CN116353482A

CN116353482A - Method and device for generating vehicle sound waves, vehicle and storage medium

Info

Publication number: CN116353482A
Application number: CN202310316565.XA
Authority: CN
Inventors: 刘安昱; 张涵诣
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2023-03-28
Filing date: 2023-03-28
Publication date: 2023-06-30

Abstract

The present disclosure relates to a method, a device, a vehicle and a storage medium for generating vehicle sound waves, wherein the method comprises: the method comprises the steps of obtaining request torque information and motor rotating speed information of a vehicle in a running state, determining loudness information of simulated sound waves according to vehicle type information and request torque information of the vehicle, determining frequency information of the simulated sound waves according to the vehicle type information and the motor rotating speed information, determining tone information of the simulated sound waves according to the vehicle type information, and generating the simulated sound waves according to the loudness information, the frequency information and the tone information. The loudness of the simulated sound waves is determined according to the request torque, the frequency of the simulated sound waves is determined according to the motor rotation speed, the tone of the simulated sound waves is determined according to the type of the vehicle, and the simulated sound waves of the vehicle are generated according to the loudness, the frequency and the tone. The simulated sound waves of the vehicle are tightly combined with the current working condition of the vehicle, so that the driving experience of the user is improved, and the driving safety of the user is facilitated.

Description

Method and device for generating vehicle sound waves, vehicle and storage medium

Technical Field

The disclosure relates to the technical field of vehicle sound simulation, and in particular relates to a method and a device for generating vehicle sound waves, a vehicle and a storage medium.

Background

When the vehicle is in a running state, all parts of the vehicle do work mutually, so that the vehicle makes sound to form specific sound waves of the vehicle, such as wind breaking sound formed by friction between air and the vehicle in the running process, bombing sound caused by fuel explosion in an engine, friction sound when all mechanical parts conduct power, and the like. In the related art, noise components in a vehicle can be subjected to sound insulation treatment based on the consideration of driving experience in the vehicle assembly process so as to reduce the vehicle noise in a driving space, but in the use process of a user, the vehicle sound waves can increase the driving pleasure of the user, meanwhile, the vehicle sound waves can reflect the working condition of the vehicle in the driving process, the vehicle state is favorably judged by the user, the sensitivity of the user to the vehicle is reduced due to the removal of the vehicle sound waves, and the driving safety of the user is not favorably realized.

Disclosure of Invention

In order to overcome the problems in the related art, the present disclosure provides a method, an apparatus, a vehicle, and a storage medium for generating vehicle sound waves.

According to a first aspect of an embodiment of the present disclosure, there is provided a method for generating vehicle sound waves, including:

acquiring request torque information and motor rotation speed information of the vehicle in a running state;

determining loudness information of simulated sound waves according to vehicle type information of the vehicle and the request torque information;

determining frequency information of the simulated sound waves according to the vehicle type information and the motor rotating speed information;

according to the vehicle type information, determining tone information of the simulated sound waves;

and generating the simulated sound waves according to the loudness information, the frequency information and the tone information.

Optionally, the determining the frequency information of the simulated sound waves according to the vehicle type information and the motor rotation speed information includes:

determining a first linear relationship between motor speed and frequency of the vehicle according to the vehicle type information;

and determining the frequency information according to the motor rotation speed information and the first linear relation.

Optionally, the generating the simulated sound waves according to the loudness information, the frequency information and the timbre information includes:

determining a frequency conversion coefficient according to the vehicle type information and the frequency information under the condition that the frequency information exceeds the capturing frequency range of the human ear to the sound;

determining target frequency information of the simulated sound waves according to the frequency conversion coefficient and the frequency information;

and generating the simulated sound waves according to the loudness information, the target frequency information and the tone information.

Optionally, the determining the loudness information of the simulated sound waves according to the vehicle type information of the vehicle and the requested torque information includes:

determining a second linear relationship between the requested torque and loudness of the vehicle according to the vehicle type information;

and determining the loudness information according to the request torque information and the second linear relation.

Optionally, the acquiring the request torque information of the vehicle in the running state includes:

acquiring the opening degree of an accelerator pedal and running parameter information of the vehicle in the running state, wherein the running parameter information comprises vehicle speed information, steering wheel corner information and driving mode information;

and determining the request torque information according to the opening degree of the accelerator pedal and the driving parameter information.

Optionally, the determining the requested torque information according to the accelerator pedal opening and the driving parameter information includes:

determining road condition information of the vehicle in the running state according to the running parameter information;

and determining the request torque information according to the road condition information and the opening degree of the accelerator pedal.

