CN111873742A - Vehicle control method and device and computer storage medium - Google Patents
Vehicle control method and device and computer storage medium Download PDFInfo
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- CN111873742A CN111873742A CN202010549592.8A CN202010549592A CN111873742A CN 111873742 A CN111873742 A CN 111873742A CN 202010549592 A CN202010549592 A CN 202010549592A CN 111873742 A CN111873742 A CN 111873742A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
Abstract
The invention discloses a vehicle control method, a device and a computer storage medium, which are applied to an active suspension controller of a vehicle, wherein the vehicle control method comprises the following steps: acquiring music information of playing music in a music control mode; generating a target shaking control instruction according to the music information of the music being played and a preset shaking control instruction; the shaking control instruction is used for controlling the vehicle to shake according to a preset waveform; sending the target shaking control instruction to an active suspension actuator of the vehicle so as to enable the active suspension actuator of the vehicle to control the vehicle to shake according to the music information of the music being played. According to the vehicle control method and device and the computer storage medium, the vehicle is controlled to shake according to the music information of the music being played and the preset shaking control instruction, the implementation process is simple, the safety of the vehicle is not affected, and the use experience of a user is improved.
Description
Technical Field
The present invention relates to the field of vehicles, and in particular, to a vehicle control method, apparatus, and computer storage medium.
Background
At present, the society rhythm is fast, and people in work can meet many challenges all the time, resulting in a large pressure ratio, and therefore people hope to find a relatively independent space to relieve the pressure. In addition, the current young people often do not have much experience in caring for the infant, and it is difficult to give the infant a constant feeling of stopping crying when the infant crying, and the infant-soothing method that is generally preferred is a cradle with a mother gently soothing cradle, and the user cannot give the infant hands free when driving a vehicle. Therefore, if the vehicle can be converted into a large-sized cradle, it will greatly meet the user's needs. However, it is difficult to control the vehicle sway by using music, and to make the system for playing music and the system for controlling the vehicle sway communicate with each other and control the vehicle state change, because the vehicle control risk is increased by implementing music control, which may cause the control logic efficiency of the vehicle to be reduced or the safety level to be reduced. Therefore, how to realize music control of the vehicle without affecting the safety of the vehicle is still under study.
Disclosure of Invention
The invention aims to provide a vehicle control method, a vehicle control device and a computer storage medium, which are simple in implementation process, do not influence the safety of a vehicle and improve the use experience of a user.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a vehicle control method, which is applied to an active suspension controller of a vehicle, and includes:
acquiring music information of playing music in a music control mode;
generating a target shaking control instruction according to the music information of the music being played and a preset shaking control instruction; the shaking control instruction is used for controlling the vehicle to shake according to a preset waveform;
sending the target shaking control instruction to an active suspension actuator of the vehicle so as to enable the active suspension actuator of the vehicle to control the vehicle to shake according to the music information of the music being played.
As one embodiment, before acquiring the music information of the music being played in the music control mode, the method further includes:
and after a starting state signal for playing music is acquired, sending the preset shaking control instruction to an active suspension actuator of the vehicle, so that the active suspension actuator of the vehicle controls the vehicle to start shaking according to a preset waveform.
As one embodiment, before acquiring the music information of the music being played in the music control mode, the method further includes:
acquiring current state information of the vehicle;
judging whether the current state of the vehicle is suitable for starting a music control mode or not according to the current state information of the vehicle;
and when the current state of the vehicle is determined to be suitable for starting the music control mode, switching the control logic to the music control mode, and executing the step of acquiring the music information of the music being played.
As one embodiment, the music information of the playing music includes music tempo information of the playing music; the generating of the target shaking control instruction according to the music information of the music being played and the preset shaking control instruction comprises:
and adjusting the frequency of a preset waveform according to the music beat information of the music being played, and generating a target shaking control instruction according to the adjusted preset waveform.
As an embodiment, the generating a target shaking control instruction according to the music information of the playing music and a preset shaking control instruction includes:
acquiring shaking amplitude adjustment information input by a user;
and adjusting the amplitude of a preset waveform according to the shaking amplitude adjustment information, and generating a target shaking control instruction according to the adjusted preset waveform.
