camera, etc. for more accurate positioning. In addition, it is also possible to directly search for nearby matching vehicles through Bluetooth and WLAN. When the distance between vehicles is close, WLAN interconnection is used to achieve matching connection and signal transmission between vehicles. When the distance between vehicles is relatively far, or the WLAN and Bluetooth signals are weak, pre-download and cloud synchronization are adopted to put the vehicles in the same local area network to ensure the synchronization of music.

发声对象为驱动电机，对于电动汽车，按动力可分为前驱、后驱和四驱结构，按电机数量可分为单电机、双电机、三电机、四电机结构，并可按照驱动电机类型分为永磁同步电机、异步电机、励磁电机等。车载多媒体系统和动力域之间通过总线连接，MCU通过CAN通信协议获取播放指令和音频信息，并按照整车电机的分布分配前驱电机和后驱电机需要播放的完整音频信息或部分信息，根据音频的频率、幅值等信息控制逆变器产生占空比和频率可调的PWM波，并转化为三相电机定子绕组上对应通入的三相电流，使前驱电机和后驱电机产生目标音频的声音，结合不同的发声策略，让电机单独发声，或者多个电机组合发出立体声。The object of sound generation is the drive motor. For electric vehicles, they can be divided into front-wheel drive, rear-wheel drive and four-wheel drive structures according to the power, single-motor, dual-motor, three-motor and four-motor structures according to the number of motors, and permanent magnet synchronous motor, asynchronous motor, excitation motor, etc. according to the type of drive motor. The on-board multimedia system and the power domain are connected through a bus. The MCU obtains the playback instructions and audio information through the CAN communication protocol, and distributes the complete audio information or partial information that the front-wheel drive motor and the rear-wheel drive motor need to play according to the distribution of the motors in the whole vehicle. According to the frequency, amplitude and other information of the audio, the inverter is controlled to generate a PWM wave with adjustable duty cycle and frequency, and converted into the corresponding three-phase current on the stator winding of the three-phase motor, so that the front-wheel drive motor and the rear-wheel drive motor produce the sound of the target audio. Combined with different sound generation strategies, the motor can generate sound alone, or multiple motors can be combined to generate stereo sound.

此外，电驱发声系统可与车上搭载的其他系统结合，如氛围灯系统、车外灯光系统等，实现声与光的律动，灯光控制器预设了不同的应用场景，通过音乐节奏及音乐幅值信息获得不同的响应，从而形成柔和、轻快、活力、动感等不同的节拍，带来更沉浸式的氛围体验。在迎宾模式下，当识别到车主靠近或接收到解锁信号时，可由电驱系统产生迎宾音乐，灯光系统发出对应预设好的迎宾灯光，车外搭载的LED像素屏配合显示迎宾图像；在娱乐模式下，由电驱发声与灯光系统、智能语音系统、像素屏结合，在语音对话的同时展示表情图像，极大增强人车交互时的娱乐性和沉浸感，使用户获得更好的体验。In addition, the electric drive sound system can be combined with other systems on the vehicle, such as the atmosphere light system, the exterior lighting system, etc., to achieve the rhythm of sound and light. The lighting controller presets different application scenarios, and obtains different responses through the music rhythm and music amplitude information, thereby forming different beats such as soft, brisk, energetic, and dynamic, bringing a more immersive atmosphere experience. In the welcome mode, when the owner is recognized to be approaching or the unlocking signal is received, the electric drive system can generate welcome music, the lighting system emits the corresponding preset welcome light, and the LED pixel screen installed outside the car cooperates to display the welcome image; in the entertainment mode, the electric drive sound is combined with the lighting system, the intelligent voice system, and the pixel screen to display the expression image while the voice dialogue is in progress, which greatly enhances the entertainment and immersion of the human-vehicle interaction and gives the user a better experience.

参照图6b所示，为本发明实施例中一种单车辆的发声控制流程示意图，具体的车辆控制过程步骤如下：6b is a schematic diagram of a sound control process for a single vehicle in an embodiment of the present invention. The specific vehicle control process steps are as follows:

步骤S10，用户端发出播放音乐的指令。Step S10: The user terminal issues a command to play music.

步骤S11，判断是否需要从存储器中读取音频，若不在存储器中，则需要通过网络接口获取音频；若在存储器中，则可直接从存储器中读取音频信息。Step S11, determine whether it is necessary to read the audio from the memory. If it is not in the memory, the audio needs to be obtained through the network interface; if it is in the memory, the audio information can be directly read from the memory.

在实际应用中，音频可能是存在存储器或云端，在某些应用场景下（如车辆处于行车状态），数据传输可能存在延时，需要从云端获取。本发明实施例中可以根据应用场景和名称搜索判断音频是否预存在存储器中，或根据策略判断是否需要读取存储器中预设音频。In actual applications, the audio may be stored in a memory or in the cloud. In some application scenarios (such as when the vehicle is in motion), data transmission may be delayed and needs to be obtained from the cloud. In the embodiment of the present invention, it is possible to determine whether the audio is pre-stored in the memory based on the application scenario and name search, or determine whether it is necessary to read the preset audio in the memory based on the strategy.

其中，音频的名称可以用于确定音频类型，进而根据音频类型确定音频存储位置，在实际应用中，对于某些简单且常用的音频类型一般是存储在存储器，复杂且使用频率少的音频类型则可以存储在云端，以避免过多占用本地存储。Among them, the name of the audio can be used to determine the audio type, and then determine the audio storage location based on the audio type. In practical applications, some simple and commonly used audio types are generally stored in the memory, while complex and less frequently used audio types can be stored in the cloud to avoid excessive local storage.

在实际应用中，第一车辆（主车）获取音频的方式为：（1）通过网络接口获取音频，通过网络从车机搭载的音乐软件获取，或者由用户的手机蓝牙传入，并通过用户端软件实时解析音频的频率、音频幅值等信息，在多车联动时从车可通过WLAN或其他无线网络获取主车传入的音频信息，并存入缓存区内；（2）音频预存在存储器中，可直接从存储器中读取音频信息。In actual applications, the first vehicle (main vehicle) obtains audio in the following ways: (1) obtains audio through a network interface, obtains it from the music software installed in the vehicle through the network, or transmits it through the user's mobile phone Bluetooth, and analyzes the audio frequency, audio amplitude and other information in real time through the user-side software. When multiple vehicles are linked, the slave vehicle can obtain the audio information transmitted by the main vehicle through WLAN or other wireless networks and store it in the cache area; (2) the audio is pre-stored in the memory, and the audio information can be directly read from the memory.

