Vehicle vibration suppression method and device

Abstract

The present invention discloses a vehicle vibration suppression method and device, and relates to the field of automobile technology. The present invention determines the vibration degree of the vehicle according to the vibration acceleration of the vehicle. If the vibration acceleration is higher than a preset acceleration threshold, it means that the vibration of the vehicle is large and the vibration needs to be suppressed; the target frequency is determined according to the driving shaft speed. If the difference between the vibration frequency of the vehicle and the target frequency is lower than the preset frequency difference threshold, it means that the vibration of the vehicle is caused by the driving shaft, and then the vibration of the vehicle is suppressed, so that the vehicle vibration caused by the driving shaft can be suppressed and the user's driving experience can be improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle vibration suppression method and device. Background Art

[0002] Compared with fuel vehicles, new energy vehicles have larger driving torque and faster torque response. The acceleration jitter caused by the drive shaft is common, especially for new energy vehicles with air suspension. The vehicle jitter problem is more serious, which greatly reduces the user experience. Therefore, how to suppress the vehicle jitter caused by the drive shaft to improve the user experience is an issue that needs to be focused on in the industry. Summary of the invention

[0003] The present invention solves the technical problem of how to suppress vehicle vibration caused by a drive shaft by providing a vehicle vibration suppression method and device.

[0004] On the one hand, the embodiments of the present invention provide the following technical solutions:

[0005] A vehicle vibration suppression method, comprising:

[0006] Obtain the vibration acceleration and vibration frequency of the vehicle, and the vehicle drive shaft speed;

[0007] determining a target frequency according to the driving shaft speed;

[0008] If the vibration acceleration is higher than a preset acceleration threshold, and the difference between the vibration frequency and the target frequency is lower than a preset frequency difference threshold, the vibration of the vehicle is suppressed.

[0009] Preferably, the step of suppressing the vibration of the vehicle comprises:

[0010] The angle between the drive shaft and the horizontal plane is reduced to a preset angle.

[0011] Preferably, the step of suppressing the vibration of the vehicle comprises:

[0012] Obtaining contribution rates of the front axle and the rear axle of the vehicle to the vibration acceleration;

[0013] According to the magnitude relationship between the contribution rates of the front axle and the rear axle, the driving torque of the vehicle is adjusted to suppress the shaking of the vehicle.

[0014] Preferably, adjusting the driving torque of the vehicle to suppress the shaking of the vehicle according to the relationship between the contribution rates corresponding to the front axle and the rear axle includes:

[0015] If the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, reducing the driving torque of the front axle;

[0016] If the contribution rate corresponding to the front axle is equal to the contribution rate corresponding to the rear axle, reducing the driving torque of the front axle and the rear axle;

[0017] If the contribution rate corresponding to the front axle is smaller than the contribution rate corresponding to the rear axle, reducing the driving torque of the rear axle;

[0018] Wherein, the sum of the driving torque of the front axle and the driving torque of the rear axle is greater than a first preset torque threshold.

[0019] Preferably, adjusting the driving torque of the vehicle to suppress the shaking of the vehicle according to the relationship between the contribution rates corresponding to the front axle and the rear axle includes:

[0020] If the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, reducing the driving torque of the front axle and increasing the driving torque of the rear axle;

[0021] If the contribution rate corresponding to the front axle is smaller than the contribution rate corresponding to the rear axle, reducing the driving torque of the rear axle and increasing the driving torque of the front axle;

[0022] The sum of the driving torque of the front axle and the driving torque of the rear axle is a second preset torque value.

[0023] Preferably, the step of suppressing the vibration of the vehicle comprises:

[0024] The vibration isolation rate of the vehicle powertrain mount is increased to a preset vibration isolation rate threshold.

[0025] Preferably, the step of suppressing the vibration of the vehicle comprises:

[0026] Reduce the excitation of the drive shaft.

[0027] On the other hand, the embodiment of the present invention also provides the following technical solution:

[0028] A vehicle vibration suppression device, comprising:

[0029] A data acquisition module, used to acquire the vibration acceleration and vibration frequency of the vehicle, and the vehicle drive shaft speed;

[0030] A frequency determination module, used to determine a target frequency according to the rotation speed of the drive shaft;

[0031] The vibration suppression module is used to suppress the vibration of the vehicle if the vibration acceleration is higher than a preset acceleration threshold and the difference between the vibration frequency and the target frequency is lower than a preset frequency difference threshold.