As one of the implementation modes, the method further comprises the following steps:
and sending a preset prompting message when the current state of the vehicle is determined not to be suitable for starting the music control mode, wherein the preset prompting message is used for prompting the failure of starting the music control mode for the user.
As one embodiment, after sending the target shaking control instruction to the active suspension actuator of the vehicle to cause the active suspension actuator of the vehicle to control the vehicle to shake according to the music information of the music being played, the method further includes:
acquiring state change information of the vehicle;
and correcting the target shaking control command according to the state change information of the vehicle, and sending the corrected target shaking control command to an active suspension actuator of the vehicle.
As one of the implementation modes, the method further comprises the following steps:
and exiting the music control mode when the vehicle is determined to be not suitable for continuously starting the music control mode or a stop state signal for playing music is acquired according to the state change information of the vehicle.
In a second aspect, an embodiment of the present invention provides a vehicle control apparatus, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the vehicle control method according to the first aspect when executing the computer program.
In a third aspect, an embodiment of the present invention provides a computer storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the vehicle control method according to the first aspect.
The embodiment of the invention provides a vehicle control method, a vehicle control device and a computer storage medium, wherein the vehicle control method comprises the following steps: acquiring music information of playing music in a music control mode; generating a target shaking control instruction according to the music information of the music being played and a preset shaking control instruction; the shaking control instruction is used for controlling the vehicle to shake according to a preset waveform; sending the target shaking control instruction to an active suspension actuator of the vehicle so as to enable the active suspension actuator of the vehicle to control the vehicle to shake according to the music information of the music being played. So, control the vehicle according to the music information of playing the music and predetermineeing the control command that rocks and rock, realize that music control vehicle rocks, realize that the process of realization is simple, does not influence the vehicle security, and has promoted user and used experience.
Drawings
FIG. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle control method according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further elaborated by combining the drawings and the specific embodiments in the specification. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a vehicle control method provided in an embodiment of the present invention may be executed by a vehicle control apparatus provided in an embodiment of the present invention, where the vehicle control apparatus may be implemented in a software and/or hardware manner, and the vehicle control method is applied to an active suspension controller of a vehicle in this embodiment as an example, and includes the following steps:
step S101: acquiring music information of playing music in a music control mode;
it should be noted that, in the active suspension of the vehicle, the stiffness and damping characteristics of the suspension system can be dynamically and adaptively adjusted according to the driving conditions of the vehicle (the motion state of the vehicle, the road surface condition, etc.), so that the suspension system is always in the optimal vibration damping state, and the vehicle can achieve the optimal driving smoothness, steering stability and riding comfort. Here, when the user in the vehicle needs to start the music control mode, the user may operate the soft switch in the vehicle by turning on, or may directly input a voice command to the vehicle. The user can directly play music through an application program installed in the car, and can also play music in a mode of connecting the Bluetooth with a mobile terminal such as a smart phone. In the music playing process, the car machine CAN monitor the music playing start, the music playing end, the music beat information and the like, and transmit the music playing start, the music playing end and the music beat information to the CAN bus. And under the music control mode, the active suspension controller of the vehicle reads the music playing start, music playing end and music beat information from the CAN bus. It should be noted that, because the frequency of the audio file playing music is very high, compared with the very low motion frequency of the active suspension of the vehicle, the active suspension of the vehicle and the audio file playing music cannot be directly related, that is, the active suspension controller of the vehicle does not need to acquire the whole audio file playing music, and only needs to acquire the state signals of the start and end of playing the audio file and the music beat information.
In one embodiment, before acquiring the music information of the music being played in the music control mode, the method further includes: and after a starting state signal for playing music is acquired, sending the preset shaking control instruction to an active suspension actuator of the vehicle, so that the active suspension actuator of the vehicle controls the vehicle to start shaking according to a preset waveform. Specifically, after a user selects a music starting control mode on a vehicle machine and selects music to be played, the vehicle machine transmits a starting state signal for playing the music to a CAN bus, and after an active suspension controller of a vehicle acquires the starting state signal for playing the music, the active suspension controller of the vehicle sends the preset shaking control instruction to an active suspension actuator of the vehicle, so that the active suspension actuator of the vehicle controls the vehicle to start shaking according to a preset waveform, and the user feels that the vehicle shakes.
