A vehicle snow removal method, device, vehicle and electronic device

Abstract

An embodiment of the present application provides a snow removal method, device, vehicle, and electronic device for a vehicle. Among them, the method includes: obtaining the transmission parameters of the vehicle; constructing a transfer function according to the transmission parameters; performing a frequency response analysis on the transfer function to obtain the change data of the torque frequency; obtaining the snow removal power required for snow removal according to the change data of the torque frequency; and performing snow removal on the vehicle according to the snow removal power. Implementing the embodiments of the present application can achieve automatic snow removal of the vehicle, improve the snow removal speed, eliminate the need for additional snow removal devices, have a short snow removal time, high snow removal efficiency, and reduce costs.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and more specifically, to a snow removal method, device, vehicle, and electronic device for a vehicle. Background Art

[0002] After a vehicle is parked outdoors in the north in winter and experiences snowfall, a relatively thick layer of snow will cover the vehicle body. The snow cover will block the driver's line of sight, so it must be removed to meet the requirements of safe driving. Currently, the main snow removal method is to turn on the vehicle's heating system and blow hot air on the glass to melt the snow through heat exchange. However, this method has a slow snow removal speed, and when the snow is thick, it requires several hours of waiting time. If the snow is removed manually, the hands will feel cold and need to be washed after snow removal.

[0003] The prior art can also install a protruding block on the vehicle body and achieve the snow removal function through components such as a driving unit, a swinging unit, a swinging rod, and a swinging block. However, this mechanism is complex, the transmission chain is long and prone to failure, and it affects the external beauty of the vehicle. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a snow removal method, device, vehicle, and electronic device for a vehicle, which can achieve automatic snow removal of the vehicle, improve the snow removal speed, do not require additional snow removal devices, have a short snow removal time, high snow removal efficiency, and can reduce costs.

[0005] In a first aspect, the embodiments of the present application provide a snow removal method for a vehicle, the method including:

[0006] Obtain the transmission parameters of the vehicle;

[0007] Construct a transfer function according to the transmission parameters;

[0008] Perform a frequency response analysis on the transfer function to obtain the change data of the torque frequency;

[0009] Obtain the snow removal power required for snow removal according to the change data of the torque frequency;

[0010] Perform snow removal on the vehicle according to the snow removal power.

[0011] In the above implementation process, by constructing a transfer function and performing a frequency response analysis on the transfer function, the change data of the torque frequency can be obtained. According to the change data, the snow removal power required for snow removal can be accurately obtained, realizing automatic snow removal of the vehicle, improving the snow removal speed, not requiring additional snow removal devices, having a short snow removal time, high snow removal efficiency, and reducing costs.

[0012] Further, the step of constructing a transfer function according to the transmission parameters includes:

[0013] Construct a transmission model according to the said transmission parameters;

[0014] Construct the said transfer function according to the transmission model.

[0015] In the above implementation process, constructing a transmission model and a transfer function according to the transmission parameters can reduce the error in the calculation process and accurately calculate the transmission parameters.

[0016] Furthermore, construct the transmission model according to the said transmission parameters in the following way:

[0017]

[0018] wherein, J m is the moment of inertia of the motor in the said transmission parameters, T m is the motor torque, θ m is the motor rotation angle in the said transmission parameters, T d1 is the driving torque of the half shaft in the said transmission parameters, K1 is the equivalent torsional stiffness in the said transmission parameters, C1 is the equivalent damping in the said transmission parameters, J w is the moment of inertia of the tire in the said transmission parameters.

[0019] In the above implementation process, the transmission model can be accurately constructed according to the transmission parameters, and the relationship between the transmission parameters and the motor torque can be completely expressed, shortening the calculation time.

[0020] Furthermore, the formula for constructing the said transfer function according to the transmission model is as follows:

[0021]

[0022] wherein, G(s) is the said transfer function, T m (s) is the input quantity of the said transfer function (taking the motor torque as the input quantity of the transfer function), θ m (s) is the output quantity of the said transfer function (taking the motor rotation angle as the output quantity of the transfer function), J m is the moment of inertia of the motor in the said transmission parameters, K1 is the equivalent torsional stiffness in the said transmission parameters, C1 is the equivalent damping in the said transmission parameters.

[0023] In the above implementation process, constructing the transfer function according to the transmission model enables the transfer function to accurately express the relationship between multiple transmission parameters, improving the accuracy and reducing the error.