[0032] Preferably, the jitter suppression module is further used for:

[0033] The angle between the drive shaft and the horizontal plane is reduced to a preset angle.

[0034] Preferably, the jitter suppression module is further used for:

[0035] Obtaining contribution rates of the front axle and the rear axle of the vehicle to the vibration acceleration;

[0036] According to the magnitude relationship between the contribution rates of the front axle and the rear axle, the driving torque of the vehicle is adjusted to suppress the shaking of the vehicle.

[0037] Preferably, the jitter suppression module is further used for:

[0038] If the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, reducing the driving torque of the front axle;

[0039] If the contribution rate corresponding to the front axle is equal to the contribution rate corresponding to the rear axle, reducing the driving torque of the front axle and the rear axle;

[0040] If the contribution rate corresponding to the front axle is smaller than the contribution rate corresponding to the rear axle, reducing the driving torque of the rear axle;

[0041] Wherein, the sum of the driving torque of the front axle and the driving torque of the rear axle is greater than a first preset torque threshold.

[0042] Preferably, the jitter suppression module is further used for:

[0043] If the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, reducing the driving torque of the front axle and increasing the driving torque of the rear axle;

[0044] If the contribution rate corresponding to the front axle is smaller than the contribution rate corresponding to the rear axle, reducing the driving torque of the rear axle and increasing the driving torque of the front axle;

[0045] The sum of the driving torque of the front axle and the driving torque of the rear axle is a second preset torque value.

[0046] Preferably, the jitter suppression module is further used for:

[0047] The vibration isolation rate of the vehicle powertrain mount is increased to a preset vibration isolation rate threshold.

[0048] Preferably, the jitter suppression module is further used for:

[0049] Reduce the excitation of the drive shaft.

[0050] On the other hand, the embodiment of the present invention also provides the following technical solution:

[0051] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the above-mentioned vehicle vibration suppression methods is implemented.

[0052] On the other hand, the embodiment of the present invention also provides the following technical solution:

[0053] A computer-readable storage medium stores a computer program, which implements any of the above-mentioned vehicle vibration suppression methods when executed by a processor.

[0054] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0055] The present invention determines the degree of vehicle vibration based on the vibration acceleration of the vehicle. If the vibration acceleration is higher than a preset acceleration threshold, it means that the vehicle vibration is large and the vibration needs to be suppressed. The target frequency is determined based on the drive shaft speed. If the difference between the vehicle's vibration frequency and the target frequency is lower than a preset frequency difference threshold, it means that the vehicle vibration is caused by the drive shaft, and then the vehicle vibration is suppressed. This can suppress the vehicle vibration caused by the drive shaft and improve the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0057] Figure 1 is a flow chart of a vehicle vibration suppression method according to an embodiment of the present invention;

[0058] Figure 2 It is a schematic diagram of the effect of reducing the angle between the drive shaft and the horizontal plane in an embodiment of the present invention;

[0059] Figure 3 It is a schematic diagram of the effect after adjusting the driving torque of the vehicle in an embodiment of the present invention;

[0060] Figure 4 It is a schematic diagram of the effect after replacing the lubricating grease with better lubrication performance, increasing the lubrication clearance, and replacing the drive shaft section with better anti-vibration performance in the embodiment of the present invention;

[0061] Figure 5 Schematic diagram of the structure of a vehicle vibration suppression device in an embodiment of the present invention. DETAILED DESCRIPTION

[0062] The embodiments of the present invention solve the technical problem of how to suppress vehicle vibration caused by a drive shaft by providing a vehicle vibration suppression method and device.

[0063] In order to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0064] First of all, the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0065] like Figure 1 As shown, the vehicle vibration suppression method of this embodiment includes:

[0066] Step S1, obtaining the vibration acceleration and vibration frequency of the vehicle and the vehicle drive shaft speed;

[0067] Step S2, determining the target frequency according to the driving shaft speed;

[0068] Step S3: If the vibration acceleration is higher than the preset acceleration threshold, and the difference between the vibration frequency and the target frequency is lower than the preset frequency difference threshold, the vibration of the vehicle is suppressed.

[0069] The vehicle vibration suppression method of this embodiment is mainly applied to four-wheel drive new energy vehicles matched with air suspension, so that the drive shaft includes a front axle and a rear axle, and is mainly used to suppress the vibration generated during the acceleration of the vehicle.