In one embodiment, before acquiring the music information of the music being played in the music control mode, the method further includes: acquiring current state information of the vehicle; judging whether the current state of the vehicle is suitable for starting a music control mode or not according to the current state information of the vehicle; and when the current state of the vehicle is determined to be suitable for starting the music control mode, switching the control logic to the music control mode, and executing the step of acquiring the music information of the music being played.
Here, the active suspension controller of the vehicle may further acquire current state information of the vehicle, which is used to represent a current state of the vehicle, such as whether the vehicle is in high-speed driving, whether the vehicle is turning, or the like, before acquiring music information that music is being played in the music control mode. The current state information of the vehicle includes at least one of: steering wheel information, lateral acceleration information, vehicle speed information. And acquiring whether the vehicle is turning or running straight according to the steering wheel information, and acquiring whether the vehicle is running at a high speed or the like according to the lateral acceleration information and the vehicle speed information. Judging whether the current state of the vehicle is suitable for starting a music control mode or not according to the current state information of the vehicle, switching a control logic to the music control mode when the current state of the vehicle is determined to be suitable for starting the music control mode, and reading music information playing music instead of analyzing the current state information of the vehicle on a CAN bus by an active suspension controller of the vehicle at the moment.
In an embodiment, the method may further comprise: and sending a preset prompting message when the current state of the vehicle is determined not to be suitable for starting the music control mode, wherein the preset prompting message is used for prompting the failure of starting the music control mode for the user. Specifically, when the active suspension controller of the vehicle determines that the current state of the vehicle is not suitable for starting the music control mode according to the current state information of the vehicle, a preset prompt message is sent out to prompt a user that the music control mode is failed to be started, namely, although the user selects to switch to the music control mode, the vehicle does not execute the music control mode. For example, if it is found that the vehicle is running at a high speed according to the current state information of the vehicle, it is determined that the current state of the vehicle is not suitable for starting the music control mode, the vehicle still maintains the original vehicle control mode, and at this time, the active suspension controller of the vehicle still keeps analyzing the current state information of the vehicle on the CAN bus, and sends out a preset prompt message, where the preset prompt message may be a text prompt message and/or a voice prompt message, for example, the preset prompt message may be "the current state of the vehicle is not suitable for starting the music control mode". Therefore, only when the current state of the vehicle is determined to be suitable for starting the music control mode, the control logic is switched to the music control mode, otherwise, the vehicle still maintains the original vehicle control mode, so that the vehicle is controlled to shake according to the music only in the vehicle state suitable for starting the music control mode, and the driving safety and the vehicle safety of a user are further improved.
Step S102: generating a target shaking control instruction according to the music information of the music being played and a preset shaking control instruction; the shaking control instruction is used for controlling the vehicle to shake according to a preset waveform;
it will be appreciated that the user requires a vehicle roll motion and does not require a particularly odd roll pattern, which is otherwise uncomfortable and difficult to control. Therefore, the control command waveform with comfortable body feeling can be preset and stored in the active suspension controller of the vehicle as the preset shaking control command of the active suspension of the vehicle. In one embodiment, the music information of the playing music comprises music tempo information of the playing music; the generating of the target shaking control instruction according to the music information of the music being played and the preset shaking control instruction comprises: and adjusting the frequency of a preset waveform according to the music beat information of the music being played, and generating a target shaking control instruction according to the adjusted preset waveform.
It should be noted that, due to the characteristics of the actual road surface and the power of the vehicle shake actuator, the movement frequency of the vehicle shake actuator usually does not exceed 30Hz, while the frequency of music is usually greater than 100Hz or even thousands of Hz, so that it is not feasible to directly use the music signal as the control signal of the vehicle shake actuator. Here, the adjusting of the frequency of the preset waveform according to the music beat information of the playing music, that is, the adjusting of the speed of the shaking of the active suspension of the vehicle, needs to be consistent with the music beat information of the playing music, the active suspension controller of the vehicle reads the beat information generated by the music playing through the CAN bus, adjusts the frequency of the preset waveform according to the music beat information of the playing music, and generates the target shaking control command according to the adjusted preset waveform.