步骤S12，收到播放音乐指令后，用户端软件可以根据整车电机的分布情况，对音频数据进行处理。Step S12, after receiving the music playing instruction, the user-side software can process the audio data according to the distribution of the motors of the whole vehicle.

音频数据的处理可以包括音频数据拆分，拆分处理可以将缓存的音频信息分解为多个部分，例如，按声道进行拆分为左右声道，按音调拆分为高音低音，按乐器类型拆分为不同乐器声，按发声对象拆分为人声与伴奏，将音频按时间段让不同电机不同时刻发声等，The processing of audio data may include audio data splitting. The splitting process can decompose the cached audio information into multiple parts, for example, splitting into left and right channels by channel, splitting into high and low pitches by pitch, splitting into different instrument sounds by instrument type, splitting into human voice and accompaniment by sound object, and making different motors sound at different times according to time periods, etc.

在另一实例中，也可以令每个第二车辆的发声电机获取相同的音频信息，让每个电机发出同样声音。用户端与MCU进行数据通讯，将对应音频信息由CAN协议传入对应前驱和后驱的电机控制器内。In another example, each sound-generating motor of each second vehicle can also obtain the same audio information, so that each motor can emit the same sound. The user end communicates data with the MCU, and transmits the corresponding audio information to the motor controllers of the corresponding front and rear wheels via the CAN protocol.

步骤S13，MCU数据获取模块通过CAN通讯获取由用户端传入的前驱、后驱音频信息，并对应传输到前驱、后驱电机控制器，前驱、后驱控制器根据获取的音频信息，计算获得对应电机定子绕组通入的目标三相电流，并进一步获得对应PWM波形的占空比。In step S13, the MCU data acquisition module acquires the front-drive and rear-drive audio information transmitted by the user end through CAN communication, and transmits it to the front-drive and rear-drive motor controllers accordingly. The front-drive and rear-drive controllers calculate the target three-phase current passed through the stator winding of the corresponding motor based on the acquired audio information, and further obtain the duty cycle of the corresponding PWM waveform.

步骤S14，根据目标电流计算逆变器各桥臂功率开关单元的开关时间，并依此控制各桥臂的通断，形成驱动电机发声的对应电流，使电机发出目标音频所对应的声音。Step S14, calculating the switching time of each bridge arm power switch unit of the inverter according to the target current, and controlling the on and off of each bridge arm accordingly, forming a corresponding current to drive the motor to make a sound, so that the motor emits a sound corresponding to the target audio frequency.

步骤S15，前驱、后驱电机发出对应的部分音频或全部音频，组合实现具有丰富层次的立体声。Step S15, the front-drive and rear-drive motors emit corresponding partial or full audio, which are combined to achieve stereo with rich layers.

步骤S16，车上搭载的灯光系统、车外LED像素屏和电驱系统配合，营造更沉浸式的声光效果。Step S16: The onboard lighting system, the exterior LED pixel screen and the electric drive system cooperate to create a more immersive sound and light effect.

在实际应用中，可以控制一个或多个第二车辆的灯光和像素屏随声音律动，或根据不同场景模式，显示预设的灯光及图形，营造更沉浸式的氛围。In actual applications, the lights and pixel screens of one or more second vehicles can be controlled to move with the rhythm of sound, or preset lights and graphics can be displayed according to different scene modes to create a more immersive atmosphere.

参照图6c，示出了本发明实施例中一种在驻车状态下的多车联动发声方法，包括如下过程：6c, a method for multi-vehicle linkage sounding in a parking state according to an embodiment of the present invention is shown, including the following process:

步骤S20：用户端发出匹配指令。Step S20: The user terminal issues a matching instruction.

步骤S21：将当前车辆设置为主车V0，并搜索附近可用于匹配的从车V1、V2……，搜索附近车辆的方式可分为两种：①通过导航定位：首先通过导航定位主车及其他车辆当前位置，发现附近车辆并判断是否满足匹配的距离条件；②通过蓝牙、WLAN等搜索并发现附近可连匹配车辆。Step S21: Set the current vehicle as the main vehicle V0, and search for nearby slave vehicles V1, V2, etc. that can be used for matching. There are two ways to search for nearby vehicles: 1. By navigation positioning: first locate the current position of the main vehicle and other vehicles through navigation, find nearby vehicles and determine whether the matching distance conditions are met; 2. Search and find nearby matching vehicles through Bluetooth, WLAN, etc.

步骤S22：搜索到可匹配车辆后，通过定位、激光雷达、摄像头等传感器识别确定各车之间的直线距离，若最大的距离小于等于驻车模式下的预设距离，则由主车V0向各车辆发出匹配申请，各车辆同意申请后，将通过蓝牙或WLAN连接到主车V0，或者通过4/5G网络连接到云端服务器上并完成匹配。匹配完成，各车辆将形成局域网，根据与主车V0的直线距离由小到大分别给各从车编号。Step S22: After searching for matching vehicles, the straight-line distance between each vehicle is determined through positioning, laser radar, camera and other sensors. If the maximum distance is less than or equal to the preset distance in parking mode, the master vehicle V0 will send a matching application to each vehicle. After each vehicle agrees to the application, it will connect to the master vehicle V0 via Bluetooth or WLAN, or connect to the cloud server via 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 from small to large according to the straight-line distance from the master vehicle V0.

步骤S23：用户在主车用户端或用户手机端发送音频播放指令，主车V0判断音频是否在存储器中，若不在存储器中，则需要通过网络接口获取音频，获取音频的方法为通过网络从车机搭载的音乐软件获取，或者由用户的手机蓝牙传入。对于传入的音频，通过用户端软件解析音频的频率、音频幅值等信息。若在存储器中，则可直接从存储器中读取音频信息。Step S23: The user sends an audio playback command on the main vehicle user terminal or the user's mobile phone terminal. The main vehicle V0 determines whether the audio is in the memory. If not, it needs to obtain the audio through the network interface. The method of obtaining the audio is to obtain it from the music software installed in the vehicle through the network, or to transmit it through the user's mobile phone Bluetooth. For the incoming audio, the user-side software analyzes the audio frequency, audio amplitude and other information. If it is in the memory, the audio information can be directly read from the memory.