[0070] The direction of the vehicle shaking caused by the vehicle drive shaft is the Y direction. The front of the vehicle is regarded as the front and the rear of the vehicle is regarded as the rear. The Y direction is the left and right direction of the vehicle. The vibration acceleration of the vehicle represents the degree of vehicle shaking. The greater the vibration acceleration, the more severe the vehicle shaking. The vibration acceleration of the seat rail obtained by detection can be used as the vibration acceleration of the vehicle. Of course, the vibration acceleration of the steering wheel can also be detected. The vibration acceleration of the vehicle is obtained by the vibration acceleration of both the seat rail and the steering wheel. If the vibration acceleration of the vehicle is lower than the preset acceleration threshold, it means that the shaking of the vehicle is very small and will not affect the user's driving experience, so there is no need to suppress the shaking. The vibration acceleration is higher than the preset acceleration threshold, which means that the shaking of the vehicle is large, which will reduce the user's driving experience and needs to suppress the shaking. This embodiment also needs to determine whether the shaking of the vehicle is caused by the drive shaft, so that the shaking caused by the drive shaft can be suppressed. The difference between the vibration frequency and the target frequency is lower than the preset frequency difference threshold, which means that the shaking of the vehicle is caused by the drive shaft, and then the shaking caused by the drive shaft can be suppressed to improve the user's driving experience.

[0071] As can be seen from the above, the vehicle jitter suppression method of this embodiment determines the degree of vehicle jitter based on the vehicle's vibration acceleration. If the vibration acceleration is higher than the preset acceleration threshold, it means that the vehicle jitter is large and the jitter needs to be suppressed. The target frequency is determined based on the drive shaft speed. If the difference between the vehicle's vibration frequency and the target frequency is lower than the preset frequency difference threshold, it means that the vehicle jitter is caused by the drive shaft, and then the vehicle jitter is suppressed. This can suppress the vehicle jitter caused by the drive shaft and improve the user's driving experience.

[0072] In step S2, the calculation method for determining the target frequency based on the drive shaft speed is: target frequency = drive shaft speed / 60*drive shaft order. The order of the drive shaft can be understood as the number of times the drive shaft vibrates during one rotation of the drive shaft, and the drive shaft order can be considered known. The frequency difference threshold is a small value, such as the frequency difference threshold can be infinitely close to zero. The difference between the vibration frequency and the target frequency is lower than the frequency difference threshold, and the vibration frequency can be considered equal to the target frequency.

[0073] This embodiment provides a variety of methods for suppressing vehicle vibration.

[0074] The first one is step S2, in which the vibration of the vehicle is suppressed, including: reducing the angle between the drive shaft and the horizontal plane to a preset angle.

[0075] The present embodiment found that the drive shaft is generally not in the horizontal direction, and the component of the axial force of the drive shaft in the Y direction causes the vehicle to shake. It can be understood that the smaller the angle between the drive shaft and the horizontal plane, the smaller the component of the axial force of the drive shaft in the Y direction, and thus the smaller the vehicle shake. Therefore, when the axial force of the drive shaft is constant, reducing the angle between the drive shaft and the horizontal plane to a preset angle can reduce the component of the axial force of the drive shaft in the Y direction and suppress the shaking of the vehicle. Among them, the preset angle is lower than the current angle between the drive shaft and the horizontal plane, and the angle between the drive shaft and the horizontal plane can be reduced by adjusting the vehicle body height through the air suspension. Figure 2 As shown, the horizontal axis is the drive shaft speed and the vertical axis is the vibration acceleration. After the angle between the drive shaft and the horizontal plane is reduced from 5° to 4° (preset angle), the peak value of the vehicle's vibration acceleration at the same speed is significantly reduced.

[0076] The second method is to suppress the vibration of the vehicle in step S2, including: obtaining the contribution rate of the front axle and the rear axle of the vehicle to the vibration acceleration; and adjusting the driving torque of the vehicle to suppress the vibration of the vehicle according to the relationship between the contribution rates of the front axle and the rear axle.

[0077] As mentioned above, the drive shaft includes the front axle and the rear axle, so the front axle and the rear axle together cause the vehicle to vibrate. The contribution rate of the front axle and the rear axle of the vehicle to the vibration acceleration represents the size of the role played by the front axle and the rear axle in causing the vehicle to vibrate. The greater the contribution rate, the greater the role. The contribution rate can be reflected by the vibration of the front and rear axle steering knuckles or wheel cores.

