Method and device for identifying torque jitter of vehicle

Abstract

The present application relates to the technical field of torque control testing, and provides a method and device for identifying torque jitter of a vehicle. The method comprises: obtaining a driving torque control waveform from the driving torque control data obtained from the driving torque control test of the vehicle; extracting the first fundamental wave and each first harmonic from the driving torque control waveform, and sequentially superimposing the first fundamental wave and each first target harmonic from the minimum subfundamental frequency to the preset subfundamental frequency in each first harmonic to generate a target torque control waveform; obtaining the first difference between the driving torque control waveform and the target torque control waveform at any target time point, comparing the first difference with the preset torque jitter interval, and determining the torque jitter identification result of the vehicle at the target time point; wherein the preset torque jitter interval is determined according to the vehicle speed at the target time point. The vehicle torque jitter identification method provided in the present application can effectively identify the torque jitter of the vehicle and improve the efficiency of torque jitter identification.

Description

Technical Field

[0001] The present application relates to the technical field of torque control testing, and in particular to a method and device for identifying torque jitter in a vehicle. Background Art

[0002] With the popularity of electric vehicles, users have increasingly higher requirements for the drivability of electric vehicles under various driving conditions. In order to improve the drivability and stability of the entire vehicle, the main engine manufacturer needs to test the driving torque control function of its vehicle terminal equipment to improve the quality of the vehicle terminal equipment software, thereby improving the drivability and stability of the entire vehicle. In the driving torque control test of the vehicle terminal equipment, identifying whether there is a jitter problem in the control torque under different working conditions is an important part of the driving torque control test. However, there is no effective identification method for how to effectively identify torque jitter in related technologies. Therefore, how to effectively identify the torque jitter of the vehicle and improve the efficiency of torque jitter identification is a technical problem that urgently needs to be solved. Summary of the Invention

[0003] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a method for identifying torque jitter of a vehicle, which can effectively identify torque jitter of the vehicle and improve the efficiency of torque jitter identification.

[0004] The present application also proposes a vehicle torque jitter identification device.

[0005] The present application also provides an electronic device.

[0006] The present application also provides a computer-readable storage medium.

[0007] A method for identifying torque jitter of a vehicle according to an embodiment of the first aspect of the present application includes:

[0008] Obtaining a driving torque control waveform from driving torque control data obtained from a driving torque control test of a vehicle;

[0009] extracting a first fundamental wave and each first harmonic from the driving torque control waveform, and sequentially superimposing the first fundamental wave with each first target harmonic from the minimum subfundamental frequency to a preset subfundamental frequency among the first harmonics to generate a target torque control waveform;

[0010] obtaining a first difference between the driving torque control waveform and the target torque control waveform at any target time point, comparing the first difference with a preset torque jitter interval, and determining a torque jitter identification result of the vehicle at the target time point;

[0011] The preset torque jitter interval is determined according to the vehicle speed at the target time point.

[0012] By obtaining a driving torque control waveform from the driving torque control data, and then comparing a target torque control waveform generated by extracting the fundamental wave and harmonics from the minimum subfundamental frequency to a preset subfundamental frequency from the driving torque control waveform, the system utilizes the high-frequency nature of torque jitter relative to the fundamental wave to obtain a first difference between the driving torque control waveform and the target torque control waveform at any target time point. This separation of the fundamental wave from the driving torque control waveform leaves the remaining first difference as the jitter at the target time point. Since torque jitter is speed-dependent, the same jitter amplitude is more perceptible at low speeds than at high speeds. Therefore, after obtaining the first difference between the driving torque control waveform and the target torque control waveform at any target time point, the system compares this first difference with a preset torque jitter range determined based on the vehicle speed at the target time point. This allows for rapid and accurate identification of torque jitter, effectively performing vehicle torque jitter identification and improving torque jitter identification efficiency.

[0013] According to one embodiment of the present application, obtaining a driving torque control waveform from driving torque control data obtained from a driving torque control test of a vehicle includes:

[0014] Segmenting the driving torque control data according to a preset time period to obtain target torque control data for each time period;

[0015] The driving torque control waveform is obtained from the target torque control data of any target time period in each time period.

[0016] According to one embodiment of the present application, the first fundamental wave and each first target harmonic from the minimum subfundamental frequency to the preset subfundamental frequency among the first harmonics are sequentially superimposed, including:

[0017] determining, according to the average speed of the vehicle during the target time period, a preset subfundamental frequency corresponding to the average speed;

[0018] The first target harmonics from the minimum subfundamental frequency to the preset subfundamental frequency are obtained from the first harmonics, and the first fundamental wave and the first target harmonics are sequentially superimposed to generate the target torque control waveform.

[0019] According to one embodiment of the present application, the preset subfundamental frequency is determined according to the vehicle speed range to which the average vehicle speed belongs.

