CN117302226A - Steering wheel shake optimization method, device and equipment for vehicle and storage medium - Google Patents
Steering wheel shake optimization method, device and equipment for vehicle and storage medium Download PDFInfo
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- CN117302226A CN117302226A CN202311356510.8A CN202311356510A CN117302226A CN 117302226 A CN117302226 A CN 117302226A CN 202311356510 A CN202311356510 A CN 202311356510A CN 117302226 A CN117302226 A CN 117302226A
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- 238000000034 method Methods 0.000 title claims abstract description 72
- 238000005457 optimization Methods 0.000 title claims abstract description 61
- 238000011084 recovery Methods 0.000 claims abstract description 175
- 238000013507 mapping Methods 0.000 claims description 11
- 230000036461 convulsion Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 abstract description 4
- 239000000725 suspension Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
Classifications
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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
-
- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- 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
- B60W2030/206—Reducing vibrations in the driveline related or induced by the engine
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a steering wheel shake optimization method, device and equipment of a vehicle and a storage medium, and belongs to the technical field of steering wheel control. In the invention, the current motor recovery torque of the vehicle is obtained in the vehicle braking process; when the current motor recovery torque is larger than a preset motor recovery torque threshold value, determining that a steering wheel of the vehicle shakes, and acquiring the current engine speed; and the steering wheel shake is optimized based on the current engine rotating speed and the current motor recovery torque, so that the problem of steering wheel shake in the braking process is avoided, the development period is shortened, and the performance of the whole vehicle is improved in a time-saving and economic mode.
Description
Technical Field
The present invention relates to the field of steering wheel control technologies, and in particular, to a steering wheel shake optimization method, apparatus, device, and storage medium for a vehicle.
Background
Because the working condition is complex, when the braking energy recovery torque is large, the suspension of the power assembly is influenced by the recovery torque and works to a nonlinear region, so that the suspension vibration isolation is poor. The vibration transmitted from the engine vibration to the vehicle body end becomes large, and steering wheel shake is caused when the engine main order frequency is close to the steering wheel mode.
The steering wheel shake optimization mode of the existing vehicle is hardware optimization, and is high in cost and long in period.
Disclosure of Invention
The invention mainly aims to provide a steering wheel shake optimization method, device and equipment for a vehicle and a storage medium, and aims to solve the technical problems of high cost and long period in the prior art for optimizing steering wheel shake.
To achieve the above object, the present invention provides a steering wheel shake optimization method of a vehicle, the method comprising the steps of:
acquiring the current motor recovery torque of the vehicle in the vehicle braking process;
when the current motor recovery torque is larger than a preset motor recovery torque threshold value, determining that a steering wheel of the vehicle shakes, and acquiring the current engine speed;
steering wheel jerk is optimized based on the current engine speed and the current motor recovery torque.
Optionally, the optimizing steering wheel shake based on the current engine speed and the current motor recovery torque includes:
comparing the current engine speed with a preset engine speed range;
and when the current engine speed is within the preset engine speed range, optimizing steering wheel shake based on the current engine speed or the current motor recovery torque.
Optionally, when the current engine speed is within the preset engine speed range, optimizing steering wheel shake based on the current motor recovery torque includes:
when the current engine speed is within the preset engine speed range, reducing the current motor recovery torque to obtain a reference motor recovery torque;
and when the reference motor recovery torque is smaller than the preset motor recovery torque threshold value, the shake optimization of the steering wheel is completed.
Optionally, after the current motor recovery torque is reduced to obtain the reference motor recovery torque, the method further includes:
calculating a recovered torque difference according to the reference motor recovered torque and the current motor recovered torque;
acquiring the current mechanical braking moment of the vehicle;
calculating an updated mechanical braking torque based on the recovered torque difference and the current mechanical braking torque;
and controlling the current mechanical braking moment to be increased to the updated mechanical braking moment.
Optionally, when the current engine speed is within the preset engine speed range, optimizing steering wheel shake based on the current engine speed includes:
calculating a target engine speed based on the preset engine speed range when the current engine speed is within the preset engine speed range;
and reducing the current engine speed to the target engine speed to finish the shake optimization of the steering wheel.
