CN108520140A - A kind of modification method, device and the electric vehicle of the pre- torque of motor - Google Patents
A kind of modification method, device and the electric vehicle of the pre- torque of motor Download PDFInfo
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Abstract
The present invention provides a kind of modification method of the pre- torque of motor, device and electric vehicle, solve the problems, such as how to control the automobile shake in starting operating mode.The present invention modification method include：According to the relationship between the tachometer value for presetting multiple rotating speed sampled points, wobble information of the electric vehicle in the operating mode that starts to walk is obtained；When determining that the electric vehicle is shaken under the operating mode that starts to walk according to the wobble information, according to predetermined torque increment, processing is modified to the pre- torque of motor.The embodiment of the present invention inhibits shake of the automobile under the operating mode that starts to walk, and then inhibit vehicle shake, improves the riding comfort of user by increasing the pre- torque of motor.
Description
Technical field
The present invention relates to electric vehicle engineering field more particularly to modification method, device and the electricity of a kind of pre- torque of motor
Electrical automobile.
Background technology
In face of increasingly severe energy and environment problem, the energy saving hot spot for just becoming current research with new-energy automobile.Make
For energy saving and new-energy automobile one kind, pure electric automobile has emission-free discharge, energy efficiency height, noise in the process of moving
The multiple advantages such as low, recoverable energy, therefore pure electric automobile is greatly developed to energy security, environmental protection with great
Meaning.
At present during automobile research, the problem of vehicle is shaken often occurs, and the reason of vehicle shake has very much,
A portion shake reason concentrates under specific operation (starting shake), that is, is starting to walk to shake under operating mode, reducing and use
The riding comfort at family.
Invention content
The purpose of the present invention is to provide a kind of modification method of the pre- torque of motor, device and electric vehicles, to solve
The problem of how the automobile shake in starting operating mode being controlled.
To achieve the goals above, the present invention provides a kind of modification methods of the pre- torque of motor, are applied to electric vehicle,
Including：
According to the relationship between the tachometer value for presetting multiple rotating speed sampled points, electric vehicle trembling in the operating mode that starts to walk is obtained
Dynamic information；
When determining that the electric vehicle is shaken under the operating mode that starts to walk according to the wobble information, according to predetermined torque
Increment is modified processing to the pre- torque of motor.
Wherein, the basis presets the relationship between the tachometer value of multiple rotating speed sampled points, obtains electric vehicle and is starting to walk
The step of wobble information in operating mode, including：
According to the relationship between the tachometer value for presetting multiple rotating speed sampled points, rotating speed extreme value within a preset period of time is obtained
Occurrence number；
When the occurrence number of rotating speed extreme value is more than preset times, therewith according to the rotating speed extreme value and preset rotation speed threshold value
Between relationship, obtain the wobble information.
Wherein, the rotating speed extreme value includes rotating speed maximum and rotating speed minimum, it is described according to the rotating speed extreme value with it is pre-
If rotary speed threshold value and between relationship, the step of obtaining the wobble information, including：
Each rotating speed maximum and each rotating speed minimum are compared with preset rotation speed threshold value respectively, obtained
To comparison result；
According to the comparison result, the wobble information is obtained.
Wherein, described according to the comparison result, the step of obtaining the wobble information, including：
According to the comparison result, determine that each rotating speed maximum and each rotating speed minimum are all higher than institute
When stating preset rotation speed threshold value, determine that the electric vehicle is starting to walk to shake in operating mode, otherwise, it determines the electric vehicle exists
It is not shaken in starting operating mode.
Wherein, described according to predetermined torque increment, the step of processing is modified to motor pre- torque, including：
The pre- torque of motor is added into predetermined torque increment, obtains the pre- torque of revised motor.
Wherein, above-mentioned modification method further includes：
According to the pre- torque of revised motor, jitter conditions of the electric vehicle under the operating mode that starts to walk are redefined；
When determining that the electric vehicle is shaken under the operating mode that starts to walk, according to predetermined torque increment, again to institute
It states the pre- torque of revised motor and is modified processing.
