CN114475611A - Vehicle anti-shake control method and device, storage medium and equipment - Google Patents
Vehicle anti-shake control method and device, storage medium and equipment Download PDFInfo
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- CN114475611A CN114475611A CN202210058762.1A CN202210058762A CN114475611A CN 114475611 A CN114475611 A CN 114475611A CN 202210058762 A CN202210058762 A CN 202210058762A CN 114475611 A CN114475611 A CN 114475611A
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- 230000008859 change Effects 0.000 claims abstract description 64
- 238000004590 computer program Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 206010044565 Tremor Diseases 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
- B60W2710/085—Torque change rate
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a vehicle anti-shake control method, a device, a storage medium and equipment, wherein the method comprises the following steps: when the motor torque of the current vehicle is determined to be about to generate a zero-crossing state, acquiring historical motor torque in a preset time period; determining the zero-crossing moment of the motor torque according to the historical motor torque; determining a first time range according to the motor torque zero-crossing moment; acquiring a torque change rate range of a current vehicle; and reducing the torque change rate of the motor within a first preset time range before the zero-crossing moment of the motor torque occurs so as to control the torque change rate of the motor within the torque change rate range. By the embodiment of the invention, the shaking sense of the automobile can be reduced in the reversing process of the automobile, and the driving experience of a customer is improved.
Description
Technical Field
The invention relates to the field of new energy automobiles, in particular to a vehicle anti-shake control method, a vehicle anti-shake control device, a storage medium and vehicle anti-shake control equipment.
Background
In recent years, the automobile industry of all countries in the world faces two major challenges of energy safety and environmental protection. Therefore, governments of various countries in the world make corresponding countermeasures, and a new generation of clean energy-saving automobiles is vigorously developed. Pure electric vehicles can significantly reduce vehicle emissions and reduce energy consumption, and therefore have been vigorously developed by various large vehicle manufacturers.
The pure electric vehicle has two modes of driving and energy recovery, and the directions of torques in the two modes are different. Pure electric vehicles is at the moment of torsion switching-over in-process, and the gear is changing the another side laminating from the laminating, because the existence in gear clearance, can produce the impact at this switching-over in-process, leads to whole car to have at this switching-over in-process and trembles the sensation of movement, has reduced whole car travelling comfort, influences customer and drives and experience. Meanwhile, if the frequency of the jitter and the frequency of the whole vehicle transmission system are in the same frequency range, the severity of the problem is aggravated.
Therefore, how to reduce the shaking sense of the automobile and improve the driving experience of the customer in the reversing process of the pure electric automobile is a problem to be solved by technical personnel in the field.
Disclosure of Invention
The invention provides a vehicle anti-shake control method, a vehicle anti-shake control device, a device storage medium and a pure electric vehicle reversing process, which can reduce the shake feeling of the vehicle and improve the driving experience of customers.
The invention provides a vehicle anti-shake control method, which comprises the following steps:
when the motor torque of the current vehicle is determined to be about to generate a zero-crossing state, acquiring historical motor torque in a preset time period;
determining the zero-crossing moment of the motor torque according to the historical motor torque;
determining a first time range according to the motor torque zero-crossing moment;
acquiring a torque change rate range of a current vehicle;
and reducing the motor torque change rate within a first preset time range before the motor torque zero-crossing moment occurs so as to control the motor torque change rate within the torque change rate range.
Preferably, the motor torque change rate is increased within a second preset time range after the motor torque zero-crossing occurs, so that the motor torque change rate is recovered to a steady state value.
Preferably, before determining that the motor torque of the current vehicle is about to have the zero-crossing state, the method further comprises the following steps:
acquiring a current vehicle state, and determining the current required torque of a driver according to the current vehicle state;
meanwhile, the current motor torque is obtained, and if the current motor torque and the current required torque are in the same direction, the motor torque of the current vehicle is determined not to be in a zero-crossing state; and if the current motor torque and the current required torque are in different directions, determining that the current motor torque of the vehicle is about to generate a zero-crossing state.
Preferably, the current vehicle state includes:
current vehicle accelerator pedal position, brake pedal position, vehicle speed, gear, driving mode.
Preferably, the obtaining the range of the torque change rate of the current vehicle includes:
and determining the current vehicle motor torque change rate range according to the current vehicle speed and the accelerator pedal position.
Preferably, the specific calculation formula of the moment when the motor torque crosses zero is as follows:
where T is a time at which the motor torque becomes 0, T1 is a motor torque value at the present time, Ti is a motor torque i-1 seconds ago, and N is a number of seconds spaced from the present time.