Optionally, after acquiring the current motor recovery torque of the vehicle during the braking of the vehicle, the method further comprises:
acquiring a preset motor recovery torque threshold of the vehicle;
and comparing the current motor recovery torque with the preset motor recovery torque threshold.
Optionally, the acquiring the preset motor recovery torque threshold of the vehicle includes:
under different braking forces, the vehicle is controlled to run at different speeds;
detecting engine speed data, motor recovery torque data and steering wheel vibration data when a vehicle runs at different speeds under different braking forces;
establishing a mapping relation among the engine rotating speed, the motor recovery torque and the steering wheel vibration value based on the engine rotating speed data, the motor recovery torque data and the steering wheel vibration data;
acquiring a steering wheel vibration threshold;
and when the steering wheel vibration value in the steering wheel vibration data exceeds the steering wheel vibration threshold value, obtaining corresponding motor recovery torque based on the mapping relation, and taking the corresponding motor recovery torque as a preset motor recovery torque threshold value.
In addition, in order to achieve the above object, the present invention also proposes a steering wheel shake optimizing apparatus of a vehicle, the steering wheel shake optimizing apparatus of a vehicle comprising:
the acquisition module is used for acquiring the current motor recovery torque of the vehicle in the vehicle braking process;
the acquisition module is further used for determining that the steering wheel of the vehicle shakes when the current motor recovery torque is larger than a preset motor recovery torque threshold value, and acquiring the current engine speed;
and the optimization module is used for optimizing steering wheel shake based on the current engine speed and the current motor recovery torque.
In addition, in order to achieve the above object, the present invention also proposes a steering wheel shake optimizing apparatus of a vehicle, the steering wheel shake optimizing apparatus of a vehicle comprising: a memory, a processor and a steering wheel shake optimization program of a vehicle stored on the memory and operable on the processor, the steering wheel shake optimization program of the vehicle being configured to implement the steps of the steering wheel shake optimization method of the vehicle as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a steering wheel shake optimization program of a vehicle, which when executed by a processor, implements the steps of the steering wheel shake optimization method of a vehicle as described above.
In the invention, the current motor recovery torque of the vehicle is obtained in the vehicle braking process; when the current motor recovery torque is larger than a preset motor recovery torque threshold value, determining that a steering wheel of the vehicle shakes, and acquiring the current engine speed; and the steering wheel shake is optimized based on the current engine rotating speed and the current motor recovery torque, so that the problem of steering wheel shake in the braking process is avoided, the development period is shortened, and the performance of the whole vehicle is improved in a time-saving and economic mode.
Drawings
FIG. 1 is a schematic diagram of a steering wheel shake optimizing apparatus of a vehicle in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a steering wheel shake optimization method of a vehicle according to the present invention;
FIG. 3 is a schematic diagram of braking process vibration and operating condition data for an embodiment of a steering wheel shake optimization method of a vehicle according to the present invention;
FIG. 4 is a schematic overall flow chart of an embodiment of a steering wheel shake optimization method of a vehicle according to the present invention;
FIG. 5 is a flow chart of a second embodiment of a steering wheel shake optimization method of a vehicle according to the present invention;
FIG. 6 is a flow chart of a third embodiment of a steering wheel shake optimization method of a vehicle according to the present invention;
FIG. 7 is a flow chart of a fourth embodiment of a steering wheel shake optimization method of a vehicle according to the present invention;
fig. 8 is a block diagram showing the construction of a first embodiment of a steering wheel shake optimizing apparatus of a vehicle according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a steering wheel shake optimization apparatus of a vehicle in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the steering wheel shake optimizing apparatus of the vehicle may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the steering wheel shake optimizing apparatus of the vehicle, and may include more or fewer components than shown, or may combine certain components, or may be a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a steering wheel shake optimization program of the vehicle may be included in the memory 1005 as one type of storage medium.