To achieve the goals above, the embodiment of the present invention additionally provides a kind of correcting device of the pre- torque of motor, is applied to
Electric vehicle, including：
Acquisition module, for according to the relationship between the tachometer value for presetting multiple rotating speed sampled points, obtaining electric vehicle and existing
Wobble information in the operating mode that starts to walk；
First processing module, for determining that the electric vehicle starting to walk to tremble under operating mode according to the wobble information
When dynamic, according to predetermined torque increment, processing is modified to the pre- torque of motor.
Wherein, the acquisition module includes：
First acquisition submodule, for according to the relationship between the tachometer value for presetting multiple rotating speed sampled points, obtaining pre-
If the occurrence number of rotating speed extreme value in the period；
Second acquisition submodule, when for the occurrence number in rotating speed extreme value more than preset times, then according to the rotating speed
Extreme value and preset rotation speed threshold value and between relationship, obtain the wobble information.
Wherein, second acquisition submodule includes：
Comparing unit, for will each rotating speed maximum and each rotating speed minimum respectively with preset rotation speed threshold
Value is compared, and obtains comparison result；
Acquiring unit, for according to the comparison result, obtaining the wobble information.
Wherein, the acquiring unit is used to according to the comparison result, determine each rotating speed maximum and each
When the rotating speed minimum is all higher than the preset rotation speed threshold value, determine that the electric vehicle is starting to walk to shake in operating mode,
Otherwise, it determines the electric vehicle is starting to walk not shake in operating mode.
Wherein, the first processing module is used to the pre- torque of motor adding predetermined torque increment, obtains revised
The pre- torque of motor.
Wherein, the correcting device of the pre- torque of above-mentioned motor further includes：
Determining module, for according to the pre- torque of revised motor, redefining the electric vehicle under the operating mode that starts to walk
Jitter conditions；
Second processing module, for when determining that the electric vehicle is shaken under the operating mode that starts to walk, according to default
Torque increase is modified processing to the revised pre- torque of motor again.
To achieve the goals above, the embodiment of the present invention additionally provides a kind of electric vehicle, including motor as described above
The correcting device of pre- torque.
To achieve the goals above, the embodiment of the present invention additionally provides a kind of electric vehicle, including：Processor, memory
And it is stored in the computer program that can be run on the memory and on the processor, the computer program is by the place
The step of reason device realizes the modification method of the pre- torque of motor as described above when executing.
To achieve the goals above, the embodiment of the present invention additionally provides a kind of computer readable storage medium, the calculating
It is stored with computer program on machine readable storage medium storing program for executing, electricity as described above is realized when the computer program is executed by processor
The step of modification method of the pre- torque of machine.
The embodiment of the present invention has the advantages that：
In the said program of the embodiment of the present invention, according to the relationship between the tachometer value for presetting multiple rotating speed sampled points, obtain
Take wobble information of the electric vehicle in the operating mode that starts to walk；Determining the electric vehicle in starting operating mode according to the wobble information
It is lower when shaking, according to predetermined torque increment, processing is modified to the pre- torque of motor.The embodiment of the present invention is by increasing electricity
The pre- torque of machine inhibits shake of the automobile under the operating mode that starts to walk, and then inhibits vehicle shake, improves the riding comfort of user.
Description of the drawings
Fig. 1 is the flow diagram of the modification method of the pre- torque of motor of the embodiment of the present invention；
Fig. 2 is the module diagram of the correcting device of the pre- torque of motor of the embodiment of the present invention.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with specific implementation
Example and attached drawing are described in detail.
As shown in Figure 1, the flow chart of the modification method for the pre- torque of motor of the embodiment of the present invention.As shown in Figure 1, this is repaiied
Correction method includes：
Step 101：According to the relationship between the tachometer value for presetting multiple rotating speed sampled points, electric vehicle is obtained in starting work
Wobble information in condition.
It, can be according to the relationship between the tachometer value for presetting multiple rotating speed sampled points, when statistics is default in the embodiment of the present invention
Between in section rotating speed extreme value occurrence number, and according to the occurrence number of rotating speed extreme value, obtain electric vehicle in the operating mode that starts to walk
Wobble information.
Specifically, the tachometer value for presetting multiple rotating speed sampled points in certain period of time and the pass between the time can be counted in advance
System obtains tachometer value and the curve of time, and according to the curve, counts the occurrence number of the rotating speed extreme value in preset time period.