[0020] According to one embodiment of the present application, comparing the first difference with a preset torque jitter interval to determine a torque jitter identification result of the vehicle at the target time point includes:

[0021] comparing the first difference with a preset torque jitter range, determining that the first difference is within the preset torque jitter range, and that the driving torque control data is torque control data obtained from a full vehicle test, and obtaining a motor feedback torque waveform from the driving torque control data;

[0022] Extracting a second fundamental wave and each second harmonic from the motor feedback torque waveform, and sequentially superimposing the second fundamental wave with each second target harmonic from the minimum subfundamental frequency to a preset subfundamental frequency among the second harmonics to generate a target feedback torque waveform;

[0023] Obtain a second difference between the motor feedback torque waveform and the target feedback torque waveform at the target time point, compare the second difference with the preset torque jitter interval, determine that the second difference is outside the preset torque jitter interval, and determine the torque jitter identification result as the presence of torque jitter.

[0024] According to one embodiment of the present application, it further includes:

[0025] It is determined that the first difference is outside the preset torque jitter range, and the torque jitter identification result is determined as the presence of torque jitter.

[0026] According to one embodiment of the present application, it further includes:

[0027] It is determined that the second difference is within the preset torque jitter range, and the torque jitter identification result is determined as no torque jitter exists.

[0028] A vehicle torque jitter identification device according to an embodiment of the second aspect of the present application includes:

[0029] a waveform acquisition module, configured to acquire a driving torque control waveform from driving torque control data obtained from a driving torque control test of a vehicle;

[0030] a fundamental wave extraction module configured to extract a first fundamental wave and first harmonics from the driving torque control waveform, and sequentially superimpose the first fundamental wave with first target harmonics ranging from a minimum subfundamental frequency to a preset subfundamental frequency among the first harmonics to generate a target torque control waveform;

[0031] a jitter identification module, configured to obtain a first difference between the driving torque control waveform and the target torque control waveform at any target time point, compare the first difference with a preset torque jitter interval, and determine a torque jitter identification result of the vehicle at the target time point;

[0032] The preset torque jitter interval is determined according to the vehicle speed at the target time point.

[0033] According to an electronic device of an embodiment of the third aspect of the present application, the electronic device includes a processor and a memory storing a computer program, and when the processor executes the computer program, the method for identifying torque jitter of a vehicle described in any of the above embodiments is implemented.

[0034] According to the computer-readable storage medium of the fourth embodiment of the present application, a computer program is stored thereon, and when the computer program is executed by a processor, the vehicle torque jitter identification method described in any of the above embodiments is implemented.

[0035] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0036] By obtaining a driving torque control waveform from the driving torque control data, and then comparing a target torque control waveform generated by extracting the fundamental wave and harmonics from the minimum subfundamental frequency to a preset subfundamental frequency from the driving torque control waveform, the system utilizes the high-frequency nature of torque jitter relative to the fundamental wave to obtain a first difference between the driving torque control waveform and the target torque control waveform at any target time point. This separation of the fundamental wave from the driving torque control waveform leaves the remaining first difference as the jitter at the target time point. Since torque jitter is speed-dependent, the same jitter amplitude is more perceptible at low speeds than at high speeds. Therefore, after obtaining the first difference between the driving torque control waveform and the target torque control waveform at any target time point, the system compares this first difference with a preset torque jitter range determined based on the vehicle speed at the target time point. This allows for rapid and accurate identification of torque jitter, effectively performing vehicle torque jitter identification and improving torque jitter identification efficiency.

[0037] Furthermore, by presetting the time length, the driving torque control data is segmented to obtain the target torque control data of each time period, and then the driving torque control waveform is obtained from the target torque control data of any target time period of each time period, so that the obtained driving torque control waveform is only the waveform of a certain time period, reducing the subsequent waveform processing amount, improving the processing efficiency of the driving torque control waveform, and further improving the recognition efficiency of the torque jitter recognition results.

[0038] Furthermore, the preset subfundamental frequency corresponding to the average vehicle speed is determined by the average vehicle speed in the target time period, and then the fundamental wave extracted from the driving torque control waveform and the harmonics from the minimum subfundamental frequency to the preset subfundamental frequency are superimposed to generate the target torque control waveform. The average vehicle speed in the target time period is used to select the frequency band that needs to be retained, thereby making the generated target torque control waveform more consistent with the actual perception situation and improving the accuracy of the generated target torque control waveform.