Accordingly, another embodiment of the present invention further provides a vehicle anti-shake control apparatus, including:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring historical motor torque in a preset time period when the motor torque of the current vehicle is determined to be about to generate a zero-crossing state;
the first determination module is used for determining the zero-crossing moment of the motor torque according to the historical motor torque;
the second determination module is used for determining a first time range according to the motor torque zero-crossing moment;
the second acquisition module is used for acquiring the range of the motor torque change rate of the current vehicle;
the first control module is used for reducing the motor torque change rate in a first preset time range before the motor torque zero-crossing moment occurs so as to control the motor torque change rate in the torque change rate range.
Preferably, the second control module is configured to increase the motor torque change rate within a second preset time range after the motor torque zero-crossing occurs, so as to recover to a steady-state value
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform a vehicle anti-shake control method as set forth in any one of the above.
An embodiment of the present invention further provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor implements a vehicle anti-shake control method as described in any one of the above items when executing the computer program.
Compared with the prior art, the vehicle anti-shake control method, the vehicle anti-shake control device, the storage medium and the vehicle anti-shake control equipment have the following beneficial effects: when the motor torque of the current vehicle is determined to be about to occur in a zero-crossing state, historical motor torque in a preset time period is obtained, the specific zero-crossing time of the motor torque is predicted according to the obtained historical motor torque, a first time range is determined according to the zero-crossing time of the motor torque, and a motor torque change rate range of the current vehicle is obtained at the same time, so that the motor torque is controlled within the first time range by taking the determined motor change rate as a limiting value, the change rate of the motor is controlled, the trembling sense of the vehicle is reduced in the steering process, and the driving experience of a customer is improved.
Drawings
FIG. 1: an application scene schematic diagram of the vehicle anti-shake control method is shown in the embodiment of the invention;
FIG. 2 is a schematic diagram: the invention discloses a flow schematic diagram of a vehicle anti-shake control method;
FIG. 3: the present invention is a structural schematic diagram of a vehicle anti-shake control device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present embodiment provides an application scenario of a vehicle anti-shake control method, where a vehicle includes a power system, where the power system includes a vehicle controller 11, a motor controller 12, a motor 13, a transmission 14, and wheels 15. The motor 13 is connected with a gearbox 14 through a transmission shaft, and the gearbox 14 is connected with the wheels 15 through the transmission shaft. The vehicle control unit 11 is connected with the motor controller 12 through a CAN bus, and the motor controller 12 converts the direct current into a three-phase alternating current and provides the three-phase alternating current for the motor. The vehicle control unit 11 sends a torque instruction to the motor controller through the CAN bus, the motor controller 12 controls the motor to realize the torque, meanwhile, the motor controller 12 also collects the current value of the motor in real time, calculates the real-time torque of the motor 13, the torque value is fed back to the vehicle controller 11 through the CAN bus, the vehicle controller 11 predicts the time when the vehicle is about to turn according to the motor torque value transmitted by the motor controller 12, commands are issued to the motor controller 12 prior to the steering time, reducing the rate of change of motor torque over a preset period of time, when the motor controller 12 receives the control command, the motor 13 is controlled to decelerate within a preset time period, the motor 13 controls the wheels 15 through the gearbox 14, therefore, the purpose of reducing the change rate of the motor torque is achieved, the shaking sense of the vehicle is reduced in the steering process, and the driving experience of a customer is improved.
Example one
Referring to fig. 2, a method for controlling anti-shake of a vehicle according to an embodiment of the present invention includes:
and step S21, acquiring historical motor torque in a preset time period when the motor torque of the current vehicle is determined to be about to generate a zero-crossing state.
Specifically, when the vehicle controller detects that the vehicle is about to turn, that is, when it is determined that the current vehicle is about to have a zero-crossing state, the motor torque in a preset time period is acquired, where the preset time period is a time period before the current time, and if the preset time period is 5 seconds before the current time, the motor torque value in the previous 5 seconds before the current time is acquired.
And step S22, determining the zero-crossing moment of the motor torque according to the historical motor torque.
Specifically, the specific time of the zero crossing of the motor torque is predicted according to the acquired historical motor torque, and the specific time of the zero crossing of the future motor torque is predicted according to the acquired motor torque value of the first 5 seconds.
And step S23, determining a first time range according to the motor torque zero-crossing time.
Specifically, when the zero-crossing time of the motor torque is calculated, a period of time before the zero-crossing is selected as a first time range by taking the zero-crossing time of the motor torque as a central point, and for example, a period of time from 100ms before the zero-crossing time to the zero-crossing time is selected as the first time range.
And step S24, acquiring the torque change rate range of the current vehicle.
Specifically, a table is looked up according to the current vehicle speed and the accelerator pedal position to obtain a target value of the motor torque change rate, and the range of the motor torque change rate is determined according to the target value, namely the change rate of the motor torque cannot exceed the target value.
And step S25, reducing the motor torque change rate in a first preset time range before the motor torque zero-crossing moment occurs so as to control the motor torque change rate in the torque change rate range.