Step 102：When determining that the electric vehicle is shaken under the operating mode that starts to walk according to the wobble information, according to
Predetermined torque increment is modified processing to the pre- torque of motor.
In the embodiment of the present invention, when electric vehicle is shaken under the operating mode that starts to walk, by increasing the pre- torque of motor
Mode inhibits shake of the automobile under the operating mode that starts to walk, and then inhibits vehicle shake, improves the riding comfort of user.
Further, above-mentioned steps 101 obtain electronic according to the relationship between the tachometer value for presetting multiple rotating speed sampled points
Wobble information of the automobile in the operating mode that starts to walk, including：
According to the relationship between the tachometer value for presetting multiple rotating speed sampled points, rotating speed extreme value within a preset period of time is obtained
Occurrence number；When the occurrence number of rotating speed extreme value is more than preset times, according to the rotating speed extreme value and preset rotation speed threshold value with
Between relationship, obtain the wobble information.
The rotating speed extreme value includes rotating speed maximum and rotating speed minimum.Wherein, rotating speed maximum and rotating speed minimum are specific
It determines by the following method.
In continuous three moment of preset time period, if the tachometer value of intermediate time is more than other two rotating speed moment
The tachometer value of the intermediate time is then determined as rotating speed maximum by tachometer value, if the tachometer value of intermediate time is less than other two
The tachometer value of the intermediate time is then determined as rotating speed minimum by the tachometer value at rotating speed moment.
Further, according to the rotating speed extreme value and preset rotation speed threshold value and between relationship, obtain the wobble information
The step of, including：
Each rotating speed maximum and each rotating speed minimum are compared with preset rotation speed threshold value respectively, obtained
To comparison result；According to the comparison result, the wobble information is obtained.
Specifically, according to the comparison result, each rotating speed maximum and each rotating speed minimum are determined
When being all higher than the preset rotation speed threshold value, determine that the electric vehicle is starting to walk to shake in operating mode, otherwise, it determines the electricity
Electrical automobile is starting to walk not shake in operating mode.
Change less than in the case of aNm for example, giving constant torque in vehicle, when vehicle rotating speed changes, and
Occur Y rotating speed maximum and rotating speed minimum in Xms, and when rotating speed maximum and rotating speed minimum are all higher than Zrpm, that is, sentences
Break and is starting to walk to shake in operating mode.
Further, above-mentioned steps 102 are according to predetermined torque increment, the step of being modified processing to the pre- torque of motor,
Including：
The pre- torque of motor is added into predetermined torque increment, obtains the pre- torque of revised motor.
In the embodiment of the present invention, when electric vehicle is shaken under the operating mode that starts to walk, by increasing the pre- torque of motor
Mode inhibits shake of the automobile under the operating mode that starts to walk, and then inhibits vehicle shake, improves the riding comfort of user.
Further, above-mentioned modification method further includes：
According to the pre- torque of revised motor, jitter conditions of the electric vehicle under the operating mode that starts to walk are redefined；
When determining that the electric vehicle is shaken under the operating mode that starts to walk, according to predetermined torque increment, again to described revised
The pre- torque of motor is modified processing.
Here, according to the pre- torque of revised motor, shake feelings of the electric vehicle under the operating mode that starts to walk are redefined
The realization process of condition presets the relationship between the tachometer value of multiple rotating speed sampled points with above-mentioned basis, obtains electric vehicle and is rising
The realization process for walking the wobble information in operating mode is identical, i.e., comes back to above-mentioned steps after obtaining the pre- torque of revised motor
101。
It is assumed that initial pre- torque is d0, predetermined torque increment is Δ b, when judging that electric vehicle starting to walk to send out in operating mode
When raw shake, then using d0+ Δs b as the pre- torque of revised motor, and the electric vehicle is redefined under the operating mode that starts to walk
Jitter conditions, it is right again according to predetermined torque increment when determining that the electric vehicle is shaken under the operating mode that starts to walk
The pre- torque of revised motor is modified processing, until electric vehicle is starting to walk not shake under operating mode.