[0039] Furthermore, when it is determined that the first difference is within the preset torque jitter range, the driving torque control data is judged to be the torque control data obtained in the whole vehicle test environment, and when it is determined that the driving torque control data is the torque control data obtained in the whole vehicle test environment, the motor feedback torque waveform is obtained from the driving torque control data, and the fundamental wave and each harmonic from the minimum subfundamental frequency to the preset subfundamental frequency are extracted from the motor feedback torque waveform. After generating a target feedback torque waveform based on the fundamental wave and each harmonic from the minimum subfundamental frequency to the preset subfundamental frequency extracted from the motor feedback torque waveform, a second difference between the motor feedback torque waveform and the target feedback torque waveform at a target time point is obtained, and it is determined that the second difference is outside the preset torque jitter range, then it is determined that torque jitter exists, thereby avoiding ignoring torque jitter caused by motor anti-shake or undesirable control parameters, and improving the accuracy of torque jitter identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 1 is a flow chart of a method for identifying torque jitter of a vehicle provided in an embodiment of the present application;

[0042] Figure 2 In the embodiment of this application Figure 1 A flowchart for further refining the acquisition of a driving torque control waveform in a method for identifying torque jitter of a vehicle;

[0043] Figure 3 In the embodiment of this application Figure 1 A schematic flow chart of further refining the generation of a target torque control waveform in a method for identifying torque jitter of a vehicle;

[0044] Figure 4 In the embodiment of this application Figure 1 A schematic diagram of a process for further refining the acquisition of jitter recognition results in a method for identifying torque jitter of a vehicle;

[0045] Figure 5 1 is a schematic structural diagram of a vehicle torque jitter identification device provided in an embodiment of the present application;

[0046] Figure 6 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0048] Below, the vehicle torque jitter identification method and device provided in the embodiments of the present application will be introduced and explained in detail through several specific embodiments.

[0049] In one embodiment, a method for identifying torque jitter of a vehicle is provided, which is applied to a terminal device for identifying torque jitter of the vehicle. The terminal device may be a single-chip microcomputer, a control chip, a desktop terminal, a mobile terminal, or a server. The mobile terminal may be a portable terminal such as a laptop computer, a mobile phone, or an electronic watch. The server may be an independent server or a server cluster composed of multiple servers. It may also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence sampling point devices.

[0050] like Figure 1 As shown, the present embodiment provides a method for identifying torque jitter of a vehicle, including:

[0051] Step 101, obtaining a driving torque control waveform from driving torque control data obtained from a driving torque control test of a vehicle;

[0052] Step 102 , extracting a first fundamental wave and first harmonics from the driving torque control waveform, and sequentially superimposing the first fundamental wave with first target harmonics ranging from the minimum subfundamental frequency to a preset subfundamental frequency among the first harmonics to generate a target torque control waveform;

[0053] Step 103: obtaining a first difference between the driving torque control waveform and the target torque control waveform at any target time point, comparing the first difference with a preset torque jitter interval, and determining a torque jitter identification result of the vehicle at the target time point;

[0054] The preset torque jitter interval is determined according to the vehicle speed at the target time point.

[0055] The first fundamental wave represents a fundamental wave extracted from the driving torque control waveform, and the first harmonic wave represents a harmonic wave extracted from the driving torque control waveform.

[0056] By obtaining a driving torque control waveform from the driving torque control data, and then comparing a target torque control waveform generated by extracting the fundamental wave and harmonics from the minimum subfundamental frequency to a preset subfundamental frequency from the driving torque control waveform, the system utilizes the high-frequency nature of torque jitter relative to the fundamental wave to obtain a first difference between the driving torque control waveform and the target torque control waveform at any target time point. This separation of the fundamental wave from the driving torque control waveform leaves the remaining first difference as the jitter at the target time point. Since torque jitter is speed-dependent, the same jitter amplitude is more perceptible at low speeds than at high speeds. Therefore, after obtaining the first difference between the driving torque control waveform and the target torque control waveform at any target time point, the system compares this first difference with a preset torque jitter range determined based on the vehicle speed at the target time point. This allows for rapid and accurate identification of torque jitter, effectively performing vehicle torque jitter identification and improving torque jitter identification efficiency.

[0057] In one embodiment, the driving torque control test is one of the MIL / HIL / full vehicle tests, and the tested vehicle is an electric vehicle. After the vehicle completes the driving torque control test, the terminal device can obtain driving torque control data from the driving torque control test. The driving torque control data includes the driving torque control waveform generated during the test. Therefore, after obtaining the driving torque control data, the driving torque control waveform S representing the torque changes during the test can be obtained from the driving torque control data.

[0058] In order to improve the processing efficiency of the driving torque control waveform, thereby further improving the recognition efficiency of the torque jitter recognition result, in one embodiment, as shown in FIG. Figure 2 As shown, the driving torque control waveform is obtained from the driving torque control data obtained from the driving torque control test of the vehicle, including:

[0059] Step 201 , segmenting the driving torque control data according to a preset time period to obtain target torque control data for each time period;

[0060] Step 202 : Obtain the driving torque control waveform from the target torque control data of any target time period in each time period.