Specifically, the rate of change of the motor torque is reduced within a set first time range, but the rate of change of the motor torque needs to be reduced within a set rate of change range, such as within the first 100m of the zero-crossing time.
In the embodiment of the invention, the invention provides a vehicle anti-shake control method, which has the following beneficial effects: when the motor torque of the current vehicle is determined to be about to occur in a zero-crossing state, historical motor torque in a preset time period is obtained, the specific zero-crossing time of the motor torque is predicted according to the obtained historical motor torque, a first time range is determined according to the zero-crossing time of the motor torque, and a motor torque change rate range of the current vehicle is obtained at the same time, so that the motor torque is controlled within the first time range by taking the determined motor change rate as a limiting value, the change rate of the motor is controlled, the trembling sense of the vehicle is reduced in the steering process, and the driving experience of a customer is improved.
In another embodiment of the present invention, a vehicle anti-shake control method is provided, wherein the motor torque change rate is increased to return to a steady-state value within a second preset time range after the motor torque zero-crossing occurs.
Specifically, after the motor torque change rate is decreased and zero-crossed in a first period of time, such as after the motor torque crosses zero 100ms, the limitation on the motor torque change rate is cancelled, and the motor torque change rate is increased in a second preset time range, so that the motor torque is restored to a normal torque change rate level.
In another embodiment of the present invention, before determining that a zero-crossing state of a current motor torque of a vehicle is about to occur, the method for controlling vehicle anti-shake further comprises:
acquiring a current vehicle state, and determining the current required torque of a driver according to the current vehicle state;
meanwhile, the current motor torque is obtained, and if the current motor torque and the current required torque are in the same direction, the motor torque of the current vehicle is determined not to be in a zero-crossing state; and if the current motor torque and the current required torque are in different directions, determining that the current motor torque of the vehicle is about to be in a zero-crossing state.
Specifically, the current torque required by the driver can be determined according to one or more of the current position of an accelerator pedal of the vehicle, the position of a brake pedal, the vehicle speed, the gear and the driving mode. And judging whether the motor torque can be in a zero-crossing state or not according to the current motor torque and the current motor torque: if the current motor torque is larger than zero and the required torque is smaller than zero, or the current motor torque is smaller than zero and the required torque is larger than zero, determining that the motor torque can be in a zero-crossing state, and if the current motor torque is larger than zero and the required torque is larger than zero, or the current motor torque is smaller than zero and the required torque is smaller than zero, determining that the motor torque can not be in the zero-crossing state.
In a vehicle anti-shake control method according to another embodiment of the present invention, the current vehicle state includes:
current vehicle accelerator pedal position, brake pedal position, vehicle speed, gear, driving mode.
Specifically, the current torque demand of the driver is determined according to the current vehicle state, wherein the vehicle state can comprise one or more of the current vehicle accelerator pedal position, brake pedal position, vehicle speed, gear position and driving mode.
In another embodiment of the present invention, in a vehicle anti-shake control method, a specific calculation formula of the time when the motor torque crosses zero is as follows:
where T is a time at which the motor torque becomes 0, T1 is a motor torque value at the present time, Ti is a motor torque i-1 seconds ago, and N is a number of seconds spaced from the present time.
Specifically, if the motor torque value 5 seconds before the current time is obtained, the zero-crossing time of the motor torque is as follows:
t＝6*T1/(T1+T2+T3+T4+T5+T6)
where T is a time when the motor torque becomes 0, T1 is a torque at the present time, T2 is a torque before 1 second, T3 is a torque before 2 seconds, T4 is a torque before 3 seconds, T5 is a torque before 4 seconds, and T6 is a torque before 5 seconds.
Example two
Accordingly, referring to fig. 3, an anti-shake control apparatus for a vehicle according to an embodiment of the present invention includes: an acquisition module 31, a first determination module 32, a second determination module 33, a second acquisition module 34, and a control module 35.
The first obtaining module 31 is configured to obtain a historical motor torque within a preset time period when it is determined that a zero-crossing state of the motor torque of the current vehicle is about to occur;
the first determination module 32 is configured to determine a motor torque zero-crossing time according to the historical motor torque;
the second determining module 33 is configured to determine a first time range according to the zero-crossing time of the motor torque;
a second obtaining module 34, configured to obtain a motor torque change rate range of the current vehicle;
and the first control module 35 is used for reducing the change rate of the motor torque in the first time range according to the first time range and the change rate range, and enabling the change rate of the motor torque to be in the change rate range.
As a preferable solution in the embodiment, the anti-shake control apparatus for a vehicle according to the embodiment of the present invention further includes a second control module 36, configured to increase the change rate of the motor torque within a second preset time range after the zero-crossing time of the motor torque occurs, so as to return the motor torque to the steady-state value.