The modification method of the pre- torque of motor of the embodiment of the present invention, according between the tachometer value for presetting multiple rotating speed sampled points
Relationship, obtain wobble information of the electric vehicle in the operating mode that starts to walk；The electric vehicle is being determined according to the wobble information
When being shaken under the operating mode that starts to walk, according to predetermined torque increment, processing is modified to the pre- torque of motor.The embodiment of the present invention
By increasing the pre- torque of motor, inhibits shake of the automobile under the operating mode that starts to walk, and then inhibit vehicle shake, improve the seating of user
Comfort.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program (instruction),
The program (instruction) realizes following steps when being executed by processor：
According to the relationship between the tachometer value for presetting multiple rotating speed sampled points, electric vehicle trembling in the operating mode that starts to walk is obtained
Dynamic information；When determining that the electric vehicle is shaken under the operating mode that starts to walk according to the wobble information, according to predetermined torque
Increment is modified processing to the pre- torque of motor.
Optionally, following steps be can also be achieved when which is executed by processor：
According to the relationship between the tachometer value for presetting multiple rotating speed sampled points, rotating speed extreme value within a preset period of time is obtained
Occurrence number；When the occurrence number of rotating speed extreme value is more than preset times, according to the rotating speed extreme value and preset rotation speed threshold value with
Between relationship, obtain the wobble information.
Optionally, the rotating speed extreme value includes rotating speed maximum and rotating speed minimum, which is held by processor
It can also be achieved following steps when row：
Each rotating speed maximum and each rotating speed minimum are compared with preset rotation speed threshold value respectively, obtained
To comparison result；According to the comparison result, the wobble information is obtained.
Optionally, following steps be can also be achieved when which is executed by processor：
According to the comparison result, determine that each rotating speed maximum and each rotating speed minimum are all higher than institute
When stating preset rotation speed threshold value, determine that the electric vehicle is starting to walk to shake in operating mode, otherwise, it determines the electric vehicle exists
It is not shaken in starting operating mode.
Optionally, following steps be can also be achieved when which is executed by processor：
The pre- torque of motor is added into predetermined torque increment, obtains the pre- torque of revised motor.
Optionally, following steps be can also be achieved when which is executed by processor：
According to the pre- torque of revised motor, jitter conditions of the electric vehicle under the operating mode that starts to walk are redefined；
When determining that the electric vehicle is shaken under the operating mode that starts to walk, according to predetermined torque increment, again to described revised
The pre- torque of motor is modified processing.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology realizes information storage.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic tape cassette, tape magnetic disk storage or other magnetic storage apparatus
Or any other non-transmission medium, it can be used for storage and can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
As shown in Fig. 2, the embodiments of the present invention also provide a kind of correcting device of the pre- torque of motor, it is applied to electronic vapour
Vehicle, including：
Acquisition module 201, for according to the relationship between the tachometer value for presetting multiple rotating speed sampled points, obtaining electric vehicle
Wobble information in the operating mode that starts to walk；
First processing module 202, for determining that the electric vehicle is issued in starting operating mode according to the wobble information
When raw shake, according to predetermined torque increment, processing is modified to the pre- torque of motor.
The correcting device of the pre- torque of motor of the embodiment of the present invention, the acquisition module include：
First acquisition submodule, for according to the relationship between the tachometer value for presetting multiple rotating speed sampled points, obtaining pre-
If the occurrence number of rotating speed extreme value in the period；
Second acquisition submodule, when for the occurrence number in rotating speed extreme value more than preset times, then according to the rotating speed
Extreme value and preset rotation speed threshold value and between relationship, obtain the wobble information.
The correcting device of the pre- torque of motor of the embodiment of the present invention, second acquisition submodule include：
Comparing unit, for will each rotating speed maximum and each rotating speed minimum respectively with preset rotation speed threshold
Value is compared, and obtains comparison result；
Acquiring unit, for according to the comparison result, obtaining the wobble information.
The correcting device of the pre- torque of motor of the embodiment of the present invention, the acquiring unit are used to relatively tie according to described
Fruit determines institute when determining that each rotating speed maximum and each rotating speed minimum are all higher than the preset rotation speed threshold value
It states electric vehicle starting to walk to shake in operating mode, otherwise, it determines the electric vehicle is starting to walk not shake in operating mode.
The correcting device of the pre- torque of motor of the embodiment of the present invention, the first processing module are used for the pre- torque of motor
In addition predetermined torque increment, obtains the pre- torque of revised motor.