According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle sound wave generating apparatus including:

an acquisition module configured to acquire request torque information and motor rotation speed information of the vehicle in a running state;

a first determination module configured to determine loudness information of simulated sound waves according to vehicle type information of the vehicle and the requested torque information;

a second determining module configured to determine frequency information of the simulated sound waves according to the vehicle type information and the motor rotation speed information;

a third determining module configured to determine tone information of the simulated sound waves according to the vehicle type information;

and the generation module is configured to generate the simulated sound waves according to the loudness information, the frequency information and the tone information.

Optionally, the second determining module is configured to:

According to a third aspect of embodiments of the present disclosure there is provided a vehicle comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method for generating vehicle sound waves provided by the first aspect of the present disclosure.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

by the method, the request torque information and the motor rotating speed information of the vehicle in the running state are obtained, the loudness information of the simulated sound waves is determined according to the vehicle type information and the request torque information of the vehicle, the frequency information of the simulated sound waves is determined according to the vehicle type information and the motor rotating speed information, the tone information of the simulated sound waves is determined according to the vehicle type information, and the simulated sound waves are generated according to the loudness information, the frequency information and the tone information. The loudness of the simulated sound waves is determined according to the request torque, the frequency of the simulated sound waves is determined according to the motor rotation speed, the tone of the simulated sound waves is determined according to the type of the vehicle, and the simulated sound waves of the vehicle are generated according to the loudness, the frequency and the tone. The simulated sound waves of the vehicle are tightly combined with the current working condition of the vehicle, so that the driving experience of the user is improved, and the driving safety of the user is facilitated.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a flowchart illustrating a method of generating a vehicle sound wave according to an exemplary embodiment.

Fig. 2 is an exemplary diagram illustrating a change in the loudness of sound of a vehicle according to an exemplary embodiment.

Fig. 3 is an exemplary diagram illustrating a change in the frequency of a vehicle wave according to an exemplary embodiment.

FIG. 4 is a flowchart illustrating a method of determining a requested torque, according to an exemplary embodiment.

Fig. 5 is a block diagram illustrating a vehicle sound wave generation apparatus according to an exemplary embodiment.

FIG. 6 is a block diagram of a vehicle, according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

It should be noted that, all actions for acquiring signals, information or data in the present application are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

In the related art, there are more and more "silent vehicles", such as fuel vehicles or pure electric vehicles, which have a good sound insulation effect, and for the sound wave simulation of the "silent vehicles", the performance of sound waves in the vehicle is generally controlled according to the opening degree of an accelerator and other information (such as the vehicle speed). However, when the opening of the accelerator pedal is used as a reference index, the current working condition of the vehicle cannot be reflected in real time by the sound waves in the vehicle. For example, the same throttle size, the vehicle conditions should be different when the vehicle is ascending and descending, and the vehicle waves should be inconsistent. However, when the vehicle is ascending and descending on the basis of the accelerator pedal opening as a reference index, the vehicle sound wave generated by simulation is the same as long as the accelerator is the same. The simulated sound waves are inconsistent with the actual industrial control of the vehicle, so that the motor does more work and the sound should be thicker when the vehicle goes up a slope under the actual condition. Therefore, the simulated sound waves based on the opening degree of the accelerator pedal cannot truly reflect the state of the vehicle, so that the state of the vehicle to the driver cannot be judged through hearing, and further the user cannot feel fit, and even danger occurs.

In view of this, the present disclosure provides a method for generating vehicle sound waves, and fig. 1 is a flowchart illustrating a method for generating vehicle sound waves according to an exemplary embodiment, and the method is used in a vehicle terminal, as shown in fig. 1, and includes the following steps.

In step S101, requested torque information and motor rotation speed information of the vehicle in a running state are acquired.

It is worth mentioning that the present embodiment is applicable to an electric vehicle, which may be a pure electric vehicle or a hybrid electric vehicle, equipped with vehicle terminals for controlling various components in the electric vehicle and collecting relevant operation parameters of the various components. In this embodiment, the vehicle terminal collects the request torque information and the motor rotation speed information of the vehicle in the current running state, where the motor rotation speed information may be collected through a rotation speed sensor disposed on the motor, and the motor rotation speed information obtained by the rotation speed sensor is sent to the vehicle terminal; the request torque information can be determined by the related operation parameters such as the opening degree of an accelerator pedal, the opening degree of a brake pedal, the rotation angle of a current steering wheel, the current gear and the like in the current running state of the vehicle. It should be noted that, in the running process of the vehicle, the main sound source of the vehicle sound wave comes from the sound caused by the fuel explosion in the engine, and the fuel explosion in the engine is used for providing torque for the engine to rotate, so that the vehicle is driven to run according to the related mechanical transmission assembly, and therefore the torque information and the rotation speed information of the engine can directly reflect the vehicle sound wave. The embodiment is applied to an electric vehicle, the electric vehicle is used for providing power for the vehicle by replacing an engine with an electric motor, and based on the same vehicle sound wave principle, the simulated sound wave of the vehicle can be determined according to the request torque information and the motor rotation speed information.