The embodiment has the following effects:
according to the embodiment, the historical motor torque within a preset time period is obtained through the obtaining module, the historical motor torque data are processed through the first determining module, the specific moment when the motor torque crosses zero is obtained, then the second determining module determines the first time range according to the moment when the motor torque crosses zero, meanwhile, the motor torque change rate range of the vehicle is obtained through the second obtaining module, and finally the first control module reduces the change rate of the motor torque within the first time range according to the first time range and the change rate range and enables the motor torque change rate to be within the change rate range, so that the shaking sense of the vehicle is reduced in the steering process, and the driving experience of a customer is improved.
EXAMPLE III
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; wherein the computer program, when running, controls the device on which the computer-readable storage medium is located to execute a vehicle anti-shake control method according to any of the above embodiments.
Example four
The embodiment of the invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor realizes the vehicle anti-shake control method according to any one of the above embodiments when executing the computer program.
Preferably, the computer program may be divided into one or more modules/units (e.g., computer program) that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc., the general purpose Processor may be a microprocessor, or the Processor may be any conventional Processor, the Processor is a control center of the terminal device, and various interfaces and lines are used to connect various parts of the terminal device.
The memory mainly includes a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like, and the data storage area may store related data and the like. In addition, the memory may be a high speed random access memory, may also be a non-volatile memory, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like, or may also be other volatile solid state memory devices.
It should be noted that the terminal device may include, but is not limited to, a processor and a memory, and those skilled in the art will understand that the terminal device is only an example and does not constitute a limitation of the terminal device, and may include more or less components, or combine some components, or different components.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the invention, may occur to those skilled in the art and are intended to be included within the scope of the invention.
Claims (10)
1. A vehicle anti-shake control method characterized by comprising:
when the motor torque of the current vehicle is determined to be about to generate a zero-crossing state, acquiring historical motor torque in a preset time period;
determining the zero-crossing moment of the motor torque according to the historical motor torque;
determining a first time range according to the motor torque zero-crossing moment;
acquiring a torque change rate range of a current vehicle;
and reducing the motor torque change rate within a first preset time range before the motor torque zero-crossing moment occurs so as to control the motor torque change rate within the torque change rate range.
2. The vehicle anti-shake control method according to claim 1, further comprising:
and increasing the change rate of the motor torque within a second preset time range after the zero-crossing moment of the motor torque occurs, so that the change rate of the motor torque is recovered to a steady-state value.
3. The vehicle anti-shake control method according to claim 1, before determining that a zero-crossing condition is imminent in motor torque of the current vehicle, further comprising:
acquiring a current vehicle state, and determining the current required torque of a driver according to the current vehicle state;
meanwhile, the current motor torque is obtained, and if the current motor torque and the current required torque are in the same direction, the motor torque of the current vehicle is determined not to be in a zero-crossing state; and if the current motor torque and the current required torque are in different directions, determining that the current motor torque of the vehicle is about to generate a zero-crossing state.
4. The vehicle anti-shake control method according to claim 3, wherein the current vehicle state includes:
current vehicle accelerator pedal position, brake pedal position, vehicle speed, gear, driving mode.
5. The vehicle anti-shake control method according to claim 1, wherein the obtaining a torque change rate range of the current vehicle includes:
and determining the current vehicle motor torque change rate range according to the current vehicle speed and the accelerator pedal position.
6. The vehicle anti-shake control method according to claim 1, wherein the specific calculation formula for the time at which the motor torque crosses zero is as follows:
where T is a time at which the motor torque becomes 0, T1 is a motor torque value at the present time, Ti is a motor torque i-1 seconds ago, and N is a number of seconds spaced from the present time.
7. A vehicle anti-shake control apparatus, characterized by comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring historical motor torque in a preset time period when the motor torque of the current vehicle is determined to be about to generate a zero-crossing state;
the first determination module is used for determining the zero-crossing moment of the motor torque according to the historical motor torque;
the second determination module is used for determining a first time range according to the motor torque zero-crossing moment;
the second acquisition module is used for acquiring the torque change rate range of the current vehicle;
the first control module is used for reducing the motor torque change rate in a first preset time range before the motor torque zero-crossing moment occurs so as to control the motor torque change rate in the torque change rate range.
8. A vehicle anti-shake control apparatus, characterized by further comprising:
and the second control module is used for increasing the change rate of the motor torque within a second preset time range after the motor torque zero-crossing moment occurs so as to recover the motor torque to a steady-state value.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program; wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform a vehicle anti-shake control method according to any one of claims 1-6.
10. A terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing a vehicle anti-shake control method according to any one of claims 1-6 when executing the computer program.
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| CN202210058762.1A CN114475611A (en) | 2022-01-19 | 2022-01-19 | Vehicle anti-shake control method and device, storage medium and equipment |
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| CN202210058762.1A CN114475611A (en) | 2022-01-19 | 2022-01-19 | Vehicle anti-shake control method and device, storage medium and equipment |
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