The correcting device of the pre- torque of motor of the embodiment of the present invention further includes：
Determining module, for according to the pre- torque of revised motor, redefining the electric vehicle under the operating mode that starts to walk
Jitter conditions；
Second processing module, for when determining that the electric vehicle is shaken under the operating mode that starts to walk, according to default
Torque increase is modified processing to the revised pre- torque of motor again.
The correcting device of the pre- torque of motor of the embodiment of the present invention, according between the tachometer value for presetting multiple rotating speed sampled points
Relationship, obtain wobble information of the electric vehicle in the operating mode that starts to walk；The electric vehicle is being determined according to the wobble information
When being shaken under the operating mode that starts to walk, according to predetermined torque increment, processing is modified to the pre- torque of motor.The embodiment of the present invention
By increasing the pre- torque of motor, inhibits shake of the automobile under the operating mode that starts to walk, and then inhibit vehicle shake, improve the seating of user
Comfort.
The embodiment of the present invention also provides a kind of electric vehicle, includes the correcting device of the pre- torque of motor as described above.
The embodiment of the present invention also provides a kind of electric vehicle, including：It processor, memory and is stored on the memory
And the computer program that can be run on the processor, it is realized as above-mentioned when the computer program is executed by the processor
Each process of the modification method embodiment of the pre- torque of motor, and identical technique effect can be reached, to avoid repeating, here not
It repeats again.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (15)
1. a kind of modification method of the pre- torque of motor is applied to electric vehicle, which is characterized in that including：
According to the relationship between the tachometer value for presetting multiple rotating speed sampled points, shake letter of the electric vehicle in the operating mode that starts to walk is obtained
Breath；
When determining that the electric vehicle is shaken under the operating mode that starts to walk according to the wobble information, increased according to predetermined torque
Amount, processing is modified to the pre- torque of motor.
2. the modification method of the pre- torque of motor according to claim 1, which is characterized in that the basis presets multiple rotating speeds
Relationship between the tachometer value of sampled point, the step of obtaining wobble information of the electric vehicle in the operating mode that starts to walk, including：
According to the relationship between the tachometer value for presetting multiple rotating speed sampled points, the appearance of rotating speed extreme value within a preset period of time is obtained
Number；
Rotating speed extreme value occurrence number be more than preset times when, according to the rotating speed extreme value and preset rotation speed threshold value and between
Relationship obtains the wobble information.
3. the modification method of the pre- torque of motor according to claim 2, which is characterized in that the rotating speed extreme value includes rotating speed
Maximum and rotating speed minimum, it is described according to the rotating speed extreme value and preset rotation speed threshold value and between relationship, tremble described in acquisition
The step of dynamic information, including：
Each rotating speed maximum and each rotating speed minimum are compared with preset rotation speed threshold value respectively, compared
Relatively result；
According to the comparison result, the wobble information is obtained.
4. the modification method of the pre- torque of motor according to claim 3, which is characterized in that described relatively to be tied according to described
Fruit, the step of obtaining the wobble information, including：
According to the comparison result, it is described pre- to determine that each rotating speed maximum and each rotating speed minimum are all higher than
If when rotary speed threshold value, determining that the electric vehicle is starting to walk to shake in operating mode, otherwise, it determines the electric vehicle is being started to walk
It is not shaken in operating mode.
5. the modification method of the pre- torque of motor according to claim 1, which is characterized in that described to be increased according to predetermined torque
The step of measuring, processing be modified to motor pre- torque, including：
The pre- torque of motor is added into predetermined torque increment, obtains the pre- torque of revised motor.
6. the modification method of the pre- torque of motor according to claim 5, which is characterized in that further include：
According to the pre- torque of revised motor, jitter conditions of the electric vehicle under the operating mode that starts to walk are redefined；
When determining that the electric vehicle is shaken under the operating mode that starts to walk, according to predetermined torque increment, repaiied again to described
The pre- torque of motor after just is modified processing.