[0061] In one embodiment, after obtaining the driving torque control data, the driving torque control data can be segmented according to a preset time period T to obtain target torque control data for each time period of T. Then, any time period in the time period is designated as a target time period, and a driving torque control waveform S representing the torque variation during the target time period is obtained from the target torque control data for the target time period. In this case, the obtained driving torque control waveform S only represents the waveform for the target time period.

[0062] By presetting the time length, the driving torque control data is segmented to obtain the target torque control data of each time period, and then the driving torque control waveform is obtained from the target torque control data of any target time period in each time period, so that the obtained driving torque control waveform is only the waveform of a certain time period, reducing the subsequent waveform processing amount, improving the processing efficiency of the driving torque control waveform, and further improving the recognition efficiency of the torque jitter recognition results.

[0063] In one embodiment, after obtaining the driving torque control waveform S, Fourier decomposition is performed on the driving torque control waveform S to obtain the first fundamental wave and each first harmonic. The first harmonics from the minimum subfundamental frequency to a preset subfundamental frequency are then retained as the first target harmonics. The first fundamental wave is then sequentially superimposed with all first target harmonics to generate the target torque control waveform. The minimum subfundamental frequency is typically 3rd, and the fundamental frequency difference between two adjacent first target harmonics is 2nd. The preset subfundamental frequency can be set according to actual conditions, such as the 5th, 9th, or 11th fundamental frequency.

[0064] For example, the preset sub-fundamental frequency is 5th, then each first target harmonic is the first harmonic of the 3rd fundamental frequency and the first harmonic of the 5th fundamental frequency. At this time, the target torque control waveform is formed by superimposing the first fundamental wave, the first harmonic of the 3rd fundamental frequency and the first harmonic of the 5th fundamental frequency.

[0065] In order to improve the accuracy of the generated target torque control waveform, in one embodiment, as shown in FIG. Figure 3 As shown, the first fundamental wave and each first target harmonic from the minimum subfundamental frequency to the preset subfundamental frequency in each of the first harmonics are sequentially superimposed, including:

[0066] Step 301, determining a preset subfundamental frequency corresponding to the average speed of the vehicle in the target time period;

[0067] Step 302 : Obtain the first target harmonics from the minimum subfundamental frequency to the preset subfundamental frequency from the first harmonics, and superimpose the first fundamental wave and the first target harmonics in sequence to generate the target torque control waveform.

[0068] In one embodiment, the terminal device may pre-store a mapping table that records the harmonic orders corresponding to various preset vehicle speeds. For example, for a preset vehicle speed V = 10 kph, the corresponding harmonic order is the 9th fundamental frequency. In this case, the first harmonic of the 3rd fundamental frequency, the first harmonic of the 5th fundamental frequency, the first harmonic of the 7th fundamental frequency, and the first harmonic of the 9th fundamental frequency must be retained. After Fourier decomposition of the driving torque control waveform S, the average vehicle speed during the target time period is obtained. This average speed is then matched against each preset speed in the mapping table to obtain a preset speed identical to the average speed. The harmonic order corresponding to the preset speed identical to the average speed is then determined as the preset sub-fundamental frequency corresponding to the average speed.

[0069] In one embodiment, the mapping table stored in the terminal device may also record the mapping relationship between various vehicle speed intervals and various harmonic orders. For example, if the vehicle speed interval is V < 10 kph, the corresponding harmonic order is the 5th fundamental frequency; if the vehicle speed interval is 10 kph ≤ V < 20 kph, the corresponding harmonic order is the 9th fundamental frequency; and if the vehicle speed interval is ≥ 20 kph, the harmonic order is the 11th fundamental frequency. After Fourier decomposition of the driving torque control waveform S, the average vehicle speed during the target time period is obtained. This average speed is then matched with each speed interval in the mapping table to obtain the speed interval to which the average speed belongs. The harmonic order corresponding to the speed interval to which the average speed belongs is then determined as the preset sub-fundamental frequency corresponding to the average speed. For example, if the average vehicle speed obtained by the terminal device is 11kph, it can be determined from the mapping table that the speed range corresponding to the average vehicle speed is 10kph≤vehicle speed V<20kph, and the harmonic order corresponding to the speed range is the 9th fundamental frequency. At this time, the 9th fundamental frequency can be used as the preset subfundamental frequency corresponding to the average vehicle speed.

[0070] After obtaining the preset subfundamental frequency corresponding to the average vehicle speed, the waveform obtained by sequentially superimposing the first fundamental wave and each first target harmonic from the minimum subfundamental frequency to the preset subfundamental frequency among the first harmonics can be used as the target torque control waveform S'.