步骤S24：根据多车联动发声的策略，可以使所有从车均播放相同音频，也可以根据从车相对于主车距离及站位，与预设场景进行匹配，也可提供用户自行选择场景，播放对应的部分音频，例如：在如图2所示的驻车工况中，从车V1在主车V0的右边，从车V2在主车V0的左边，则从车V1对应播放音频的右声道，则从车V2对应播放音频的左声道。此外，也可以让各车播放不同的乐器声音，让各车播放对应主声道和副声道等，在播放钢琴曲时，可以让一辆车仅负责播放一个或几个音符，从而形成合奏。若需要各从车发出音频不同部分的声音，则根据多车联动发声的策略，主车数据处理模块将音频信息进行对应处理，将解析好的音频信息的不同部分也同样进行编号，与从车的编号对应。主车V0根据音频信息的编号将其经由无线传输到各个从车，或者通过上传到云端服务器，并由云端服务器往各从车下发。待从车将各自音频信息全部接收并放入缓存后，从车返回主车一个接收完成信号，并等待主车发出同步播放指令。Step S24: According to the strategy of multi-car linkage sounding, all slave cars can play the same audio, or they can match the preset scene according to the distance and position of the slave car relative to the main car, or provide users with the option of selecting a scene and playing the corresponding part of the audio. For example, in the parking condition shown in FIG2, the slave car V1 is on the right side of the main car V0, and the slave car V2 is on the left side of the main car V0. Then the slave car V1 plays the right channel of the audio, and the slave car V2 plays the left channel of the audio. In addition, each car can also play different musical instrument sounds, and each car can play the corresponding main channel and auxiliary channel, etc. When playing a piano piece, one car can be responsible for playing only one or several notes to form an ensemble. If each slave car needs to emit different parts of the audio, then according to the strategy of multi-car linkage sounding, the main car data processing module will process the audio information accordingly, and the different parts of the parsed audio information will also be numbered to correspond to the numbers of the slave cars. The master car V0 transmits the audio information to each slave car wirelessly according to the number of the audio information, or uploads it to the cloud server, which then sends it to each slave car. After the slave cars receive all the audio information and put it into the cache, they return a reception completion signal to the master car and wait for the master car to issue a synchronous playback command.

步骤S25：主车接收到所有从车返回的接收完成信号后，即接收到的完成信号数与从车数量一致时，主车即发送同步播放指令。同步播放指令，可以根据信号到达不同从车并接收的时延不一致性，标定并计算得到的各车延时时间，主车根据该延时时间在不同时刻对应发送播放指令到个从车上，各从车接收到同步指令后即播放音乐；也可以是将连接到同一局域网下的各车校准到同一时间，主车统一发送一个包含时间戳的同步播放信号，各车按照时间戳上描述的时刻播放音乐。Step S25: After the master car receives the receiving completion signals returned by all the slave cars, that is, when the number of received completion signals is consistent with the number of slave cars, the master car sends a synchronous play instruction. The synchronous play instruction can be based on the inconsistency of the delay of the signal reaching different slave cars and receiving it, and the delay time of each car is calibrated and calculated. The master car sends the play instruction to each slave car at different times according to the delay time, and each slave car plays the music after receiving the synchronous instruction; it can also be that each car connected to the same local area network is calibrated to the same time, and the master car uniformly sends a synchronous play signal containing a timestamp, and each car plays the music according to the time described on the timestamp.

步骤S26：从车接收到主车发送的同步播放指令后，开始从缓存区中读取音频信息，各车接收音频信息完成后，各车搭载的数据处理模块可按照各车上电机分布情况将音频信息进行分配处理，如让前驱电机发声，让后驱电机发声，或前后驱电机组合发声等，经由CAN通信协议将音频信息从缓存传至各车对应MCU。MCU的数据获取模块对应获取音频数据，并驱动电机发出音频。从车读取缓存好的音频信息并播放音频的同时，继续接收并缓存由主车发送而来的下一首音频的对应信息，以缩短缓存时间。同时，根据用户要求，主车发送提高音量、暂停、下一首等指令，从车接收到指令后执行对应措施。Step S26: After the slave car receives the synchronous playback instruction sent by the main car, it starts to read the audio information from the buffer area. After each car receives the audio information, the data processing module carried by each car can distribute and process the audio information according to the distribution of the motors on each car, such as making the front drive motor sound, the rear drive motor sound, or the front and rear drive motors sound in combination, etc., and transmit the audio information from the buffer to the corresponding MCU of each car via the CAN communication protocol. The data acquisition module of the MCU obtains the audio data accordingly and drives the motor to emit audio. While the slave car reads the cached audio information and plays the audio, it continues to receive and cache the corresponding information of the next audio sent by the main car to shorten the cache time. At the same time, according to user requirements, the main car sends instructions such as increasing the volume, pausing, and the next song, and the slave car executes corresponding measures after receiving the instructions.

步骤S27：车上搭载的灯光系统、车外LED像素屏和电驱系统配合，令灯光和像素屏随声音律动，或根据不同场景模式，显示预设的灯光及图形，营造更沉浸式的氛围。Step S27: The onboard lighting system, the external LED pixel screen and the electric drive system cooperate to make the lights and the pixel screen move with the sound rhythm, or display preset lights and graphics according to different scene modes to create a more immersive atmosphere.

参照图6d，示出了本发明实施例中一种在驻车状态下的多车联动发声方法，包括如下过程：6d, a method for multi-vehicle linkage sounding in a parking state according to an embodiment of the present invention is shown, including the following process:

步骤S30：用户端发出匹配指令。Step S30: The user terminal issues a matching instruction.

步骤S31：将当前车辆设置为主车V0，并搜索附近可用于匹配的从车V1、V2……，搜索附近车辆的方式可分为两种：①通过导航定位：首先通过导航定位主车及其他车辆当前位置，发现附近车辆并判断是否满足匹配的距离条件；②通过蓝牙、WLAN等搜索并发现附近可匹配车辆。Step S31: Set the current vehicle as the main vehicle V0, and search for nearby slave vehicles V1, V2, etc. that can be used for matching. There are two ways to search for nearby vehicles: 1. By navigation positioning: first locate the current position of the main vehicle and other vehicles through navigation, find nearby vehicles and determine whether the matching distance conditions are met; 2. Search and find nearby matching vehicles through Bluetooth, WLAN, etc.

步骤S32：搜索到可匹配车辆后，通过定位、激光雷达、摄像头等传感器识别确定各车之间的直线距离，若最大的距离小于等于驻车模式下的预设距离，则由主车V0向各车辆发出匹配申请，各车辆同意申请后，将通过蓝牙或WLAN连接到主车V0，或者通过4/5G网络连接到云端服务器上并完成匹配。匹配完成，各车辆将形成局域网，根据与主车V0的直线距离由小到大分别给各从车编号。Step S32: After searching for matching vehicles, the straight-line distance between each vehicle is determined through positioning, laser radar, camera and other sensors. If the maximum distance is less than or equal to the preset distance in parking mode, the master vehicle V0 will send a matching application to each vehicle. After each vehicle agrees to the application, it will connect to the master vehicle V0 via Bluetooth or WLAN, or connect to the cloud server via 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 from small to large according to the straight-line distance from the master vehicle V0.