In the steering wheel shake optimizing apparatus of the vehicle shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the steering wheel shake optimization device of the vehicle may be provided in the steering wheel shake optimization device of the vehicle, where the steering wheel shake optimization device of the vehicle invokes the steering wheel shake optimization program of the vehicle stored in the memory 1005 through the processor 1001, and executes the steering wheel shake optimization method of the vehicle provided by the embodiment of the invention.
The embodiment of the invention provides a steering wheel shake optimization method of a vehicle, and referring to fig. 2, fig. 2 is a flow chart of a first embodiment of the steering wheel shake optimization method of the vehicle.
In this embodiment, the steering wheel shake optimization method of the vehicle includes the following steps:
step S10: during braking of the vehicle, a current motor recovery torque of the vehicle is obtained.
It should be noted that, the execution body of the present embodiment may be a steering wheel shake optimization apparatus of a vehicle, and may also be other apparatuses that may implement the same or similar, which is not limited in this embodiment, and the present embodiment is described taking the steering wheel shake optimization apparatus of a vehicle as an example.
The embodiment is applicable to hybrid electric vehicles and extended range vehicles, and is also applicable to other types of vehicles, and the embodiment is used for optimizing steering wheel shake, for example, when motor recovery torque exceeds a certain amplitude, and at the same time, engine main order frequency is close to steering wheel mode frequency, steering wheel shake is caused, and steering wheel shake can be optimized, for example, engine rotation speed is reduced to avoid steering wheel mode frequency or reference motor recovery torque.
In a specific implementation, the hybrid electric vehicle is complicated in working condition, when the braking energy recovery torque is large, the suspension of the power assembly is influenced by the recovery torque, and the suspension works in a nonlinear region, so that the vibration isolation of the suspension is poor. When the vehicle is in a braking process, the steering wheel shake is easy to cause, and the current motor recovery torque of the vehicle can be obtained. Motor recovery torque refers to a process in which torque generated when the motor of a hybrid vehicle is decelerated or braked is recovered and converted into electric energy for storage or reuse.
Optionally, after obtaining the current motor recovery torque of the vehicle, a preset motor recovery torque threshold of the vehicle may be further obtained, so as to determine whether steering wheel shake optimization is required, and after step S10, the method further includes: acquiring a preset motor recovery torque threshold of the vehicle; and comparing the current motor recovery torque with the preset motor recovery torque threshold.
It should be noted that, the preset motor recovery torque threshold value of the vehicle can be obtained, the preset motor recovery torque threshold value can be a critical value of steering wheel shaking, the current motor recovery torque is compared with the preset motor recovery torque threshold value, if the current motor recovery torque is smaller than or equal to the preset motor recovery torque threshold value, the steering wheel is not shaking, shaking optimization is not performed, and the current recovery torque of the vehicle is continuously detected.
Further, the acquiring process of the preset motor recovery torque threshold value comprises the following steps: under different braking forces, the vehicle is controlled to run at different speeds; detecting engine speed data, motor recovery torque data and steering wheel vibration data when a vehicle runs at different speeds under different braking forces;
it should be noted that, the mapping relation between the recovery torque of the motor at the engine speed and the vibration value of the steering wheel can be established in advance, so that the vehicle can be controlled to run at different speeds under different braking forces for testing, and the measuring points mainly comprise the vibration of the steering wheel, the vibration of the suspension driving end and the vibration of the driven end; the test signals include motor speed and torque, vehicle speed, engine speed and torque, and the like. The test working conditions are specifically as follows: the speed of the control vehicle is reduced from 100km/h to 10km/h at different braking forces.
In implementations, engine speed data, motor recovery torque data, and steering wheel vibration data at different braking forces and different speeds may be detected.
Establishing a mapping relation among the engine rotating speed, the motor recovery torque and the steering wheel vibration value based on the engine rotating speed data, the motor recovery torque data and the steering wheel vibration data;
acquiring a steering wheel vibration threshold;
and when the steering wheel vibration value in the steering wheel vibration data exceeds the steering wheel vibration threshold value, obtaining corresponding motor recovery torque based on the mapping relation, and taking the corresponding motor recovery torque as a preset motor recovery torque threshold value.