[0071] The preset subfundamental frequency corresponding to the average vehicle speed in the target time period is obtained by calculating the average vehicle speed. The first fundamental wave is then superimposed with each first target harmonic from the minimum subfundamental frequency to the preset subfundamental frequency among the first harmonics to generate a target torque control waveform. The average vehicle speed in the target time period is then used to select the frequency band that needs to be retained, thereby making the generated target torque control waveform more consistent with the actual perception and improving the accuracy of the generated target torque control waveform.

[0072] After generating the target torque control waveform S', the target torque control waveform S' and the driving torque control waveform S are aligned at their origins. Then, any time point in the target time period is used as the target time point, and the value of the target torque control waveform S' at that time point is subtracted from the value of the driving torque control waveform S at that time point to obtain a first difference deta = |S'-S|.

[0073] At the same time, after determining the target time point, a preset vehicle speed equal to the vehicle speed at the target time point is searched from a first mapping relationship table recording various preset vehicle speeds and various torque jitter intervals, and the torque jitter interval corresponding to the preset vehicle speed equal to the vehicle speed at the target time point is determined as the preset torque jitter interval. Alternatively, a speed interval to which the vehicle speed at the target time point belongs is searched from a second mapping relationship table recording various vehicle speed intervals and various torque jitter intervals, and the torque jitter interval corresponding to the speed interval to which the vehicle speed at the target time point belongs is determined as the preset torque jitter interval.

[0074] Exemplarily, the first mapping table records a mapping relationship between a preset vehicle speed Vsp and a torque jitter interval [-Tlimit, +Tlimit]. When the vehicle speed at the target time point is Vsp, the preset torque jitter interval can be determined to be [-Tlimit, +Tlimit].

[0075] After obtaining the first difference and the preset torque jitter interval, the first difference is compared with the preset torque jitter interval. If the first difference is within the preset torque jitter interval, it indicates that there is no torque jitter at the target time point; if the first difference is outside the preset torque jitter interval, it indicates that there is torque jitter at the target time point, and the target time point and target time period are marked as torque jitter points.

[0076] However, when the driving torque control test is a full vehicle test, part of the vibration is not caused by the control torque vibration, but by the motor anti-shake or control parameters that are not ideal. Therefore, in order to ensure the accuracy of the torque vibration identification result, in one embodiment, Figure 4 As shown, comparing the first difference with a preset torque jitter interval to determine the torque jitter identification result of the vehicle at the target time point includes:

[0077] Comparing the first difference with a preset torque jitter interval to determine a torque jitter identification result of the vehicle at the target time point includes:

[0078] Step 401: Compare the first difference with a preset torque jitter range, determine that the first difference is within the preset torque jitter range, and that the driving torque control data is torque control data obtained from a full vehicle test, and obtain a motor feedback torque waveform from the driving torque control data;

[0079] Step 402 , extracting a second fundamental wave and each second harmonic from the motor feedback torque waveform, and sequentially superimposing the second fundamental wave with each second target harmonic from the minimum subfundamental frequency to a preset subfundamental frequency among the second harmonics to generate a target feedback torque waveform;

[0080] Step 403: Obtain a second difference between the motor feedback torque waveform and the target feedback torque waveform at the target time point, compare the second difference with the preset torque jitter interval, determine that the second difference is outside the preset torque jitter interval, and determine the torque jitter identification result as the presence of torque jitter.

[0081] The second fundamental wave represents a fundamental wave extracted from the motor feedback torque waveform, and the second harmonic represents a harmonic wave extracted from the motor feedback torque waveform.

[0082] In one embodiment, after obtaining the first difference and the preset torque jitter interval, the first difference is compared with the preset torque jitter interval. If the first difference is determined to be outside the preset torque jitter interval, torque jitter is directly determined to exist at the target time point, and the target time point and target time period are marked as torque jitter points.

[0083] If the first difference is within the preset torque jitter range, in order to avoid ignoring the jitter caused by engine or motor anti-shake or unsatisfactory control parameters, it is possible to detect whether the test environment of the driving torque control test is the whole vehicle test environment; if the test environment of the driving torque control test is not the whole vehicle test environment, but the MIL test environment or the HIL test environment, it can be determined that there is no torque jitter caused by motor anti-shake or unsatisfactory control parameters, and the torque jitter identification result can be directly determined as no torque jitter.

[0084] If the driving torque control test is conducted in a full-vehicle test environment, the motor feedback torque waveform S1 is obtained from the driving torque control data. Specifically, after obtaining the driving torque control data, the motor feedback torque waveform S1 can be obtained by first segmenting the driving torque control data according to a preset time period T, and obtaining target torque control data for each time period of T. Then, any time period within the time period is designated as a target time period, and from the target torque control data for that target time period, a motor feedback torque waveform S1 is obtained, representing the torque change in the motor feedback during that target time period. In this case, the obtained motor feedback torque waveform S1 only represents the waveform for the target time period.