In one embodiment, the generating a target shaking control instruction according to the music information of the music being played and a preset shaking control instruction includes: acquiring shaking amplitude adjustment information input by a user; and adjusting the amplitude of a preset waveform according to the shaking amplitude adjustment information, and generating a target shaking control instruction according to the adjusted preset waveform.
Specifically, in order to meet different requirements of different users on the shaking amplitude of the active suspension of the vehicle, a user input knob can be added in the vehicle, and the user can adjust the shaking amplitude of the active suspension of the vehicle according to needs. And the active suspension controller of the vehicle acquires shaking amplitude adjustment information input by a user through the knob, the shaking amplitude adjustment information is used as shaking amplitude control information of the active suspension of the vehicle, the amplitude of a preset waveform is adjusted according to the shaking amplitude adjustment information, and a target shaking control instruction is generated according to the adjusted preset waveform. Therefore, the user can adjust the preset waveform of the shaking control instruction of the vehicle active suspension according to the requirement of the user, and the user use experience is further improved.
Step S103: sending the target shaking control instruction to an active suspension actuator of the vehicle so as to enable the active suspension actuator of the vehicle to control the vehicle to shake according to the music information of the music being played.
Specifically, the active suspension controller of the vehicle sends the target shaking control instruction generated in step S102 to the active suspension actuator of the vehicle, so that the active suspension actuator of the vehicle executes the target shaking control instruction to control the vehicle to shake according to the music information of the music being played.
In summary, in the vehicle control method provided in the above embodiment, the active suspension controller of the vehicle acquires music information of music being played in a music control mode, generates a target sway control instruction according to the music information of the music being played and a preset sway control instruction, and sends the target sway control instruction to the active suspension actuator of the vehicle, so that the active suspension actuator of the vehicle controls the vehicle to sway according to the music information of the music being played, the implementation process is simple, the vehicle safety is not affected, and the user experience is improved.
In one embodiment, after the sending the target shaking control instruction to the active suspension actuator of the vehicle to cause the active suspension actuator of the vehicle to control the vehicle to shake according to the music information of the music being played, the method further includes: acquiring state change information of the vehicle; and correcting the target shaking control command according to the state change information of the vehicle, and sending the corrected target shaking control command to an active suspension actuator of the vehicle.
It is understood that after the active suspension actuator of the vehicle controls the vehicle to roll according to the target roll control command, the current state of the vehicle changes accordingly. The active suspension controller of the vehicle acquires the state change information of the vehicle, and the state change information can be obtained by that an active suspension actuator of the vehicle controls the shaking of the vehicle to be detected by an active suspension sensor and fed back to the active suspension controller. And the active suspension controller corrects the target shaking control instruction according to the state change information of the vehicle, sends the corrected target shaking control instruction to an active suspension actuator of the vehicle, and controls the active suspension actuator to work again, so that closed-loop control is realized. Therefore, the target shaking control instruction is corrected in real time according to the state change information of the vehicle and is sent to the active suspension actuator of the vehicle, and the use experience of a user is further improved.
In an embodiment, the method may further comprise: and exiting the music control mode when the vehicle is determined to be not suitable for continuously starting the music control mode or a stop state signal for playing music is acquired according to the state change information of the vehicle.
Here, during the process of turning on the music control mode, the active suspension controller of the vehicle constantly monitors the state of the vehicle to determine whether the current state of the vehicle is suitable for turning on the music control mode, and if it is determined that the vehicle is not suitable for continuing to turn on the music control mode according to the state change information of the vehicle, the active suspension controller of the vehicle exits from the music control mode and timely switches back to the vehicle control mode. In addition, the active suspension controller of the vehicle acquires a music playing state signal from the CAN bus in real time, and if the music playing stop state signal is acquired, the active suspension controller stops sending a target shaking control instruction to the active suspension actuator of the vehicle, exits the music control mode, and switches back to the vehicle control mode in time. Thus, the driving safety and the vehicle safety of the user are further improved.