步骤S33：用户在主车用户端或用户手机端发送音频播放指令，主车V0判断音频是否在存储器中，若不在存储器中，则需要通过网络接口获取音频，获取音频的方法为通过网络从车机搭载的音乐软件获取，或者由用户的手机蓝牙传入。对于传入的音频，通过用户端软件解析音频的频率、音频幅值等信息。若在存储器中，则可直接从存储器中读取音频信息。Step S33: The user sends an audio playback command on the main vehicle user terminal or the user's mobile phone terminal. The main vehicle V0 determines whether the audio is in the memory. If not, it needs to obtain the audio through the network interface. The method of obtaining the audio is to obtain it from the music software installed in the vehicle through the network, or to transmit it through the user's mobile phone Bluetooth. For the incoming audio, the user-side software analyzes the audio frequency, audio amplitude and other information. If it is in the memory, the audio information can be directly read from the memory.

步骤S34：根据多车联动发声的策略，可以使所有从车均播放相同音频，也可以根据从车相对于主车距离及站位，与预设场景进行匹配，也可提供用户自行选择场景，播放对应的部分音频，例如：在如图2所示的驻车工况中，从车V1在主车V0的右边，从车V2在主车V0的左边，则从车V1对应播放音频的右声道，则从车V2对应播放音频的左声道。此外，也可以让各车播放不同的乐器声音，让各车播放对应主声道和副声道等，在播放钢琴曲时，可以让一辆车仅负责播放一个或几个音符，从而形成合奏。若需要各从车发出音频不同部分的声音，则根据多车联动发声的策略，主车数据处理模块将音频信息进行对应处理，将解析好的音频信息的不同部分也同样进行编号，与从车的编号对应。主车V0根据音频信息的编号将其经由无线传输到各个从车，或者通过上传到云端服务器，并由云端服务器往各从车下发。主车不需要等待所有从车将完整音频全都接收完成后才发送同步播放指令，而是判断各从车已接收音频数据的数据量是否满足同步播放条件，若已接收数据量大于满足同步播放条件所要求的数据量，则从车向主车返回一条等待播放信号，并等待主车发出同步播放指令。Step S34: According to the strategy of multi-car linkage sounding, all slave cars can play the same audio, or they can match the preset scene according to the distance and position of the slave car relative to the main car, or provide users with the option of selecting a scene and playing the corresponding part of the audio. For example, in the parking condition shown in FIG2, the slave car V1 is on the right side of the main car V0, and the slave car V2 is on the left side of the main car V0. Then the slave car V1 plays the right channel of the audio, and the slave car V2 plays the left channel of the audio. In addition, each car can also play different musical instrument sounds, and each car can play the corresponding main channel and auxiliary channel, etc. When playing a piano piece, one car can be responsible for playing only one or several notes to form an ensemble. If each slave car needs to emit different parts of the audio, then according to the strategy of multi-car linkage sounding, the main car data processing module will process the audio information accordingly, and the different parts of the parsed audio information will also be numbered to correspond to the numbers of the slave cars. The master car V0 transmits the audio information to each slave car wirelessly according to the number of the audio information, or uploads it to the cloud server, and the cloud server sends it to each slave car. The master car does not need to wait for all slave cars to receive the complete audio before sending a synchronous play instruction. Instead, it determines whether the amount of audio data received by each slave car meets the synchronous play condition. If the amount of received data is greater than the amount of data required to meet the synchronous play condition, the slave car returns a waiting play signal to the master car and waits for the master car to issue a synchronous play instruction.

步骤S35：主车接收到所有从车返回的等待播放信号后，即接收到的等待播放信号数与从车数量一致时，主车即发送同步播放指令。同步播放指令，可以根据信号到达不同从车并接收的时延不一致性，标定并计算得到的各车延时时间，主车根据该延时时间在不同时刻对应发送播放指令到个从车上，各从车接收到同步指令后即播放音乐；也可以是将连接到同一局域网下的各车校准到同一时间，主车统一发送一个包含时间戳的同步播放信号，各车按照时间戳上描述的时刻播放音乐。Step S35: After the master car receives the waiting-to-play signals returned by all the slave cars, that is, when the number of the waiting-to-play signals received is consistent with the number of the slave cars, the master car sends a synchronous play instruction. The synchronous play instruction can be calibrated and calculated according to the inconsistency of the delay of the signal reaching different slave cars and receiving it, and the master car sends the play instruction to each slave car at different times according to the delay time, and each slave car plays the music after receiving the synchronous instruction; it can also be calibrated to the same time for each car connected to the same local area network, and the master car sends a synchronous play signal containing a timestamp, and each car plays the music according to the time described on the timestamp.

步骤S36：从车接收到主车发送的同步播放指令后，开始从缓存区中读取音频信息，不需要等待所有数据接收完成，各车搭载的数据处理模块即按照各车上电机分布情况将音频信息进行分配处理，如让前驱电机发声，让后驱电机发声，或前后驱电机组合发声等，经由CAN通信协议将音频信息从缓存传至各车对应MCU。MCU的数据获取模块对应获取音频数据，并驱动电机发出音频。从车读取缓存区内音频信息的同时，继续接收并缓存由主车发送而来的音频的信息，以缩短延时时间。与实施例二相比，不需要等待完整的一个音频传输完成即可开始播放，而是当传输的音频数据达到一定值后，边传输边播放，大大降低了延时，但对数据传输的时序要求较高。同时，根据用户要求，主车发送提高音量、暂停、下一首等指令，从车接收到指令后执行对应措施。Step S36: After the slave car receives the synchronous play instruction sent by the master car, it starts to read the audio information from the buffer area. It does not need to wait for all data to be received. The data processing module carried by each car distributes and processes the audio information according to the distribution of the motors on each car, such as letting the front drive motor sound, letting the rear drive motor sound, or the front and rear drive motors sound in combination, etc., and transmits the audio information from the buffer to the corresponding MCU of each car via the CAN communication protocol. The data acquisition module of the MCU correspondingly obtains the audio data and drives the motor to emit audio. While the slave car reads the audio information in the buffer area, it continues to receive and cache the audio information sent by the master car to shorten the delay time. Compared with the second embodiment, it is not necessary to wait for a complete audio transmission to be completed before starting to play. Instead, when the transmitted audio data reaches a certain value, it is played while transmitting, which greatly reduces the delay, but has a high requirement on the timing of data transmission. At the same time, according to user requirements, the master car sends instructions such as increasing the volume, pausing, and the next song, and the slave car executes corresponding measures after receiving the instructions.