It should be appreciated that the mapping relationship between the engine speed, the motor recovery torque, and the steering wheel vibration value may be established based on the engine speed data, the motor recovery torque data, and the steering wheel vibration data, as shown in fig. 3, fig. 3 is a schematic diagram of braking process vibration and operating condition data, 1 is engine speed data, 2 is motor recovery torque data, and 3 is steering wheel vibration data. According to the test data in fig. 3, the threshold value of the steering wheel vibration, that is, the threshold value of the steering wheel vibration, may be set to V1, and when the threshold value of the steering wheel vibration exceeds V1 during braking, the motor recovery torque exceeding V1 is set to the preset motor recovery torque threshold value T1 according to the map. The corresponding engine speed N1 may also be obtained according to the mapping relationship and V1 and T1.
Step S20: and when the current motor recovery torque is larger than a preset motor recovery torque threshold value, determining that the steering wheel of the vehicle shakes, and acquiring the current engine speed.
In the implementation, when the current motor recovery torque is greater than a preset motor recovery torque threshold, the steering wheel of the vehicle shakes, and the current engine speed can be obtained when steering wheel shake optimization is needed.
Step S30: steering wheel jerk is optimized based on the current engine speed and the current motor recovery torque.
In implementations, steering wheel shake of the vehicle may be optimized based on the current engine speed and the current motor recovery torque, such as by comparing the current engine speed to a set preset engine speed range to determine if shake optimization is required.
As shown in fig. 4, fig. 4 is a schematic overall flow chart of steering wheel shake optimization, including step S1: testing brake process data, and step S2: determining a preset motor recovery torque threshold T1 born by the suspension, and step S3: determining an engine speed N1 of steering wheel shake when T1 is exceeded, step S4: formulating a corresponding optimization strategy, when the motor recovery torque is larger than a preset motor recovery torque threshold T1, determining whether the engine speed is within a preset engine speed range N1 +/-100 rpm, and when the engine speed is within the preset engine speed range N1 +/-100 rpm, executing strategy 1: reducing motor recovery torque to be less than a preset motor recovery torque threshold T1, or executing strategy 2: the engine speed is reduced to the next series power generation point.
In the embodiment, the current motor recovery torque of the vehicle is obtained in the vehicle braking process; when the current motor recovery torque is larger than a preset motor recovery torque threshold value, determining that a steering wheel of the vehicle shakes, and acquiring the current engine speed; and the steering wheel shake is optimized based on the current engine rotating speed and the current motor recovery torque, so that the problem of steering wheel shake in the braking process is avoided, the development period is shortened, and the performance of the whole vehicle is improved in a time-saving and economic mode.
Referring to fig. 5, fig. 5 is a flowchart illustrating a steering wheel shake optimization method according to a second embodiment of the present invention.
Based on the first embodiment, the step S30 of the steering wheel shake optimization method of the vehicle according to this embodiment includes:
step S301: and comparing the current engine speed with a preset engine speed range.
It should be noted that, by comparing the current engine speed with the preset engine speed range, it is determined whether the current engine speed is within the preset engine speed range.
Step S302: and when the current engine speed is within the preset engine speed range, optimizing steering wheel shake based on the current engine speed or the current motor recovery torque.
In a specific implementation, if the engine speed is not within the preset engine speed range, steering wheel shake is not optimized, and the engine speed is continuously detected.
When the engine speed is within the preset engine speed range, steering wheel shake can be optimized according to the current engine speed or the current motor recovery torque, so that the optimization effect is improved.
The present embodiment compares the current engine speed with a preset engine speed range; when the current engine speed is within the preset engine speed range, steering wheel shake is optimized based on the current engine speed or the current motor recovery torque, and steering wheel shake can be dynamically optimized according to the engine speed and the current motor recovery torque, so that steering wheel shake in a braking process is avoided, and compared with hardware control, optimization efficiency is improved, and optimization cost is reduced.
Referring to fig. 6, fig. 6 is a flowchart of a steering wheel shake optimization method according to a third embodiment of the present invention.