[0085] After obtaining the motor feedback torque waveform S1, the motor feedback torque waveform S1 can be Fourier decomposed to obtain the first fundamental wave and each second harmonic. Then, the second harmonics from the minimum subfundamental frequency to the preset subfundamental frequency among the second harmonics are retained as the second target harmonics. The first fundamental wave and all the first target harmonics are then superimposed in sequence to generate the target torque control waveform. Among them, the minimum subfundamental frequency is usually 3 times, and the fundamental frequency difference between two adjacent second target harmonics is 2 times. The preset subfundamental frequency can be set according to actual conditions, such as the 5th fundamental frequency, the 9th fundamental frequency, or the 11th fundamental frequency.

[0086] For example, the preset sub-fundamental frequency is 5th, then each second target harmonic is the second harmonic of the 3rd fundamental frequency and the second harmonic of the 5th fundamental frequency. At this time, the target torque control waveform is formed by superimposing the first fundamental wave, the second harmonic of the 3rd fundamental frequency and the second harmonic of the 5th fundamental frequency.

[0087] To improve the accuracy of the generated target feedback torque waveform, in one embodiment, the mapping table stored in the terminal device may also record the mapping relationship between various vehicle speed ranges and various harmonic orders. For example, if the vehicle speed range is V < 10 kph, the corresponding harmonic order is the 5th fundamental frequency, and the second harmonic of the 3rd fundamental frequency and the second harmonic of the 5th fundamental frequency must be retained. If the vehicle speed range is 10 kph ≤ V < 20 kph, the corresponding harmonic order is the 9th fundamental frequency. If the vehicle speed range is ≥ 20 kph, the corresponding harmonic order is the 11th fundamental frequency. After Fourier decomposition of the motor feedback torque waveform S1, the average vehicle speed during the target time period is obtained. This average speed is then matched with each speed range in the mapping table to obtain the speed range to which the average speed belongs. The harmonic order corresponding to the speed range to which the average speed belongs is then determined as the preset sub-fundamental frequency corresponding to the average speed. For example, if the average vehicle speed obtained by the terminal device is 11kph, it can be determined from the mapping table that the speed range corresponding to the average vehicle speed is 10kph≤vehicle speed V<20kph, and the harmonic order corresponding to the speed range is the 9th fundamental frequency. At this time, the 9th fundamental frequency can be used as the preset subfundamental frequency corresponding to the average vehicle speed.

[0088] After obtaining the preset subfundamental frequency corresponding to the average vehicle speed, the waveform generated by sequentially superimposing the second fundamental frequency with each of the second target harmonics, ranging from the minimum subfundamental frequency to the preset subfundamental frequency, is used as the target feedback torque waveform S1. After generating the target feedback torque waveform S1, the target feedback torque waveform S1 and the driving torque control waveform S are aligned at their origins. The value of the target feedback torque waveform S1 at the target time point is then subtracted from the value of the driving torque control waveform S at the same time point to obtain a second difference, deta' = |S1 - S|.

[0089] After obtaining the second difference, the second difference is compared with the preset torque jitter interval. If the second difference is within the preset torque jitter interval, it means that there is no torque jitter caused by motor anti-shake or unsatisfactory control parameters at this time point. At this time, it can be determined that there is no torque jitter at the target time point; if the second difference is outside the preset torque jitter interval, it means that there is torque jitter caused by motor anti-shake or unsatisfactory control parameters at the target time point, and the target time point and target time period are marked as torque jitter points.

[0090] When it is determined that the first difference is within the preset torque jitter range, the driving torque control data is judged to be the torque control data obtained in the whole vehicle test environment. When it is determined that the driving torque control data is the torque control data obtained in the whole vehicle test environment, the motor feedback torque waveform is obtained from the driving torque control data, and the second fundamental wave and each second harmonic are extracted from the motor feedback torque waveform. After the target feedback torque waveform is generated by superimposing the extracted second fundamental wave with each second target harmonic from the minimum subfundamental frequency to the preset subfundamental frequency among the second harmonics, a second difference between the motor feedback torque waveform and the target feedback torque waveform at a target time point is obtained, and it is determined that the second difference is outside the preset torque jitter range, then it is determined that torque jitter exists, thereby avoiding ignoring torque jitter caused by motor anti-shake or unsatisfactory control parameters, and improving the accuracy of torque jitter identification.

[0091] The vehicle torque jitter identification device provided in the present application is described below. The vehicle torque jitter identification device described below and the vehicle torque jitter identification method described above can be referenced to each other.