[0078] Among them, according to the relationship between the contribution rates corresponding to the front axle and the rear axle, the driving torque of the vehicle is adjusted to suppress the shaking of the vehicle, which may include: if the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, the driving torque of the front axle is reduced and the driving torque of the rear axle is kept unchanged; if the contribution rate corresponding to the front axle is equal to the contribution rate corresponding to the rear axle, the driving torque of the front and rear axles is reduced; if the contribution rate corresponding to the front axle is less than the contribution rate corresponding to the rear axle, the driving torque of the rear axle is reduced and the driving torque of the front axle is kept unchanged; wherein the sum of the driving torque of the front axle and the driving torque of the rear axle is greater than the first preset torque threshold.

[0079] This embodiment finds that the component of the axial force of the drive shaft in the Y direction is positively correlated with the driving torque of the drive shaft. If the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, it means that the vibration of the vehicle is mainly caused by the front axle. In this way, after reducing the driving torque of the front axle, the component of the axial force of the front axle in the Y direction is also reduced, which can suppress the vibration of the vehicle caused by the front axle; if the contribution rate corresponding to the front axle is equal to the contribution rate corresponding to the rear axle, it means that the vibration of the vehicle is caused by the average of the front axle and the rear axle. In this way, after reducing the driving torque of the front axle and the rear axle, the component of the axial force of the front axle and the rear axle in the Y direction is reduced, which can suppress the vibration of the vehicle caused by the front axle and the rear axle; if the contribution rate corresponding to the front axle is less than the contribution rate corresponding to the rear axle, it means that the vibration of the vehicle is mainly caused by the rear axle. In this way, after reducing the driving torque of the rear axle, the component of the axial force of the rear axle in the Y direction is also reduced, which can suppress the vibration of the vehicle caused by the rear axle. Of course, reducing the driving torque of the front axle and / or the rear axle will lead to a reduction in the total driving torque of the driving shaft, thereby reducing the dynamics of the entire vehicle. It is necessary to ensure that the dynamics of the entire vehicle are acceptable. The first preset torque threshold is the minimum total driving torque that is acceptable to the dynamics of the entire vehicle.

[0080] Among them, according to the relationship between the contribution rates of the front axle and the rear axle, the driving torque of the vehicle is adjusted to suppress the shaking of the vehicle, and it can also include: if the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, the driving torque of the front axle is reduced and the driving torque of the rear axle is increased; if the contribution rate corresponding to the front axle is less than the contribution rate corresponding to the rear axle, the driving torque of the rear axle is reduced and the driving torque of the front axle is increased; wherein the sum of the driving torque of the front axle and the driving torque of the rear axle is the second preset torque value.

[0081] The sum of the driving torque of the front axle and the driving torque of the rear axle is the second preset torque value, which represents that the total driving torque of the vehicle's driving shaft needs to remain stable. The driving torque of the rear axle needs to be increased by the same amount as the driving torque of the front axle is reduced, and the driving torque of the front axle needs to be increased by the same amount as the driving torque of the rear axle is reduced, so that the total driving torque of the driving shaft remains unchanged. Since the vibration of the vehicle is mainly caused by the driving shaft with a large contribution rate, the amount of reduction in the Y-direction component of the axial force of the driving shaft with a large contribution rate is greater than the amount of increase in the Y-direction component of the axial force of the driving shaft with a small contribution rate. Therefore, the Y-direction component of the axial force of the driving shaft is reduced overall, thereby suppressing the vehicle vibration caused by the driving shaft.

[0082] like Figure 3 As shown in the figure, the horizontal axis of the two figures above is the drive shaft speed and the vertical axis is the motor (drive shaft) drive torque, and the horizontal axis of the figure below is the drive shaft speed and the vertical axis is the vibration acceleration. After adjusting the drive torque of the front and rear axles, the vibration acceleration of the vehicle (mainly the peak value) can be significantly reduced in the second scheme.

[0083] The third method is to suppress the vibration of the vehicle in step S2, including: increasing the vibration isolation rate of the vehicle power system mount to a preset vibration isolation rate threshold. The power system mount can suppress the vibration of the vehicle. The higher the vibration isolation rate of the mount, the smaller the vibration of the vehicle. Thus, increasing the vibration isolation rate of the power system mount can suppress the vibration of the vehicle. The preset vibration isolation rate threshold can be 1dB to 15dB.