Based on the first and second embodiments, the steering wheel shake optimization method of the vehicle of the present embodiment includes the following step S302:
step S3021: and when the current engine speed is within the preset engine speed range, reducing the current motor recovery torque to obtain the reference motor recovery torque.
It should be noted that, when the current engine speed is within the preset engine speed range, an optimization strategy, for example, a current motor recovery torque reducing strategy, may be performed, and the reference motor recovery torque is obtained by reducing the current motor recovery torque, so that the reference motor recovery torque is smaller than the preset motor recovery torque threshold T1.
Optionally, while reducing the current motor recovery torque, the braking force requirement needs to be met, after step S3021, the method further includes:
calculating a recovered torque difference according to the reference motor recovered torque and the current motor recovered torque;
acquiring the current mechanical braking moment of the vehicle;
calculating an updated mechanical braking torque based on the recovered torque difference and the current mechanical braking torque;
and controlling the current mechanical braking moment to be increased to the updated mechanical braking moment.
It should be noted that, the recovery torque difference may be calculated according to the reference motor recovery torque and the current motor recovery torque, for example, the recovery torque is reduced by T2, the current motor recovery torque is T0, then the recovery torque difference Δt=t0-T2, and the current mechanical braking torque of the vehicle is obtained, the current mechanical braking torque is the braking torque realized by the mechanical braking system (typically, the brake disc and the brake pad), the updated mechanical braking torque may be detected by the sensor, the reduced recovery torque difference Δt is complemented by the mechanical braking, the motor recovery torque is reduced by Δt, the mechanical braking torque is increased by Δt, for example, the current mechanical braking torque is F1, and the updated mechanical braking torque f2=f1+Δt.
It will be appreciated that the current mechanical braking torque may be controlled to be increased to update the mechanical braking torque to meet the braking force demand.
Step S3022: and when the reference motor recovery torque is smaller than the preset motor recovery torque threshold value, the shake optimization of the steering wheel is completed.
It should be noted that, the reference motor recovery torque may be compared with a preset motor recovery torque threshold, and when the reference motor recovery torque is smaller than the preset motor recovery torque threshold, the shake optimization of the steering wheel is completed. And when the reference motor recovery torque is greater than or equal to the preset motor recovery torque threshold, continuing to reduce the reference motor recovery torque until the reference motor recovery torque is less than the preset motor recovery torque threshold.
In the embodiment, when the current engine speed is within the preset engine speed range, the current motor recovery torque is reduced, and the reference motor recovery torque is obtained; when the reference motor recovery torque is smaller than the preset motor recovery torque threshold, the steering wheel shake optimization is completed, the motor recovery torque can be dynamically adjusted in real time, the steering wheel shake problem in the braking process is avoided, and the user driving experience is improved.
Referring to fig. 7, fig. 7 is a flowchart of a steering wheel shake optimization method according to a fourth embodiment of the present invention.
Based on the first and second embodiments, the steering wheel shake optimization method of the vehicle of the present embodiment includes the following step S302:
step S3021': and calculating a target engine speed based on the preset engine speed range and the current engine speed when the current engine speed is within the preset engine speed range.
When the current engine speed is within the preset engine speed range, the target engine speed may be calculated based on the preset engine speed range and the current engine speed, and the target engine speed is less than a minimum value of the preset engine speed range.
Step S3022': and reducing the current engine speed to the target engine speed to finish the shake optimization of the steering wheel.
The current engine speed may be reduced to the target engine speed to complete the optimization of steering wheel shake.
In the embodiment, when the current engine speed is within the preset engine speed range, calculating a target engine speed based on the preset engine speed range and the current engine speed; and reducing the current engine speed to the target engine speed, completing the shake optimization of the steering wheel, dynamically adjusting the engine speed in real time, avoiding the problem of steering wheel shake in the braking process, and improving the driving experience of a user.
Referring to fig. 8, fig. 8 is a block diagram showing the construction of a first embodiment of a steering wheel shake optimizing apparatus of a vehicle according to the present invention.