步骤S37：车上搭载的灯光系统、车外LED像素屏和电驱系统配合，令灯光和像素屏随声音律动，或根据不同场景模式，显示预设的灯光及图形，营造更沉浸式的氛围。Step S37: The onboard lighting system, the external LED pixel screen and the electric drive system cooperate to make the lights and pixel screen move with the rhythm of the sound, or display preset lights and graphics according to different scene modes, creating a more immersive atmosphere.

在本发明实施例中，在第一车辆与多个第二车辆匹配成功后，所第一车辆将多个第二车辆对应的目标音频数据发送至对应的第二车辆；接收第二车辆发送的等待播放信号，等待播放信号为第二车辆已接收数据量大于预设数据量时生成；在等待播放信号的数量与第二车辆的数量一致时，生成同步播放指令；将同步播放指令发送至多个第二车辆，以使第二车辆依照目标音频数据进行电机发声，实现了多车电机联动发声。In an embodiment of the present invention, after a first vehicle is successfully matched with multiple second vehicles, the first vehicle sends target audio data corresponding to the multiple second vehicles to the corresponding second vehicles; receives a waiting-to-play signal sent by the second vehicle, and the waiting-to-play signal is generated when the amount of data received by the second vehicle is greater than a preset amount of data; generates a synchronous play instruction when the number of waiting-to-play signals is consistent with the number of second vehicles; sends the synchronous play instruction to the multiple second vehicles, so that the second vehicles make motor sounds according to the target audio data, thereby realizing the linkage sound of multiple vehicle motors.

参照图6e，为本发明实施例中一种车辆工况示意图。车辆的工况状态可以包括驻车工况和行车工况，在行车工况下，为了保证连接状态的稳定，采取云端同步的方式实现多车的连接和数据的传输。6e is a schematic diagram of a vehicle operating state in an embodiment of the present invention. The vehicle operating state may include a parking state and a driving state. In the driving state, in order to ensure the stability of the connection state, a cloud synchronization method is adopted to realize the connection of multiple vehicles and the transmission of data.

参照图6f，示出了本发明实施例中一种在行车状态下的多车联动发声方法，包括如下过程：6f, a method for multi-vehicle linkage sound generation in a driving state according to an embodiment of the present invention is shown, including the following process:

步骤S40：用户端发出匹配指令。Step S40: The user terminal issues a matching instruction.

步骤S41：将当前车辆设置为主车V0，并搜索附近可用于匹配的从车V1、V2……，通过导航定位确定主车及其他车辆当前位置，通过定位发现附近车辆并判断是否满足匹配的距离条件；Step S41: Set the current vehicle as the master vehicle V0, and search for nearby slave vehicles V1, V2, etc. that can be used for matching, determine the current position of the master vehicle and other vehicles through navigation positioning, find nearby vehicles through positioning and determine whether the matching distance condition is met;

步骤S42：搜索到可匹配车辆后，通过定位确定各车之间的直线距离，若最大的距离小于等于行车模式下的预设距离，则由云端推送至各车辆发出匹配申请，各车辆同意申请后，通过4/5G网络连接到云端服务器上并完成匹配。匹配完成，各车辆将形成局域网，根据与主车V0的直线距离由小到大分别给各从车编号。Step S42: After searching for matching vehicles, 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 a matching request to each vehicle. After each vehicle agrees to the request, it connects to the cloud server through the 4/5G network and completes the matching. After the matching is completed, each vehicle 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.

步骤S43：用户在主车用户端或用户手机端发送音频播放指令，同时将音频id从云端下发到各车上，判断音频是否在存储器中，若不在存储器中，则需要通过网络接口获取音频，主车获取音频的方法为通过网络从车机搭载的音乐软件获取，或者由用户的手机蓝牙传入，从车获取音频的方法为由云端网络上下载。对于传入的音频，通过用户端软件解析音频的频率、音频幅值等信息。若在存储器中，则各车向云端发送一条等待播放信号，并等待接收云端的同步播放指令。Step S43: The user sends an audio playback instruction on the main vehicle user terminal or the user's mobile phone terminal, and sends the audio ID from the cloud to each vehicle to determine whether the audio is in the memory. If not, it is necessary to obtain the audio through the network interface. The main vehicle obtains the audio through the network from the music software installed on the vehicle, or through the user's mobile phone Bluetooth. The method of obtaining audio from the vehicle is to download it from the cloud network. For the incoming audio, the user-side software analyzes the audio frequency, audio amplitude and other information. If it is in the memory, each vehicle sends a waiting to play signal to the cloud and waits to receive the synchronous play instruction from the cloud.

步骤S44：根据多车联动发声的策略，可以使所有从车均播放相同音频，也可以根据从车相对于主车距离及站位，与预设场景进行匹配，也可提供用户自行选择场景，播放对应的部分音频，主车数据处理模块将音频信息进行对应处理，将解析好的音频信息的不同部分也同样进行编号，与从车的编号对应。主车V0根据音频信息的编号将其经由网络上传到云端服务器，并由云端服务器往各从车下发。判断各从车已接收音频数据的数据量是否满足同步播放条件，若已接收数据量大于满足同步播放条件所要求数据量，则各从车向云端返回一条等待播放信号，并等待云端下发同步播放指令。Step S44: According to the strategy of multi-vehicle linkage sound, all slave vehicles can play the same audio, or they can match the preset scene according to the distance and position of the slave vehicle relative to the master vehicle, or provide users with the option to select a scene and play the corresponding part of the audio. The master vehicle data processing module processes the audio information accordingly, and also numbers the different parts of the parsed audio information to correspond to the numbers of the slave vehicles. The master vehicle V0 uploads the audio information to the cloud server via the network according to the number of the audio information, and the cloud server sends it to each slave vehicle. It is determined whether the amount of audio data received by each slave vehicle meets the synchronous playback conditions. If the amount of data received is greater than the amount of data required to meet the synchronous playback conditions, each slave vehicle returns a waiting-to-play signal to the cloud, and waits for the cloud to send a synchronous playback instruction.

步骤S45：若云端接收到的等待播放信号数与从车数量一致时，通过云端下发同步播放指令到各车。在各车匹配完成并处于同一局域网下时，需要将各车校准到同一时间，云端下发的同步播放指令为包含时间戳的同步播放信号，各车按照时间戳上描述的时刻播放音乐。Step S45: If the number of waiting-to-play signals received by the cloud is consistent with the number of slave vehicles, a synchronous play instruction is sent to each vehicle through the cloud. When each vehicle is matched and in the same local area network, each vehicle needs to be calibrated to the same time. The synchronous play instruction sent by the cloud is a synchronous play signal containing a timestamp, and each vehicle plays music at the time described on the timestamp.