Based on the same inventive concept of the foregoing embodiments, the present embodiment describes technical solutions of the foregoing embodiments in detail through specific examples. Fig. 2 is a schematic diagram illustrating a principle of a vehicle control method according to an embodiment of the present invention, and referring to fig. 2, after an operator selects a music swing mode on a vehicle machine of a vehicle and selects music, the operator starts playing the music, and feels music sound fed back by the vehicle machine. Meanwhile, the car machine sends state signals of music playing start and music playing end to the CAN bus, the active suspension controller sends preset shaking control signals to the active suspension actuator after obtaining the state signals of music playing start, and the active suspension actuator pushes the car to start shaking according to the preset shaking control signals, so that an operator feels that the car shakes. An active suspension controller of the vehicle simultaneously receives the music beat value and a signal of manually adjusting the shaking amplitude by an operator, and adjusts the frequency and the amplitude of the shaking control signal sent to the active suspension actuator in real time.
In this embodiment, taking the music control mode as a music swing mode as an example, fig. 3 is a specific flowchart of a vehicle control method provided in an embodiment of the present invention, which includes the following steps:
step S201: receiving a command for starting a music swing mode;
here, when the user in the vehicle needs to turn on the music swing mode, the user may turn on a soft switch in the vehicle to operate the music swing mode, or may directly input a voice command to the vehicle. After receiving the music swing mode starting instruction, the vehicle machine sends the music swing mode starting instruction to the CAN bus, and an active suspension controller of the vehicle CAN acquire the music swing mode starting instruction from the CAN bus.
Step S202: judging whether the current state of the vehicle is suitable for starting a music swing mode, if so, executing a step S203, otherwise, executing a step S204;
here, after the active suspension controller of the vehicle receives the command to start the music rocking mode, the current state information of the vehicle, which is used to represent the current state of the vehicle, such as whether the vehicle is in high-speed driving, whether the vehicle is turning, etc., may also be acquired. The current state information of the vehicle includes at least one of: steering wheel information, lateral acceleration information, vehicle speed information. If the current state of the vehicle is determined to be suitable for starting the music rocking mode, step S203 is executed, otherwise step S204 is executed.
Step S203: switching to a music rocking mode;
here, when it is determined that the current state of the vehicle is suitable for the music rocking mode to be turned on, the control logic is switched to the music rocking mode, and at this time, the active suspension controller of the vehicle does not analyze the current state information of the vehicle on the CAN bus any more, but reads the music information of the music being played.
Step S204: maintaining the vehicle control mode;
here, when it is determined that the current state of the vehicle is not suitable for starting the music sway mode, the control logic is kept in the vehicle control mode, and at this time, the active suspension controller of the vehicle still keeps analyzing the current state information of the vehicle on the CAN bus and sends out a preset prompting message, wherein the preset prompting message is used for prompting a user that the music sway mode fails to be started.
Step S205: reading a music state signal on the CAN bus;
here, after the active suspension controller of the vehicle switches the control logic to the music rocking mode, the music status signal on the CAN bus is read, and the music status signal is used for representing the starting or ending state of music playing.
Step S206: judging whether music playing starts or not;
here, it is determined whether music playing is started or not according to the music status signal acquired in step S205, if so, step S207 is performed, otherwise, step S204 is performed.
Step S207: adjusting a preset shaking instruction according to the music signal;
here, a control command waveform for feeling comfortable may be preset to be stored in an active suspension controller of the vehicle as a preset sway command of an active suspension of the vehicle. After music begins to play, music beat information of the music being played is obtained, and the frequency of a preset waveform is adjusted according to the music beat information of the music being played, namely the shaking speed of an active suspension of a vehicle is adjusted. In addition, in order to meet different requirements of different users on the shaking amplitude of the active suspension of the vehicle, a user input knob can be added in the vehicle, and the user can adjust the shaking amplitude of the active suspension of the vehicle according to the requirements. And the active suspension controller of the vehicle acquires shaking amplitude adjustment information input by a user through the knob, the shaking amplitude adjustment information is used as shaking amplitude control information of the active suspension of the vehicle, and the amplitude of a preset waveform is adjusted according to the shaking amplitude adjustment information.