As shown in fig. 8, a steering wheel shake optimizing apparatus for a vehicle according to an embodiment of the present invention includes:
the acquisition module 10 is used for acquiring the current motor recovery torque of the vehicle during the braking process of the vehicle.
The obtaining module 10 is further configured to determine that a steering wheel of the vehicle shakes when the current motor recovery torque is greater than a preset motor recovery torque threshold value, and obtain a current engine speed.
An optimization module 20 for optimizing steering wheel shake based on the current engine speed and the current motor recovery torque.
In the embodiment, the current motor recovery torque of the vehicle is obtained in the vehicle braking process; when the current motor recovery torque is larger than a preset motor recovery torque threshold value, determining that a steering wheel of the vehicle shakes, and acquiring the current engine speed; and the steering wheel shake is optimized based on the current engine rotating speed and the current motor recovery torque, so that the problem of steering wheel shake in the braking process is avoided, the development period is shortened, and the performance of the whole vehicle is improved in a time-saving and economic mode.
In an embodiment, the optimizing module 20 is further configured to compare the current engine speed with a preset engine speed range; and when the current engine speed is within the preset engine speed range, optimizing steering wheel shake based on the current engine speed or the current motor recovery torque.
In an embodiment, the optimizing module 20 is further configured to reduce the current motor recovery torque to obtain a reference motor recovery torque when the current engine speed is within the preset engine speed range; and when the reference motor recovery torque is smaller than the preset motor recovery torque threshold value, the shake optimization of the steering wheel is completed.
In an embodiment, the optimizing module 20 is further configured to calculate a recovery torque difference based on the reference motor recovery torque and the current motor recovery torque; acquiring the current mechanical braking moment of the vehicle; calculating an updated mechanical braking torque based on the recovered torque difference and the current mechanical braking torque; and controlling the current mechanical braking moment to be increased to the updated mechanical braking moment.
In an embodiment, the optimizing module 20 is further configured to calculate a target engine speed based on the preset engine speed range and the current engine speed when the current engine speed is within the preset engine speed range; and reducing the current engine speed to the target engine speed to finish the shake optimization of the steering wheel.
In an embodiment, the obtaining module 10 is further configured to obtain a preset motor recovery torque threshold of the vehicle; and comparing the current motor recovery torque with the preset motor recovery torque threshold.
In one embodiment, the acquiring module 10 is further configured to control the vehicle to travel at different speeds under different braking forces; detecting engine speed data, motor recovery torque data and steering wheel vibration data when a vehicle runs at different speeds under different braking forces; establishing a mapping relation among the engine rotating speed, the motor recovery torque and the steering wheel vibration value based on the engine rotating speed data, the motor recovery torque data and the steering wheel vibration data; acquiring a steering wheel vibration threshold; and when the steering wheel vibration value in the steering wheel vibration data exceeds the steering wheel vibration threshold value, obtaining corresponding motor recovery torque based on the mapping relation, and taking the corresponding motor recovery torque as a preset motor recovery torque threshold value.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium stores a steering wheel shake optimization program of the vehicle, and the steering wheel shake optimization program of the vehicle realizes the steps of the steering wheel shake optimization method of the vehicle when being executed by a processor.
Because the storage medium adopts all the technical schemes of all the embodiments, the storage medium has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details not described in detail in the present embodiment may refer to the steering wheel shake optimization method of the vehicle provided in any embodiment of the present invention, which is not described herein.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A steering wheel shake optimization method of a vehicle, characterized by comprising:
acquiring the current motor recovery torque of the vehicle in the vehicle braking process;
when the current motor recovery torque is larger than a preset motor recovery torque threshold value, determining that a steering wheel of the vehicle shakes, and acquiring the current engine speed;
steering wheel jerk is optimized based on the current engine speed and the current motor recovery torque.
2. The steering wheel shake optimizing method of a vehicle according to claim 1, characterized in that the optimizing the steering wheel shake based on the current engine speed and the current motor recovery torque includes:
comparing the current engine speed with a preset engine speed range;
and when the current engine speed is within the preset engine speed range, optimizing steering wheel shake based on the current engine speed or the current motor recovery torque.