步骤S46：各车接收到主车发送的同步播放指令后，开始从缓存区中读取音频信息，各车搭载的数据处理模块即按照各车上电机分布情况将音频信息进行分配处理，如让前驱电机发声，让后驱电机发声，或前后驱电机组合发声等，经由CAN通信协议将音频信息从缓存传至各车对应MCU。MCU的数据获取模块对应获取音频数据，并驱动电机发出音频。同时，根据用户要求，用户通过手机端或主车多媒体端发送提高音量、暂停、下一首等指令至云端，从车接收到指令后执行对应措施。Step S46: After each vehicle receives the synchronous playback instruction sent by the main vehicle, it starts to read the audio information from the buffer area. The data processing module carried by each vehicle distributes and processes the audio information according to the distribution of the motors on each vehicle, such as making the front drive motor sound, the rear drive motor sound, or the front and rear drive motors sound in combination, etc., and transmits the audio information from the buffer to the corresponding MCU of each vehicle via the CAN communication protocol. The data acquisition module of the MCU correspondingly acquires the audio data and drives the motor to emit audio. At the same time, according to user requirements, the user sends commands such as increasing the volume, pausing, and playing the next song to the cloud through the mobile phone or the multimedia terminal of the main vehicle, and the slave vehicle executes the corresponding measures after receiving the command.

步骤S47：车上搭载的灯光系统、车外LED像素屏和电驱系统配合，令灯光和像素屏随声音律动，或根据不同场景模式，显示预设的灯光及图形，营造更沉浸式的氛围。Step S47: The onboard lighting system, the external LED pixel screen and the electric drive system cooperate to make the lights and pixel screen move with the rhythm of the sound, or display preset lights and graphics according to different scene modes, creating a more immersive atmosphere.

在本发明实施例中，一种在行车状态下的多车联动发声方法可以包括如下过程：In an embodiment of the present invention, a method for multi-vehicle coordinated sound generation in a driving state may include the following process:

（1）车辆通过导航定位当前位置，并实时判断附近一定范围内的车辆间距离。(1) The vehicle locates its current position through navigation and determines the distance between nearby vehicles within a certain range in real time.

（2）车辆通过激光雷达、摄像头等传感器判断前后车辆间距离，以及对向车道是否有来车。若对向车道有车辆驶来，且直线距离小于设定值，则判定当前状态为会车；若当前车辆与同向前方车辆直线距离小于设定值，且车辆车速大于前方车辆车速，则判定当前状态为距离前车过近；若当前车辆与同向后方车辆直线距离小于设定值，且车辆车速小于后方车辆车速，则判定当前状态为距离后车过近；(2) The vehicle uses sensors such as laser radar and cameras to determine the distance between the front and rear vehicles, as well as whether there are oncoming vehicles in the opposite lane. If there is a vehicle approaching in the opposite lane and the straight-line distance is less than the set value, the current state is determined to be a meeting; if the straight-line distance between the current vehicle and the vehicle in front is less than the set value, and the vehicle speed is greater than the speed of the vehicle in front, the current state is determined to be too close to the vehicle in front; if the straight-line distance between the current vehicle and the vehicle behind in the same direction is less than the set value, and the vehicle speed is less than the speed of the vehicle behind, the current state is determined to be too close to the vehicle behind;

（3）存储器内预存了会车、与前车过近、与后车过近三种场景的提示音及图案，当触发场景时，由MCU数据获取模块读取存储器内预置的对应音频信息，计算获得对应电机定子绕组通入的目标三相电流，驱动电机发出目标音频所对应的提示音。同时读取预置的车外像素屏图案信息，控制屏幕显示对应图案，给对方车辆提供交互信息，以实现车与车之间的互动。当车辆会车时，车辆发出对向来车提示，并向对向车辆打招呼；当车辆与前后车过近时，触发对应提示音，向前后车辆发出提示。(3) The memory stores the prompt sounds and patterns for the three scenarios of meeting, being too close to the vehicle in front, and being too close to the vehicle behind. When a scenario is triggered, the MCU data acquisition module reads the corresponding audio information preset in the memory, calculates the target three-phase current passed through the stator winding of the corresponding motor, and drives the motor to emit a prompt sound corresponding to the target audio. At the same time, the preset pixel screen pattern information outside the vehicle is read, the screen is controlled to display the corresponding pattern, and interactive information is provided to the other vehicle to achieve interaction between vehicles. When vehicles meet, the vehicle issues a prompt to the oncoming vehicle and greets the oncoming vehicle; when the vehicle is too close to the front and rear vehicles, the corresponding prompt sound is triggered to issue a prompt to the front and rear vehicles.

（3）车辆通过麦克风、摄像头等识别到对方车辆发出的交流信息后，由智能语音系统决定需要回复的交流消息，经由CAN通信协议将音频信息从总线传至前后驱MCU。MCU的数据获取模块对应获取音频数据，并驱动电机发出回复声音，同时也控制屏幕显示对应图案，实现车与车之间的互动交流。(3) After the vehicle recognizes the communication information sent by the other vehicle through the microphone, camera, etc., the intelligent voice system determines the communication message that needs to be replied, and transmits the audio information from the bus to the front and rear drive MCUs via the CAN communication protocol. The data acquisition module of the MCU obtains the audio data accordingly, drives the motor to make a reply sound, and also controls the screen to display the corresponding pattern, realizing interactive communication between vehicles.

在本发明实施例中，在第一车辆与多个第二车辆匹配成功后，在第一车辆与多个第二车辆匹配成功后，将目标音频数据发送至云端服务器，以使云端服务器将目标音频数据发送至对应的第二车辆，第二车辆依照目标音频数据进行电机发声，实现了多车电机联动发声。In an embodiment of the present invention, after a first vehicle is successfully matched with multiple second vehicles, the target audio data is sent to a cloud server, so that the cloud server sends the target audio data to the corresponding second vehicles, and the second vehicles make motor sounds according to the target audio data, thereby realizing the linkage sound of multiple vehicle motors.

需要说明的是，对于方法实施例，为了简单描述，故将其表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明实施例并不受所描述的动作顺序的限制，因为依据本发明实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本发明实施例所必须的。It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

本发明一实施例还提供了一种车辆控制装置，所述装置用于执行如上所述的车辆控制方法。An embodiment of the present invention further provides a vehicle control device, which is used to execute the vehicle control method as described above.