[0084] Fourthly, in step S2, the vibration of the vehicle is suppressed, including: reducing the excitation of the drive shaft.

[0085] This embodiment finds that the greater the excitation of the drive shaft, the greater the axial force of the drive shaft. Therefore, the axial force of the drive shaft can be reduced by reducing the excitation of the drive shaft, thereby reducing the component of the axial force of the drive shaft in the Y direction, thereby suppressing the vehicle shaking. In this embodiment, the excitation of the drive shaft can be reduced by controlling the vehicle. Here, a method of reducing the excitation of the drive shaft by replacing the components of the vehicle is provided, including replacing grease with better lubrication performance and increasing the lubrication gap, or replacing the drive shaft section with better anti-vibration performance. After replacing the grease with better lubrication performance, the component of the axial force of the drive shaft in the Y direction will be reduced; under normal circumstances, the drive shaft has rolling friction, and the increase in sliding friction will increase the vehicle shaking. After increasing the lubrication gap, the sliding friction of the drive shaft can be reduced; after replacing the drive shaft section with better anti-vibration performance, the vehicle shaking can be suppressed. As Figure 4 As shown, this is the effect diagram of reducing vibration acceleration after replacing grease with better lubrication performance, increasing lubrication clearance, and replacing the drive shaft section with better vibration resistance. It can be seen that the peak value of vibration acceleration is significantly reduced.

[0086] In addition, this embodiment can set priorities for the four methods of suppressing vehicle vibration mentioned above. First, consider reducing the angle between the drive shaft and the horizontal plane. If the vibration acceleration is still higher than the acceleration threshold, consider adjusting the drive torque of the drive shaft. If the vibration acceleration is still higher than the acceleration threshold, consider increasing the vibration isolation rate of the vehicle power system suspension. If the vibration acceleration is still higher than the acceleration threshold, consider replacing grease with better lubrication performance and increasing the lubrication gap or replacing the drive shaft section with better vibration resistance. The above priorities are set according to the difficulty of each method, and the difficulty of the four methods increases in turn.

[0087] like Figure 5 As shown, this embodiment also provides a vehicle vibration suppression device, including:

[0088] A data acquisition module, used to acquire the vibration acceleration and vibration frequency of the vehicle, and the vehicle drive shaft speed;

[0089] A frequency determination module, used for determining a target frequency according to a driving shaft rotation speed;

[0090] The vibration suppression module is used to suppress the vibration of the vehicle if the vibration acceleration is higher than a preset acceleration threshold and the difference between the vibration frequency and the target frequency is lower than a preset frequency difference threshold.

[0091] The vehicle vibration suppression device of this embodiment is mainly used in four-wheel drive new energy vehicles matched with air suspension, so that the drive shaft includes a front axle and a rear axle, and is mainly used to suppress the vibration generated during the acceleration of the vehicle.

[0092] The direction of the vehicle shaking caused by the vehicle drive shaft is the Y direction. The front of the vehicle is regarded as the front and the rear of the vehicle is regarded as the rear. The Y direction is the left and right direction of the vehicle. The vibration acceleration of the vehicle represents the degree of vehicle shaking. The greater the vibration acceleration, the more severe the vehicle shaking. The vibration acceleration of the seat rail obtained by detection can be used as the vibration acceleration of the vehicle. Of course, the vibration acceleration of the steering wheel can also be detected. The vibration acceleration of the vehicle is obtained by the vibration acceleration of both the seat rail and the steering wheel. If the vibration acceleration of the vehicle is lower than the preset acceleration threshold, it means that the shaking of the vehicle is very small and will not affect the user's driving experience, so there is no need to suppress the shaking. The vibration acceleration is higher than the preset acceleration threshold, which means that the shaking of the vehicle is large, which will reduce the user's driving experience and needs to suppress the shaking. This embodiment also needs to determine whether the shaking of the vehicle is caused by the drive shaft, so that the shaking caused by the drive shaft can be suppressed. The difference between the vibration frequency and the target frequency is lower than the preset frequency difference threshold, which means that the shaking of the vehicle is caused by the drive shaft, and then the shaking caused by the drive shaft can be suppressed to improve the user's driving experience.