In step S102, loudness information of the simulated sound waves is determined from vehicle type information and requested torque information of the vehicle.

It is worth mentioning that the sound waves under the same operation parameters are different for different vehicle types, for example, when the vehicle type is a household car, the sound waves under the same request torque are softer based on the practicality of the car; when the vehicle type is a heavy truck, the truck needs more power, so the sound waves based on the same request torque are louder; when the vehicle type is a sports car, horsepower of the sports car is generally sufficient, and sound waves based on the same request torque are thicker; therefore, it is necessary to determine the simulated sound waves according to the type of the vehicle. For example, the vehicle type information may divide the vehicle model into vehicle types according to the vehicle wheelbase, displacement, weight and other related information of the vehicle: car model, SUV (sport/suburban utility vehicle) model, sports utility vehicle model, medium truck model, etc. In this embodiment, vehicle type information of the vehicle may be preconfigured into the vehicle terminal during the vehicle assembly process in the vehicle.

For example, a sound wave collecting device can be installed on a vehicle chassis to collect sound waves of the vehicle, and the influence of each operation parameter of the vehicle on the sound waves of the vehicle in the operation state is determined by utilizing a control variable principle. In this embodiment, the same type of vehicle is monitored for the sound waves under the normal working condition, the motor rotation speed of the vehicle under the normal running state is controlled to be unchanged, and the frequency change requests and the loudness change requests of the vehicle sound waves under different request torques are monitored. The actual sound waves of the vehicles are analyzed through a limited test, the corresponding relation between the loudness of the actual sound waves and the requested torque in the actual running process of the vehicles of the same type can be determined, and the loudness information corresponding to the current requested torque information is determined according to the corresponding relation.

Optionally, in one embodiment, step S102 includes:

loudness information is determined based on the requested torque information and the second linear relationship.

It should be noted that in the vehicle test stage in this embodiment, experiments can be performed on actual acoustic waves of different vehicle types. And determining the influence factors of actual sound waves of different vehicle types in a normal running state, and determining the corresponding relation between the sound waves corresponding to the audio frequency, the loudness and the tone and each running parameter in the vehicle based on a control variable principle. For example, in this embodiment, other operation parameters of the vehicle in a normal running state are controlled to be unchanged, and the audio change condition, the loudness change request and the tone change condition of the vehicle sound waves under different request torques are monitored by gradually adjusting the request torques. Fig. 2 is an exemplary diagram showing a change in the loudness of sound of a vehicle according to an exemplary embodiment, as shown in fig. 2, in which the abscissa represents torque information of the vehicle and the ordinate represents loudness information of the vehicle. Through fig. 2, a second linear relation between different torques and loudness in the same vehicle model can be determined, the request torque information in the current vehicle state is read, and the loudness information of the simulated sound waves in the current vehicle running state can be determined by referring to the second linear relation. It should be noted that in this embodiment, a plurality of request torques may be randomly sampled, for example, the request torques tested in the vehicle are taken as follows in fig. 2: -160, 0, 140, 290, determining, by the sound wave acquisition means, different loudness information for each requested torque, and determining, from experimental coordinate points in the coordinate system, a second linear relationship between the requested torque and the sound corresponding to the simulated sound wave. By way of example, the second linear relationship may be determined using a linear difference algorithm through a plurality of experimental coordinate points.

In step S103, frequency information of the simulated sound waves is determined based on the vehicle type information and the motor rotation speed information.

It should be noted that, in this embodiment, the influence factor of the motor rotation speed corresponding to the vehicle sound wave frequency can be determined through a limited test, so that different frequencies of the vehicle sound wave under the same request torque and different motor rotation speeds under the same vehicle model can be determined based on the control variable principle, the corresponding relation between the motor rotation speed and the sound wave frequency under the same vehicle model is established, and the frequency information of the simulated sound wave under the current motor rotation speed is determined by referring to the corresponding relation. For example, in this embodiment, the corresponding relationship between the motor rotation speed and the corresponding frequency of the simulated sound wave may be determined by referring to the above determination method of the corresponding relationship between the request torque and the sound wave loudness in step S102, and the frequency information of the simulated sound wave may be determined by referring to the corresponding relationship.