3. The steering wheel shake optimizing method of a vehicle according to claim 2, characterized in that when the current engine speed is within the preset engine speed range, optimizing steering wheel shake based on the current motor recovery torque, comprising:
when the current engine speed is within the preset engine speed range, reducing the current motor recovery torque to obtain a reference motor recovery torque;
and when the reference motor recovery torque is smaller than the preset motor recovery torque threshold value, the shake optimization of the steering wheel is completed.
4. The method for optimizing steering wheel shake of a vehicle according to claim 3, characterized in that said reducing said current motor recovery torque, after obtaining a reference motor recovery torque, further comprises:
calculating a recovered torque difference according to the reference motor recovered torque and the current motor recovered torque;
acquiring the current mechanical braking moment of the vehicle;
calculating an updated mechanical braking torque based on the recovered torque difference and the current mechanical braking torque;
and controlling the current mechanical braking moment to be increased to the updated mechanical braking moment.
5. The steering wheel shake optimizing method of a vehicle according to claim 2, characterized in that when the current engine speed is within the preset engine speed range, optimizing steering wheel shake based on the current engine speed, comprising:
calculating a target engine speed based on the preset engine speed range when the current engine speed is within the preset engine speed range;
and reducing the current engine speed to the target engine speed to finish the shake optimization of the steering wheel.
6. The method for optimizing steering wheel shake of a vehicle according to claim 1, characterized in that, after acquiring the current motor recovery torque of the vehicle during braking of the vehicle, it further comprises:
acquiring a preset motor recovery torque threshold of the vehicle;
and comparing the current motor recovery torque with the preset motor recovery torque threshold.
7. The method for optimizing steering wheel shake of a vehicle according to claim 6, wherein the acquiring a preset motor recovery torque threshold of the vehicle comprises:
under different braking forces, the vehicle is controlled to run at different speeds;
detecting engine speed data, motor recovery torque data and steering wheel vibration data when a vehicle runs at different speeds under different braking forces;
establishing a mapping relation among the engine rotating speed, the motor recovery torque and the steering wheel vibration value based on the engine rotating speed data, the motor recovery torque data and the steering wheel vibration data;
acquiring a steering wheel vibration threshold;
and when the steering wheel vibration value in the steering wheel vibration data exceeds the steering wheel vibration threshold value, obtaining corresponding motor recovery torque based on the mapping relation, and taking the corresponding motor recovery torque as a preset motor recovery torque threshold value.
8. A steering wheel shake optimizing apparatus of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the current motor recovery torque of the vehicle in the vehicle braking process;
the acquisition module is further used for determining that the steering wheel of the vehicle shakes when the current motor recovery torque is larger than a preset motor recovery torque threshold value, and acquiring the current engine speed;
and the optimization module is used for optimizing steering wheel shake based on the current engine speed and the current motor recovery torque.
9. A steering wheel shake optimizing apparatus of a vehicle, characterized by comprising: a memory, a processor and a steering wheel shake optimization program of a vehicle stored on the memory and operable on the processor, the steering wheel shake optimization program of the vehicle configured to implement the steering wheel shake optimization method of a vehicle according to any one of claims 1 to 7.
10. A storage medium having stored thereon a steering wheel shake optimizing program of a vehicle, which when executed by a processor, implements the steering wheel shake optimizing method of a vehicle according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311356510.8A CN117302226A (en) | 2023-10-18 | 2023-10-18 | Steering wheel shake optimization method, device and equipment for vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311356510.8A CN117302226A (en) | 2023-10-18 | 2023-10-18 | Steering wheel shake optimization method, device and equipment for vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117302226A true CN117302226A (en) | 2023-12-29 |
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ID=89255154
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311356510.8A Pending CN117302226A (en) | 2023-10-18 | 2023-10-18 | Steering wheel shake optimization method, device and equipment for vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117302226A (en) |
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2023
- 2023-10-18 CN CN202311356510.8A patent/CN117302226A/en active Pending
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