[0093] As can be seen from the above, the vehicle shake suppression device of this embodiment determines the degree of vehicle shake based on the vibration acceleration of the vehicle. If the vibration acceleration is higher than the preset acceleration threshold, it means that the vehicle shakes relatively large and needs to be suppressed. The target frequency is determined based on the drive shaft speed. If the difference between the vehicle's vibration frequency and the target frequency is lower than the preset frequency difference threshold, it means that the vehicle shake is caused by the drive shaft, and then the vehicle shake is suppressed. This can suppress the vehicle shake caused by the drive shaft and improve the user's driving experience.

[0094] Furthermore, the frequency determination module determines the target frequency according to the drive shaft speed by the following calculation method: target frequency = drive shaft speed / 60*drive shaft order. The order of the drive shaft can be understood as the number of times the drive shaft vibrates during one rotation, and the drive shaft order can be considered known. The frequency difference threshold is a small value, such as the frequency difference threshold can be infinitely close to zero. If the difference between the vibration frequency and the target frequency is lower than the frequency difference threshold, the vibration frequency can be considered equal to the target frequency.

[0095] Furthermore, the vibration suppression module can also be used to reduce the angle between the drive shaft and the horizontal plane to a preset angle. This embodiment finds that the drive shaft is generally not in the horizontal direction, and the component of the axial force of the drive shaft in the Y direction causes the vehicle to shake. It can be understood that the smaller the angle between the drive shaft and the horizontal plane, the smaller the component of the axial force of the drive shaft in the Y direction, and thus the smaller the vehicle shakes. Therefore, when the axial force of the drive shaft is constant, reducing the angle between the drive shaft and the horizontal plane to a preset angle can reduce the component of the axial force of the drive shaft in the Y direction and suppress the shaking of the vehicle. Among them, the preset angle is lower than the current angle between the drive shaft and the horizontal plane, and the angle between the drive shaft and the horizontal plane can be reduced by adjusting the vehicle body height through the air suspension.

[0096] Furthermore, the vibration suppression module can also be used to: obtain the contribution rate of the front axle and rear axle of the vehicle to the vibration acceleration; and adjust the driving torque of the vehicle to suppress the vibration of the vehicle according to the relationship between the contribution rates of the front axle and the rear axle.

[0097] Furthermore, the vibration suppression module can also be used to: if the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, reduce the driving torque of the front axle; if the contribution rate corresponding to the front axle is equal to the contribution rate corresponding to the rear axle, reduce the driving torque of the front and rear axles; if the contribution rate corresponding to the front axle is less than the contribution rate corresponding to the rear axle, reduce the driving torque of the rear axle; wherein the sum of the driving torque of the front axle and the driving torque of the rear axle is greater than the first preset torque threshold.

[0098] Furthermore, the vibration suppression module can also be used to: if the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, reduce the driving torque of the front axle and increase the driving torque of the rear axle; if the contribution rate corresponding to the front axle is less than the contribution rate corresponding to the rear axle, reduce the driving torque of the rear axle and increase the driving torque of the front axle; wherein the sum of the driving torque of the front axle and the driving torque of the rear axle is the second preset torque value.

[0099] Furthermore, the vibration suppression module is also used to: increase the vibration isolation rate of the vehicle power system suspension to a preset vibration isolation rate threshold.

[0100] Furthermore, the vibration suppression module is also used to reduce the excitation of the drive shaft.

[0101] The vibration suppression module of this embodiment can set priorities for the four methods of suppressing vehicle vibration mentioned above. It can first consider reducing the angle between the drive shaft and the horizontal plane. If the vibration acceleration is still higher than the acceleration threshold, consider adjusting the drive torque of the drive shaft. If the vibration acceleration is still higher than the acceleration threshold, consider increasing the vibration isolation rate of the vehicle power system suspension. If the vibration acceleration is still higher than the acceleration threshold, consider replacing grease with better lubrication performance and increasing the lubrication gap or replacing the drive shaft section with better vibration resistance. The above priorities are set according to the difficulty of each method, and the difficulty of the four methods increases in turn.

[0102] Based on the same inventive concept as the vehicle jitter suppression method described above, this embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the vehicle jitter suppression methods described above are implemented.

[0103] Among them, the bus architecture (represented by the bus), the bus can include any number of interconnected buses and bridges, and the bus links various circuits including one or more processors represented by the processor and memory represented by the memory. The bus can also link various other circuits such as peripherals, voltage regulators, and power management circuits together, which are all well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the receiver and transmitter. The receiver and transmitter can be the same element, namely a transceiver, which provides a unit for communicating with various other devices on a transmission medium. The processor is responsible for managing the bus and general processing, while the memory can be used to store data used by the processor when performing operations.