7. a kind of correcting device of the pre- torque of motor is applied to electric vehicle, which is characterized in that including：
Acquisition module, for according to the relationship between the tachometer value for presetting multiple rotating speed sampled points, obtaining electric vehicle and starting to walk
Wobble information in operating mode；
First processing module, for determining that the electric vehicle starting to walk to shake under operating mode according to the wobble information
When, according to predetermined torque increment, processing is modified to the pre- torque of motor.
8. the correcting device of the pre- torque of motor according to claim 7, which is characterized in that the acquisition module includes：
First acquisition submodule, for according to the relationship between the tachometer value for presetting multiple rotating speed sampled points, obtaining when default
Between in section rotating speed extreme value occurrence number；
Second acquisition submodule, when for the occurrence number in rotating speed extreme value more than preset times, then according to the rotating speed extreme value
With preset rotation speed threshold value and between relationship, obtain the wobble information.
9. the correcting device of the pre- torque of motor according to claim 8, which is characterized in that the rotating speed extreme value includes rotating speed
Maximum and rotating speed minimum, second acquisition submodule include：
Comparing unit, for will each rotating speed maximum and each rotating speed minimum respectively with preset rotation speed threshold value into
Row compares, and obtains comparison result；
Acquiring unit, for according to the comparison result, obtaining the wobble information.
10. the correcting device of the pre- torque of motor according to claim 9, which is characterized in that the acquiring unit is used for
According to the comparison result, determine that each rotating speed maximum and each rotating speed minimum are all higher than the preset rotation speed
When threshold value, determine that the electric vehicle is starting to walk to shake in operating mode, otherwise, it determines the electric vehicle is in the operating mode that starts to walk
It does not shake.
11. the correcting device of the pre- torque of motor according to claim 7, which is characterized in that the first processing module is used
In the pre- torque of motor is added predetermined torque increment, the pre- torque of revised motor is obtained.
12. the correcting device of the pre- torque of motor according to claim 11, which is characterized in that further include：
Determining module, for according to the pre- torque of revised motor, redefining the electric vehicle trembling under the operating mode that starts to walk
Emotionally condition；
Second processing module, for when determining that the electric vehicle is shaken under the operating mode that starts to walk, according to predetermined torque
Increment is modified processing to the revised pre- torque of motor again.
13. a kind of electric vehicle, which is characterized in that include repairing such as claim 7 to the 12 pre- torque of any one of them motor
Equipment.
14. a kind of electric vehicle, which is characterized in that including：It processor, memory and is stored on the memory and can be in institute
The computer program run on processor is stated, such as claim 1 to 6 is realized when the computer program is executed by the processor
Any one of described in the pre- torque of motor modification method the step of.
15. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program is realized when the computer program is executed by processor such as the pre- torque of motor according to any one of claims 1 to 6
The step of modification method.
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| CN201810294701.9A CN108520140A (en) | 2018-03-30 | 2018-03-30 | A kind of modification method, device and the electric vehicle of the pre- torque of motor |
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| CN201810294701.9A CN108520140A (en) | 2018-03-30 | 2018-03-30 | A kind of modification method, device and the electric vehicle of the pre- torque of motor |
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| CN110435442A (en) * | 2019-08-19 | 2019-11-12 | 安徽江淮汽车集团股份有限公司 | A kind of pure electric vehicle truck runs at a low speed the control method and device of shake |
| CN110509779A (en) * | 2019-07-24 | 2019-11-29 | 浙江合众新能源汽车有限公司 | A kind of electric car starting jitter suppression method |
| CN111251900A (en) * | 2019-11-21 | 2020-06-09 | 浙江零跑科技有限公司 | Shake suppression method capable of reducing torque loss |
| CN113723473A (en) * | 2021-08-12 | 2021-11-30 | 一汽解放青岛汽车有限公司 | Vehicle shake recognition method and device, computer equipment and storage medium |
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| CN111251900A (en) * | 2019-11-21 | 2020-06-09 | 浙江零跑科技有限公司 | Shake suppression method capable of reducing torque loss |
| CN111251900B (en) * | 2019-11-21 | 2021-04-27 | 浙江零跑科技有限公司 | Shake suppression method capable of reducing torque loss |
| CN113723473A (en) * | 2021-08-12 | 2021-11-30 | 一汽解放青岛汽车有限公司 | Vehicle shake recognition method and device, computer equipment and storage medium |
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Application publication date: 20180911 |