Alternatively, in another embodiment, the step S103 includes:

and determining frequency information according to the motor rotation speed information and the first linear relation.

By way of example, in this embodiment, experiments may be performed on actual acoustic waves of different vehicle models. And determining the influence factors of actual sound waves of different vehicle types in a normal running state, and determining the corresponding relation between the sound waves corresponding to the audio frequency, the loudness and the tone and each running parameter in the vehicle based on a control variable principle. For example, in this embodiment, other operation parameters of the vehicle in a normal running state are controlled to be unchanged, and the loudness change condition of the vehicle sound waves at different motor speeds is monitored by gradually adjusting the motor speeds in the vehicle. Fig. 3 is an exemplary diagram illustrating a change in a vehicle wave frequency according to an exemplary embodiment, and as shown in fig. 3, a first linear relationship between a motor speed and the wave frequency may be determined, and frequency information corresponding to the motor speed information may be determined according to the first linear relationship.

In step S104, tone color information of the simulated sound waves is determined according to the vehicle type information.

It is worth mentioning that the tone color of the vehicle is related to the vehicle type of the vehicle, and when the related configuration of the vehicle is fixed, the tone color of the actual sound waves corresponding to the vehicle remains unchanged. Therefore, in this embodiment, the sound wave collecting device may collect sound waves in the normal running state of the vehicle, so as to simulate different tone information under different vehicle types, and generate a corresponding tone mapping table. For example, in this embodiment, the tone map is referred to according to the vehicle type information, so as to determine tone information of the simulated sound waves under the current vehicle type.

In step S105, the simulated sound waves are generated from the loudness information, frequency information, and tone information.

It is worth mentioning that the simulated sound waves mainly comprise audio frequency, tone color and sound, and after the tone color information, the loudness information and the frequency information of the simulated sound waves are determined through the steps, the sound waves of the vehicle in the current running state can be simulated. The method has the advantages that the request torque information and the motor rotation speed information of the vehicle in the current running state are continuously monitored, the sound waves of the vehicle are continuously generated, the simulated sound waves are played outside the vehicle driving space or the vehicle driving space through the loudspeaker, the current running state of the vehicle can be judged after the user hears the simulated sound waves, and the user can conveniently conduct driving decisions. In this embodiment, the simulated sound waves generated by the steps are generated for the vehicle in the normal running state of each part of the vehicle, and can be used for improving the driving pleasure of the user, and can also be used for judging the current speed and the current resistance condition according to the simulated sound waves, so as to assist the user in carrying out safe driving.

Alternatively, in another embodiment, the step S105 includes:

It is worth mentioning that the vehicle sound waves are integrated sounds generated based on the vibration of the engine or other components, and therefore, when the vibration frequency is high or low, the emitted vehicle sound waves may be ultrasonic waves or infrasonic waves, resulting in that the generated simulated sound waves cannot be captured by the user. Therefore, in this embodiment, after the frequency information of the simulated sound wave is determined through the above steps, it is determined whether the frequency is in the capturing frequency range of the human ear to the sound, where the capturing frequency range is [20Hz-20000Hz ], when it is determined that the frequency information of the simulated sound wave is not in the [20Hz-20000Hz ] range, the frequency information is subjected to frequency conversion according to the frequency conversion coefficient, so as to generate the target frequency information of the simulated sound wave, where the target frequency information is in the frequency range of [20Hz-20000Hz ], and when the frequency information is greater than 20000Hz, the frequency information may be attenuated according to the frequency conversion coefficient, for example; when the frequency information is less than 20Hz, the frequency information may be gained according to the frequency conversion coefficient. And generating simulated sound waves in the current vehicle running state according to the loudness information, the target frequency information and the tone information.

Fig. 4 is a flowchart showing a method for determining a requested torque according to an exemplary embodiment, and the above-mentioned steps of "determining requested torque information according to accelerator pedal opening and traveling parameter information" include the following steps, as described in fig. 4.

In step S201, accelerator pedal opening and running parameter information of the vehicle in a running state are acquired, the running parameter information including vehicle speed information, steering wheel angle information, and driving mode information.

In step S202, the requested torque information is determined based on the accelerator pedal opening and the traveling parameter information.