[0092] In one embodiment, if Figure 5 As shown, a vehicle torque jitter identification device is provided, comprising:

[0093] The waveform acquisition module 210 is used to obtain a driving torque control waveform from driving torque control data obtained from a driving torque control test of a vehicle;

[0094] a fundamental wave extraction module 220 for extracting a first fundamental wave and first harmonics from the driving torque control waveform, and sequentially superimposing the first fundamental wave with first target harmonics ranging from a minimum subfundamental frequency to a preset subfundamental frequency among the first harmonics to generate a target torque control waveform;

[0095] a jitter identification module 230 configured to obtain a first difference between the driving torque control waveform and the target torque control waveform at any target time point, compare the first difference with a preset torque jitter interval, and determine a torque jitter identification result of the vehicle at the target time point;

[0096] The preset torque jitter interval is determined according to the vehicle speed at the target time point.

[0097] By obtaining a driving torque control waveform from the driving torque control data, and then comparing a target torque control waveform generated by extracting the fundamental wave and harmonics from the minimum subfundamental frequency to a preset subfundamental frequency from the driving torque control waveform, the system utilizes the high-frequency nature of torque jitter relative to the fundamental wave to obtain a first difference between the driving torque control waveform and the target torque control waveform at any target time point. This separation of the fundamental wave from the driving torque control waveform leaves the remaining first difference as the jitter at the target time point. Since torque jitter is speed-dependent, the same jitter amplitude is more perceptible at low speeds than at high speeds. Therefore, after obtaining the first difference between the driving torque control waveform and the target torque control waveform at any target time point, the system compares this first difference with a preset torque jitter range determined based on the vehicle speed at the target time point. This allows for rapid and accurate identification of torque jitter, effectively performing vehicle torque jitter identification and improving torque jitter identification efficiency.

[0098] In one embodiment, the waveform acquisition module 210 is specifically configured to:

[0099] Segmenting the driving torque control data according to a preset time period to obtain target torque control data for each time period;

[0100] The driving torque control waveform is obtained from the target torque control data of any target time period in each time period.

[0101] In one embodiment, the fundamental wave extraction module 220 is specifically configured to:

[0102] determining, according to the average speed of the vehicle during the target time period, a preset subfundamental frequency corresponding to the average speed;

[0103] The first target harmonics from the minimum subfundamental frequency to the preset subfundamental frequency are obtained from the first harmonics, and the first fundamental wave and the first target harmonics are sequentially superimposed to generate the target torque control waveform.

[0104] In one embodiment, the preset subfundamental frequency is determined according to the vehicle speed range to which the average vehicle speed belongs.

[0105] In one embodiment, the jitter identification module 230 is specifically configured to:

[0106] comparing the first difference with a preset torque jitter range, determining that the first difference is within the preset torque jitter range, and that the driving torque control data is torque control data obtained from a full vehicle test, and obtaining a motor feedback torque waveform from the driving torque control data;

[0107] Extracting a second fundamental wave and each second harmonic from the motor feedback torque waveform, and sequentially superimposing the second fundamental wave with each second target harmonic from the minimum subfundamental frequency to a preset subfundamental frequency among the second harmonics to generate a target feedback torque waveform;

[0108] Obtain a second difference between the motor feedback torque waveform and the target feedback torque waveform at the target time point, compare the second difference with the preset torque jitter interval, determine that the second difference is outside the preset torque jitter interval, and determine the torque jitter identification result as the presence of torque jitter.

[0109] In one embodiment, the jitter identification module 230 is further configured to:

[0110] It is determined that the first difference is outside the preset torque jitter range, and the torque jitter identification result is determined as the presence of torque jitter.

[0111] In one embodiment, the jitter identification module 230 is further configured to:

[0112] It is determined that the second difference is within the preset torque jitter range, and the torque jitter identification result is determined as no torque jitter exists.

[0113] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call a computer program in the memory 830 to execute a method for identifying torque jitter of a vehicle, for example, including:

[0114] Obtaining a driving torque control waveform from driving torque control data obtained from a driving torque control test of a vehicle;

[0115] extracting a first fundamental wave and each first harmonic from the driving torque control waveform, and sequentially superimposing the first fundamental wave with each first target harmonic from the minimum subfundamental frequency to a preset subfundamental frequency among the first harmonics to generate a target torque control waveform;

[0116] obtaining a first difference between the driving torque control waveform and the target torque control waveform at any target time point, comparing the first difference with a preset torque jitter interval, and determining a torque jitter identification result of the vehicle at the target time point;

[0117] The preset torque jitter interval is determined according to the vehicle speed at the target time point.