Step S208: and issuing an adjusted preset shaking instruction to an active suspension actuator to control the vehicle to shake.
Here, the active suspension actuator of the vehicle receives the adjusted preset shaking command sent by the active suspension controller to control the vehicle to shake according to music.
In addition, the active suspension controller of the vehicle can also acquire the state change information of the vehicle, modify the shake control command according to the state change information of the vehicle, send the modified shake control command to the active suspension actuator of the vehicle, and control the active suspension actuator of the vehicle to work again. In the process of controlling the vehicle to shake through music, the active suspension controller of the vehicle constantly monitors the state of the vehicle, judges whether the current state of the vehicle is suitable for starting the music shaking mode, exits from the music shaking mode and is switched back to the vehicle control mode in time if the fact that the vehicle is not suitable for continuously starting the music shaking mode is determined according to the state change information of the vehicle, and therefore safety of the vehicle is guaranteed.
In summary, after the user selects to start the music sway mode, the vehicle automatically detects the current state of the vehicle, and if it is determined that the current state of the vehicle is not suitable for starting the music sway mode, for example, if the vehicle is found to be running at a high speed, a prompt message is sent out, and the vehicle still maintains the original vehicle control mode; if it is determined that the current state of the vehicle is suitable for initiating the music rocking mode, the active suspension controller of the vehicle switches the control logic to the music rocking mode. After the active suspension controller reads a starting state signal of playing music on the CAN bus, a preset shaking instruction is sent to the active suspension actuator, and the active suspension actuator pushes the vehicle to shake left and right. The active suspension controller adjusts a preset shaking instruction according to the acquired music beat information of the music being played and sends the preset shaking instruction to the active suspension actuator, and the active suspension actuator controls the vehicle to shake according to the received adjusted preset shaking instruction. And if the active suspension controller reads the ending state signal of the music played on the CAN bus, stopping sending the shaking control command to the active suspension actuator, and switching the active suspension controller back to the vehicle control mode. In the process of executing the music swing mode, the active suspension controller continuously reads signals of the swing frequency and amplitude on the CAN bus and is used for correcting the frequency and amplitude of the swing control command waveform. The active suspension controller corrects a target shaking control instruction according to the state change information of the vehicle, sends the corrected target shaking control instruction to the active suspension actuator of the vehicle, and controls the active suspension actuator to work again, so that closed-loop control is realized. And in the whole process, the active suspension controller of the vehicle monitors the state of the vehicle all the time, judges whether the current state of the vehicle is suitable for starting the music swinging mode or not, exits from the music swinging mode and switches back to the vehicle control mode in time if the vehicle is determined to be unsuitable for continuously starting the music swinging mode according to the state change information of the vehicle. Therefore, the purpose of controlling the vehicle to shake through music is achieved on the premise that the safety of the vehicle is not affected, and the use experience of a user is improved.
Based on the same inventive concept as the foregoing embodiment, an embodiment of the present invention provides a vehicle control apparatus, as shown in fig. 4, including: a processor 110 and a memory 111 for storing computer programs capable of running on the processor 110; the processor 110 illustrated in fig. 4 is not used to refer to the number of the processors 110 as one, but is only used to refer to the position relationship of the processor 110 relative to other devices, and in practical applications, the number of the processors 110 may be one or more; similarly, the memory 111 illustrated in fig. 4 is also used in the same sense, that is, it is only used to refer to the position relationship of the memory 111 relative to other devices, and in practical applications, the number of the memory 111 may be one or more. The processor 110 is configured to implement the vehicle control method applied to the vehicle control apparatus when the computer program is executed.
The vehicle control apparatus may further include: at least one network interface 112. The various components of the vehicle control device are coupled together by a bus system 113. It will be appreciated that the bus system 113 is used to enable communications among the components. The bus system 113 includes a power bus, a control bus, and a status signal bus in addition to the data bus. For clarity of illustration, however, the various buses are labeled as bus system 113 in FIG. 4.