本发明一实施例还提供了一种电子设备，可以包括处理器、存储器及存储在存储器上并能够在处理器上运行的计算机程序，计算机程序被处理器执行时实现如上车辆控制方法。An embodiment of the present invention further provides an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above vehicle control method is implemented.

本发明一实施例还提供了一种车辆，所述车辆执行如上所述车辆控制方法，或所述车辆包括如上所述的装置，或所述车辆包括如上所述的电子设备。An embodiment of the present invention further provides a vehicle, wherein the vehicle executes the vehicle control method as described above, or the vehicle includes the device as described above, or the vehicle includes the electronic device as described above.

本发明一实施例还提供了一种计算机可读存储介质，计算机可读存储介质上存储计算机程序，计算机程序被处理器执行时实现如上车辆控制方法。An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above vehicle control method is implemented.

对于装置实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

本领域内的技术人员应明白，本发明实施例可提供为方法、装置、或计算机程序产品。因此，本发明实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质（包括但不限于磁盘存储器、CD-ROM、光学存储器等）上实施的计算机程序产品的形式。It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

本发明实施例是参照根据本发明实施例的方法、终端设备（系统）、和计算机程序产品的流程图和／或方框图来描述的。应理解可由计算机程序指令实现流程图和／或方框图中的每一流程和／或方框、以及流程图和／或方框图中的流程和／或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和／或方框图一个方框或多个方框中指定的功能的装置。The embodiments of the present invention are described with reference to the flowcharts and/or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and/or box in the flowchart and/or block diagram, as well as the combination of the processes and/or boxes in the flowchart and/or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate a device for implementing the functions specified in one process or multiple processes in the flowchart and/or one box or multiple boxes in the block diagram.

这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和／或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和／或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce computer-implemented processing, so that the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

尽管已描述了本发明实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明实施例范围的所有变更和修改。Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

以上对所提供的一种车辆控制方法及装置、电子设备、车辆、存储介质，进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。The above provides a detailed introduction to a vehicle control method and device, electronic equipment, vehicle, and storage medium. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for a person skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims (45)

1. A vehicle control method, characterized by being applied to a first vehicle, the method comprising:

and after the first vehicle and the second vehicle are successfully matched, controlling the second vehicle to sound according to the target audio data.

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

And controlling the second vehicle to make joint sound with the first vehicle according to the target audio data.

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

and transmitting target audio data to the second vehicle so that the second vehicle makes joint sound with the first vehicle according to the target audio data.

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

and transmitting target audio data to the second vehicle so that the second vehicle can sound according to the target audio data.

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

The first vehicle sends a playing instruction to the second vehicle so as to control the second vehicle to acquire target audio data to be played based on the playing instruction, and sound is produced according to the target audio data.

6. The method of claim 3 or 4, wherein the first vehicle transmitting target audio data to the second vehicle comprises:

Transmitting target audio data corresponding to the second vehicle;

Generating a playing instruction when a first feedback signal returned by the second vehicle after receiving the target audio data is received;

And sending the playing instruction to the second vehicle.

7. The method of claim 6, wherein generating a play command upon receiving a first feedback signal returned by the second vehicle after receiving the target audio data, comprises:

when a plurality of second vehicles exist, receiving first feedback signals returned by the plurality of second vehicles after receiving the target audio data;

And generating a playing instruction when the number of the first feedback signals is consistent with the number of the second vehicles.

8. The method of claim 6, wherein the sending the play instruction to the second vehicle comprises:

determining first delay information of each second vehicle according to the first time stamp of the first feedback signal;

Determining a first instruction sending time corresponding to each second vehicle according to the first delay information;

and respectively sending the playing instruction to each second vehicle according to the first instruction sending time.

9. The method according to claim 3 or 4, wherein the first vehicle transmits target audio data to the second vehicle, respectively, comprising:

the first vehicle sends the target audio data corresponding to the second vehicle to the corresponding second vehicle;

Generating a playing instruction when receiving a second feedback signal sent by the second vehicle when the received data volume is larger than a preset data volume;

And sending the playing instruction to the second vehicle.

10. The method of claim 9, wherein generating a play command upon receiving a second feedback signal transmitted by the second vehicle when the received data amount is greater than a preset data amount comprises:

when a plurality of second vehicles exist, receiving second feedback signals sent by the plurality of second vehicles when the received data quantity is larger than a preset data quantity;

And generating a playing instruction when the number of the second feedback signals is consistent with the number of the second vehicles.

11. The method of claim 9, wherein the sending the play instruction to the second vehicle comprises:

determining second delay information of each second vehicle according to the second time stamp of the second feedback signal;

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

And respectively sending the playing instruction to each second vehicle according to the second instruction sending time.

12. The method of claim 7 or 8 or 10 or 11, wherein the sending the play instruction to the second vehicle comprises:

and sending a playing instruction carrying preset playing time to the second vehicle so as to control the second vehicle to sound when the current time is the preset playing time.

13. The method of claim 4, wherein the first vehicle transmitting the target audio data to the second vehicle to cause the second vehicle to co-sound with the first vehicle in accordance with the target audio data, comprising:

Responding to an audio playing instruction received by the first vehicle, and acquiring initial audio data for controlling the second vehicle to sound;

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;

And sending the target audio data to the second vehicle so that the first vehicle can make joint sound according to the first audio data and the second vehicle can make joint sound according to the target audio data.

14. The method of claim 13, wherein 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:

determining first location information of the second vehicle relative to the first vehicle;

Generating a first linkage sounding 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 linkage sounding strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

15. The method according to claim 14, wherein the first location information comprises direction information and/or distance information.

16. The method of claim 13, wherein 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:

And taking the initial audio data as first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

17. The method of claim 14, wherein the audio processing the initial audio data according to the first coordinated sound emission strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle comprises:

splitting the initial audio data according to the first linkage sounding strategy to obtain first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle.

18. The method of claim 14, wherein the audio processing the initial audio data according to the first coordinated sound emission strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle comprises:

splitting the initial audio data according to the first linkage sounding strategy to obtain split audio data;

Determining the corresponding relation between the split audio data and the initial audio data and the first vehicle and the second vehicle according to the first linkage sounding strategy;

Taking the split audio data and/or the audio data with the corresponding relation with the first vehicle in the initial audio data as first audio data of the first vehicle;

And taking the split audio data and/or the audio data with the corresponding relation with the second vehicle in the initial audio data as target audio data of the second vehicle.

19. The method of claim 17 or 18, wherein splitting the initial audio data according to the first coordinated sound emission strategy comprises:

splitting the initial audio data according to the channel information according to the first linkage sounding strategy.