For example, in this embodiment, the requested torque is a torque requested by the user from the vehicle terminal through the accelerator pedal based on the current road condition in the current running state of the vehicle. The vehicle terminal can determine the request torque information of the vehicle according to the opening degree of the accelerator pedal currently stepped on by the user and the running parameters of the current vehicle. The driving parameter information may include speed information of a current vehicle, steering wheel angle information currently operated by a user, and driving mode information. Determining initial request torque of a user through the throttle rubbing opening degree; determining a rotation torque requested by a user according to the rotation speed of the steering wheel; a torque gain factor is determined based on the driving mode. After the initial requested torque, the rotational torque, and the torque gain coefficient are determined, requested torque information of the vehicle is calculated and determined based on the current speed of the vehicle.

Optionally, in one embodiment, step S202 includes:

determining road condition information of the vehicle in a running state according to the running parameter information;

For example, the driving parameter information in this embodiment may include speed information, steering wheel angle information, and driving mode information of the current vehicle, and road condition information of the current vehicle in a driving state may be detected according to the driving parameter information. And determining road condition information as a flat road surface, a steep road surface, a slope road surface and the like. And generating current request torque information of the vehicle according to different road condition information and the current accelerator pedal opening.

By the method, the request torque of the vehicle is determined based on the accelerator opening and the current running parameters of the vehicle, so that the obtained request torque is more accurate, the frequency of the simulated sound wave is determined through the request torque, and more accurate vehicle sound wave is simulated.

Fig. 5 is a block diagram illustrating a vehicle sound wave generation apparatus according to an exemplary embodiment. Referring to fig. 5, the apparatus 100 includes: the system comprises an acquisition module 110, a first determination module 120, a second determination module 130, a third determination module 140 and a generation module 150.

An acquisition module 110 configured to acquire requested torque information and motor rotation speed information of the vehicle in a running state;

a first determining module 120 configured to determine loudness information of the simulated sound waves according to vehicle type information of the vehicle and the requested torque information;

a second determining module 130 configured to determine frequency information of the simulated sound waves according to the vehicle type information and the motor rotation speed information;

a third determining module 140 configured to determine tone information of the simulated sound waves according to the vehicle type information;

the generation module 150 is configured to generate simulated sound waves based on the loudness information, frequency information, and tone information.

Optionally, the second determining module 130 is configured to:

Optionally, the generating module 150 is configured to:

Optionally, the first determining module 120 is configured to:

Optionally, the acquiring module 110 includes:

the acquisition sub-module is configured to acquire accelerator pedal opening and running parameter information of the vehicle in a running state, wherein the running parameter information comprises vehicle speed information, steering wheel corner information and driving mode information;

and a determination sub-module configured to determine the requested torque information based on the accelerator pedal opening and the travel parameter information.

Optionally, the determining submodule is configured to:

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

The present disclosure also provides a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle acoustic wave generating method provided by the present disclosure.

Fig. 6 is a block diagram of a vehicle 600, according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

Referring to fig. 6, a vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Wherein the vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 600 may be achieved by wired or wireless means.

In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.

The perception system 620 may include several sensors for sensing information of the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.

Decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651 and memory 652, the processor 651 may execute instructions 653 stored in the memory 652.

The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.

The memory 652 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

In addition to instructions 653, memory 652 may store data such as road maps, route information, vehicle location, direction, speed, and the like. The data stored by memory 652 may be used by computing platform 650.

In an embodiment of the present disclosure, the processor 651 may execute the instructions 653 to perform all or part of the steps of the method for generating vehicle waves described above.

In another exemplary embodiment, a computer program product is also provided, comprising a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described method of generating vehicle waves when executed by the programmable apparatus.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of generating a vehicle sound wave, comprising:

2. The generating method according to claim 1, wherein the determining the frequency information of the simulated sound wave based on the vehicle type information and the motor rotation speed information includes:

3. The method of generating of claim 1, wherein the generating the simulated sound waves from the loudness information, the frequency information, and the timbre information comprises:

4. The generating method according to claim 1, wherein the determining loudness information of the simulated sound wave from the vehicle type information of the vehicle and the requested torque information includes:

5. The generation method according to claim 1, wherein the acquiring the requested torque information of the vehicle in the running state includes:

6. The generating method according to claim 5, wherein the determining the requested torque information based on the accelerator pedal opening and the running parameter information includes:

7. A vehicle sound wave generating apparatus, comprising:

8. The generating device of claim 7, wherein the second determining module is configured to:

9. A vehicle, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

10. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1-6.