[0118] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0119] On the other hand, an embodiment of the present application further provides a storage medium, the storage medium including a computer program, which may be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the vehicle torque jitter identification method provided in the above embodiments, for example, including:

[0120] Obtaining a driving torque control waveform from driving torque control data obtained from a driving torque control test of a vehicle;

[0121] extracting a first fundamental wave and each first harmonic from the driving torque control waveform, and sequentially superimposing the first fundamental wave with each first target harmonic from the minimum subfundamental frequency to a preset subfundamental frequency among the first harmonics to generate a target torque control waveform;

[0122] obtaining a first difference between the driving torque control waveform and the target torque control waveform at any target time point, comparing the first difference with a preset torque jitter interval, and determining a torque jitter identification result of the vehicle at the target time point;

[0123] The preset torque jitter interval is determined according to the vehicle speed at the target time point.

[0124] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. That is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0125] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for identifying torque jitter of a vehicle, characterized in that: include: Obtaining a driving torque control waveform from driving torque control data obtained from a driving torque control test of a vehicle; extracting a first fundamental wave and each first harmonic from the driving torque control waveform, and sequentially superimposing the first fundamental wave with each first target harmonic from the minimum subfundamental frequency to a preset subfundamental frequency among the first harmonics to generate a target torque control waveform; obtaining a first difference between the driving torque control waveform and the target torque control waveform at any target time point, comparing the first difference with a preset torque jitter interval, and determining a torque jitter identification result of the vehicle at the target time point; The preset torque jitter interval is determined according to the vehicle speed at the target time point.

2. The method for identifying torque jitter of a vehicle according to claim 1, characterized in that: Obtaining a driving torque control waveform from driving torque control data obtained from a driving torque control test of a vehicle includes: Segmenting the driving torque control data according to a preset time period to obtain target torque control data for each time period; The driving torque control waveform is obtained from the target torque control data of any target time period in each time period.

3. The method for identifying torque jitter of a vehicle according to claim 2, characterized in that: The first fundamental wave and each first target harmonic from the minimum subfundamental frequency to the preset subfundamental frequency among the first harmonics are sequentially superimposed, comprising: determining, according to the average speed of the vehicle during the target time period, a preset subfundamental frequency corresponding to the average speed; The first target harmonics from the minimum subfundamental frequency to the preset subfundamental frequency are obtained from the first harmonics, and the first fundamental wave and the first target harmonics are sequentially superimposed to generate the target torque control waveform.

4. The method for identifying torque jitter of a vehicle according to claim 3, characterized in that: The preset subfundamental frequency is determined according to the vehicle speed interval to which the average vehicle speed belongs.

5. The method for identifying torque jitter of a vehicle according to claim 1, characterized in that: Comparing the first difference with a preset torque jitter interval to determine a torque jitter identification result of the vehicle at the target time point includes: comparing the first difference with a preset torque jitter range, determining that the first difference is within the preset torque jitter range, and that the driving torque control data is torque control data obtained from a full vehicle test, and obtaining a motor feedback torque waveform from the driving torque control data; Extracting a second fundamental wave and each second harmonic from the motor feedback torque waveform, and sequentially superimposing the second fundamental wave with each second target harmonic from the minimum subfundamental frequency to a preset subfundamental frequency among the second harmonics to generate a target feedback torque waveform; Obtain a second difference between the motor feedback torque waveform and the target feedback torque waveform at the target time point, compare the second difference with the preset torque jitter interval, determine that the second difference is outside the preset torque jitter interval, and determine the torque jitter identification result as the presence of torque jitter.

6. The method for identifying torque jitter of a vehicle according to claim 5, characterized in that: Also includes: It is determined that the first difference is outside the preset torque jitter range, and the torque jitter identification result is determined as the presence of torque jitter.

7. The method for identifying torque jitter of a vehicle according to claim 5, characterized in that: Also includes: It is determined that the second difference is within the preset torque jitter range, and the torque jitter identification result is determined as no torque jitter exists.

8. A vehicle torque jitter identification device, characterized in that: include: a waveform acquisition module, configured to acquire a driving torque control waveform from driving torque control data obtained from a driving torque control test of a vehicle; a fundamental wave extraction module configured to extract a first fundamental wave and first harmonics from the driving torque control waveform, and sequentially superimpose the first fundamental wave with first target harmonics ranging from a minimum subfundamental frequency to a preset subfundamental frequency among the first harmonics to generate a target torque control waveform; a jitter identification module, configured to obtain a first difference between the driving torque control waveform and the target torque control waveform at any target time point, compare the first difference with a preset torque jitter interval, and determine a torque jitter identification result of the vehicle at the target time point; The preset torque jitter interval is determined according to the vehicle speed at the target time point.

9. An electronic device comprising a processor and a memory storing a computer program, characterized in that: When the processor executes the computer program, the method for identifying torque jitter of a vehicle according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: The device comprises an accelerator pedal and the electronic device according to claim 9.

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