20. The method of claim 17 or 18, wherein splitting the initial audio data according to the first coordinated sound emission strategy comprises:

splitting the initial audio data according to the note information according to the first linkage sounding strategy.

21. The method of claim 14, wherein the audio processing the initial audio data according to the first coordinated sound emission strategy to generate first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle comprises:

and generating first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle according to the initial audio data and a preset instrument type according to the first linkage sounding strategy.

22. The method of claim 21, wherein generating the initial audio data according to the first coordinated sound emission strategy into the first audio data corresponding to the first vehicle and the target audio data corresponding to the second vehicle according to a preset instrument type comprises:

After the initial audio data are subjected to audio conversion according to the first linkage sounding strategy and the preset musical instrument type, the converted initial audio data are subjected to audio splitting, and first audio data corresponding to the first vehicle and target audio data corresponding to the second vehicle are generated.

23. The method of claim 4, wherein the first vehicle transmitting target audio data to the second vehicle to cause the second vehicle to sound in accordance with the target audio data, comprising:

Responding to an audio playing instruction received by the first vehicle, and acquiring 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 transmitting the target audio data to the second vehicle so that the second vehicle can sound according to the target audio data.

24. The method of claim 23, wherein the generating the target audio data corresponding to the second vehicle based on the initial audio data comprises:

determining second position information of each second vehicle when there are a plurality of second vehicles;

generating a second linkage sounding strategy for a plurality of second vehicles based on the location information;

and performing audio processing on the initial audio data according to the second linkage sounding strategy to generate target audio data corresponding to the second vehicle.

25. The method of claim 24, wherein the second location information comprises direction information and/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:

And taking the initial audio data as target audio data corresponding to the second vehicle.

27. The method of claim 24, wherein the audio processing the initial audio data according to the second linkage sounding policy to generate target audio data corresponding to the second vehicle comprises:

splitting the initial audio data according to the second linkage sounding strategy to obtain target audio data corresponding to the second vehicle.

28. The method of claim 24, wherein splitting the initial audio data according to the second linkage sounding policy to obtain target audio data corresponding to the second vehicle comprises:

Splitting the initial audio data according to the second linkage sounding strategy for part of the second vehicles to obtain target audio data corresponding to the part of the second vehicles;

and taking the initial audio data as target audio data of the rest part of the second vehicles except the part of the second vehicles in the plurality of second vehicles.

29. The method of claim 24, wherein the splitting the initial audio data according to the second linkage sounding policy comprises:

splitting the initial audio data according to the sound channel information according to the second linkage sounding strategy.

30. The method of claim 24, wherein the splitting the initial audio data according to the second linkage sounding policy comprises:

Splitting the initial audio data according to the note information according to the second linkage sounding strategy.

31. The method of claim 24, wherein audio processing the initial audio data according to the second linkage sounding policy to generate target audio data corresponding to the second vehicle comprises:

And generating target audio data corresponding to the second vehicle according to the initial audio data and a preset instrument type according to the second linkage sounding strategy.

32. The method of claim 31, wherein generating the target audio data corresponding to the second vehicle from the initial audio data according to the second linkage sounding policy according to a preset instrument type comprises:

and after the initial audio data are subjected to audio conversion according to the second linkage sounding strategy and the preset musical instrument type, carrying out audio splitting on the converted initial audio data.

33. The method of claim 13 or 23, wherein obtaining initial audio data for the first vehicle in response to the audio play instruction received by the first vehicle comprises:

Responding to an audio playing instruction received by the first vehicle, and judging whether initial audio data corresponding to the audio playing instruction is in a memory of the first vehicle;

when the initial audio data is in the memory of the first vehicle, acquiring the initial audio data from the memory;

And when the initial audio data are not in the memory of the first vehicle, acquiring the initial audio data through a preset network interface.

34. The method of claim 33, wherein the obtaining the initial audio data via a preset network interface comprises:

Acquiring the initial audio data from an application program carrying the audio data in the first vehicle through a preset network interface;

or acquiring the initial audio data from the audio data sent by the target mobile terminal through a preset network interface.

35. The method of claim 3 or 4, wherein the first vehicle transmitting the target audio data of the second vehicle to the second vehicle comprises:

and when the first vehicle is in a driving state, the target audio data is sent to a cloud server so as to be forwarded to the second vehicle by the cloud server.

36. The method of claim 1, wherein the step of determining that the first vehicle successfully matches the second vehicle comprises:

Acquiring distance information between the first vehicle and a second vehicle in the surrounding environment, wherein the second vehicle is a vehicle which can be matched with the first vehicle;

when the distance information is smaller than or equal to a preset distance, a vehicle matching request is generated, and the vehicle matching request is sent to the second vehicle;

And when receiving response data which is fed back by the second vehicle based on the vehicle matching request and is used for indicating agreement to match, determining that the second vehicle is successfully matched with the first vehicle.

37. The method of claim 36, wherein the obtaining distance information between the first vehicle and a second vehicle in the surrounding environment, the second vehicle being a vehicle that is mateable with the first vehicle, comprises:

In response to a matching instruction received by the first vehicle, a function of the first vehicle for searching for surrounding vehicles is started, and distance information between the first vehicle and the second vehicle is determined.

38. A vehicle control method, characterized by being applied to a second vehicle, the method comprising:

And after the second vehicle is successfully matched with the first vehicle, sounding according to target audio data based on a playing instruction of the first vehicle.

39. The method of claim 38, wherein the sounding in accordance with the target audio data based on the play instruction of the first vehicle comprises:

And jointly sounding with the first vehicle according to the target audio data based on the playing instruction of the first vehicle.

40. The method of claim 38, wherein the sounding in accordance with the target audio data based on the play instruction of the first vehicle comprises:

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 play instruction sent by the first vehicle, wherein the play instruction is generated by the first vehicle based on the feedback signal;

the second vehicle sounds in accordance with the target audio data based on the play instruction of the first vehicle.

41. The method of claim 38, wherein the sounding in accordance with the target audio data based on the play instruction of the first vehicle comprises:

the second vehicle receives a playing instruction of the first vehicle and acquires target audio data to be played based on the playing instruction;

and the second vehicle sounds according to the target audio data.

42. A vehicle control apparatus, characterized in that the apparatus is configured to execute the vehicle control method according to any one of claims 1 to 41.

43. An electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program implementing the vehicle control method of any one of claims 1 to 41 when executed by the processor.

44. A vehicle characterized in that it performs the vehicle control method of any one of claims 1 to 41, or that it comprises the apparatus of claim 42, or that it comprises the electronic device of claim 43.

45. A computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the vehicle control method according to any one of claims 1 to 41.