The memory 111 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory 111 described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The memory 111 in the embodiment of the invention is used to store various types of data to support the operation of the vehicle control apparatus. Examples of such data include: any computer program for operating on the vehicle control device, such as operating systems and application programs; contact data; telephone book data; a message; a picture; video, etc. The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs may include various application programs such as a Media Player (Media Player), a Browser (Browser), etc. for implementing various application services. Here, the program that implements the method of the embodiment of the present invention may be included in an application program.
Based on the same inventive concept of the foregoing embodiments, this embodiment further provides a computer storage medium, where a computer program is stored in the computer storage medium, where the computer storage medium may be a Memory such as a magnetic random access Memory (FRAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash Memory (flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read Only Memory (CD-ROM), and the like; or may be a variety of devices including one or any combination of the above memories, such as a mobile phone, computer, tablet device, personal digital assistant, etc. The computer program stored in the computer storage medium implements the vehicle control method applied to the above-described vehicle control apparatus when executed by a processor. Please refer to the description of the embodiment shown in fig. 1 for a specific step flow realized when the computer program is executed by the processor, which is not described herein again.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A vehicle control method is applied to an active suspension controller of a vehicle, and is characterized by comprising the following steps:
acquiring music information of playing music in a music control mode;
generating a target shaking control instruction according to the music information of the music being played and a preset shaking control instruction; the shaking control instruction is used for controlling the vehicle to shake according to a preset waveform;
sending the target shaking control instruction to an active suspension actuator of the vehicle so as to enable the active suspension actuator of the vehicle to control the vehicle to shake according to the music information of the music being played.
2. The vehicle control method according to claim 1, before acquiring music information that music is being played in the music control mode, further comprising:
and after a starting state signal for playing music is acquired, sending the preset shaking control instruction to an active suspension actuator of the vehicle, so that the active suspension actuator of the vehicle controls the vehicle to start shaking according to a preset waveform.
3. The vehicle control method according to claim 1, before acquiring music information that music is being played in the music control mode, further comprising:
acquiring current state information of the vehicle;
judging whether the current state of the vehicle is suitable for starting a music control mode or not according to the current state information of the vehicle;
and when the current state of the vehicle is determined to be suitable for starting the music control mode, switching the control logic to the music control mode, and executing the step of acquiring the music information of the music being played.
4. The vehicle control method according to claim 1, wherein the music information that music is being played includes music tempo information that music is being played; the generating of the target shaking control instruction according to the music information of the music being played and the preset shaking control instruction comprises:
and adjusting the frequency of a preset waveform according to the music beat information of the music being played, and generating a target shaking control instruction according to the adjusted preset waveform.
5. The vehicle control method according to claim 1, wherein the generating of the target shake control instruction according to the music information of the music being played and a preset shake control instruction includes:
acquiring shaking amplitude adjustment information input by a user;
and adjusting the amplitude of a preset waveform according to the shaking amplitude adjustment information, and generating a target shaking control instruction according to the adjusted preset waveform.
6. The vehicle control method according to claim 1, characterized by further comprising:
and sending a preset prompting message when the current state of the vehicle is determined not to be suitable for starting the music control mode, wherein the preset prompting message is used for prompting the failure of starting the music control mode for the user.
7. The vehicle control method according to claim 1, wherein after the sending of the target sway control instruction to an active suspension actuator of the vehicle to cause the active suspension actuator of the vehicle to control the vehicle to sway in accordance with the music information of the music being played, further comprising:
acquiring state change information of the vehicle;
and correcting the target shaking control command according to the state change information of the vehicle, and sending the corrected target shaking control command to an active suspension actuator of the vehicle.
8. The vehicle control method according to claim 7, characterized by further comprising:
and exiting the music control mode when the vehicle is determined to be not suitable for continuously starting the music control mode or a stop state signal for playing music is acquired according to the state change information of the vehicle.
9. A vehicle control apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the vehicle control method according to any one of claims 1 to 8 are implemented when the processor executes the computer program.
10. A computer storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the vehicle control method according to any one of claims 1 to 8.
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