[0104] Since the electronic device introduced in this embodiment is an electronic device used to implement the vehicle jitter suppression method in the embodiment of the present invention, based on the vehicle jitter suppression method introduced in the embodiment of the present invention, a person skilled in the art can understand the specific implementation of the electronic device of this embodiment and its various variations, so how the electronic device implements the method in the embodiment of the present invention is not described in detail here. As long as a person skilled in the art implements the electronic device used in the vehicle jitter suppression method in the embodiment of the present invention, it belongs to the scope of protection of the present invention.

[0105] Based on the same inventive concept as the above-mentioned vehicle jitter suppression method, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements any of the above-mentioned vehicle jitter suppression methods.

[0106] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0108] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0110] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0111] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A vehicle vibration suppression method, characterized in that: include: Obtain the vibration acceleration and vibration frequency of the vehicle, and the vehicle drive shaft speed; determining a target frequency according to the driving shaft speed; If the vibration acceleration is higher than a preset acceleration threshold, and the difference between the vibration frequency and the target frequency is lower than a preset frequency difference threshold, the vibration of the vehicle is suppressed; The method of suppressing the vibration of the vehicle includes: obtaining the contribution rate of the front axle and the rear axle of the vehicle to the vibration acceleration; and adjusting the driving torque of the vehicle to suppress the vibration of the vehicle according to the relationship between the contribution rates corresponding to the front axle and the rear axle.

2. The vehicle vibration suppression method according to claim 1, characterized in that: The step of suppressing the vibration of the vehicle comprises: The angle between the drive shaft and the horizontal plane is reduced to a preset angle.

3. The vehicle vibration suppression method according to claim 1, characterized in that: The adjusting the driving torque of the vehicle to suppress the shaking of the vehicle according to the relationship between the contribution rates corresponding to the front axle and the rear axle includes: If the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, reducing the driving torque of the front axle; If the contribution rate corresponding to the front axle is equal to the contribution rate corresponding to the rear axle, reducing the driving torque of the front axle and the rear axle; If the contribution rate corresponding to the front axle is smaller than the contribution rate corresponding to the rear axle, reducing the driving torque of the rear axle; Wherein, the sum of the driving torque of the front axle and the driving torque of the rear axle is greater than a first preset torque threshold.

4. The vehicle vibration suppression method according to claim 1, characterized in that: The adjusting the driving torque of the vehicle to suppress the shaking of the vehicle according to the relationship between the contribution rates corresponding to the front axle and the rear axle includes: If the contribution rate corresponding to the front axle is greater than the contribution rate corresponding to the rear axle, reducing the driving torque of the front axle and increasing the driving torque of the rear axle; If the contribution rate corresponding to the front axle is smaller than the contribution rate corresponding to the rear axle, reducing the driving torque of the rear axle and increasing the driving torque of the front axle; The sum of the driving torque of the front axle and the driving torque of the rear axle is a second preset torque value.

5. The vehicle vibration suppression method according to claim 1, characterized in that: The step of suppressing the vibration of the vehicle comprises: The vibration isolation rate of the vehicle powertrain mount is increased to a preset vibration isolation rate threshold.

6. The vehicle vibration suppression method according to claim 1, characterized in that: The step of suppressing the vibration of the vehicle comprises: Reduce the excitation of the drive shaft.

7. A vehicle vibration suppression device, characterized in that: include: A data acquisition module, used to acquire the vibration acceleration and vibration frequency of the vehicle, and the vehicle drive shaft speed; A frequency determination module, used to determine a target frequency according to the rotation speed of the drive shaft; a vibration suppression module, configured to suppress the vibration of the vehicle if the vibration acceleration is higher than a preset acceleration threshold and the difference between the vibration frequency and the target frequency is lower than a preset frequency difference threshold; The vibration suppression module can also be used to: obtain the contribution rate of the front axle and rear axle of the vehicle to the vibration acceleration; and adjust the driving torque of the vehicle to suppress the vibration of the vehicle according to the size relationship of the contribution rates corresponding to the front axle and the rear axle.

8. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle vibration suppression method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle vibration suppression method according to any one of claims 1 to 6 is implemented.

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