[0024] Furthermore, the step of obtaining the snow removal power required for snow removal according to the change data of the torque frequency includes:

[0025] Obtain the snow removal gear of the vehicle;

[0026] Obtain the torque frequency corresponding to the snow removal gear according to the change data of the torque frequency;

[0027] Obtain the snow removal power required for snow removal according to the torque frequency corresponding to the snow removal gear.

[0028] In the above implementation process, obtaining the torque frequency of the snow removal gear according to the change data of the torque frequency makes the obtained snow removal power more accurate, without causing power loss or insufficient power, facilitating snow removal of the vehicle and improving snow removal efficiency.

[0029] Further, the step of obtaining the snow removal power required for snow removal according to the torque frequency corresponding to the snow removal gear includes:

[0030] Obtain the motor torque according to the torque frequency corresponding to the snow removal gear;

[0031] Obtain the snow removal power required for snow removal according to the motor torque.

[0032] In the above implementation process, obtaining the snow removal power required for snow removal according to the motor torque can shorten the time required for snow removal, and the snow removal operation of the vehicle can be more conveniently controlled according to the motor torque, improving the snow removal process.

[0033] In a second aspect, an embodiment of the present application further provides a snow removal device for a vehicle, and the device includes:

[0034] An acquisition module, configured to acquire the transmission parameters of the vehicle;

[0035] A construction module, configured to construct a transfer function according to the transmission parameters;

[0036] An analysis module, configured to perform a frequency spectrum response analysis on the transfer function to obtain change data of the torque frequency;

[0037] A data acquisition module, configured to obtain the snow removal power required for snow removal according to the change data of the torque frequency;

[0038] A snow removal module, configured to perform snow removal on the vehicle according to the snow removal power.

[0039] In the above implementation process, by constructing a transfer function and performing a frequency spectrum response analysis on the transfer function, change data of the torque frequency can be obtained, and the snow removal power required for snow removal can be accurately obtained according to the change data, realizing automatic snow removal of the vehicle, improving the snow removal speed, without adding an additional snow removal device, having a short snow removal time and high snow removal efficiency, and reducing costs.

[0040] Further, the construction module is further configured to:

[0041] Construct a transmission model according to the said transmission parameters;

[0042] Construct the said transfer function according to the transmission model.

[0043] In the above implementation process, constructing a transmission model and a transfer function according to the transmission parameters can reduce the error in the calculation process and accurately calculate the transmission parameters.

[0044] In a third aspect, a vehicle provided by an embodiment of the present application includes a snow removal device of the vehicle in the second aspect.

[0045] In a fourth aspect, an electronic device provided by an embodiment of the present application includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method described in any item of the first aspect are implemented.

[0046] In a fifth aspect, a computer-readable storage medium provided by an embodiment of the present application has instructions stored thereon, and when the instructions are run on a computer, the computer is caused to execute the method described in any item of the first aspect.

[0047] In a sixth aspect, a computer program product provided by an embodiment of the present application, when run on a computer, causes the computer to execute the method described in any item of the first aspect.

[0048] Other features and advantages of the present disclosure will be described in the subsequent description, or, some features and advantages can be inferred from the description or determined without doubt, or can be known by implementing the above technologies of the present disclosure.

[0049] And it can be implemented according to the content of the description. The following will be described in detail with reference to the preferred embodiments of the present application and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0051] Figure 1 It is a schematic flow chart of the snow removal method for the vehicle provided by the embodiment of the present application;

[0052] Figure 2 It is a schematic structural diagram of the transmission system of the vehicle provided by the embodiment of the present application;

[0053] Figure 3 Schematic diagram of the change data of torque frequency provided by the embodiment of the present application;

[0054] Figure 4 Schematic diagram of the structural composition of the snow removal device of the vehicle provided by the embodiment of the present application;

[0055] Figure 5 Schematic diagram of the structural composition of the electronic device provided by the embodiment of the present application. Detailed implementation manners

[0056] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application.

[0057] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for differential description and cannot be construed as indicating or implying relative importance.

[0058] Next, with reference to the accompanying drawings and embodiments, the specific implementation manners of the present application will be further described in detail. The following embodiments are used to illustrate the present application, but are not used to limit the scope value of the present application.

[0059] Embodiment 1

[0060] Figure 1 It is a schematic flowchart of the snow removal method of the vehicle provided by the embodiment of the present application. As Figure 1 shown, the method includes:

[0061] S1. Obtain the transmission parameters of the vehicle;

[0062] S2. Construct a transfer function according to the transmission parameters;

[0063] S3. Perform spectral response analysis on the transfer function to obtain the change data of torque frequency;

[0064] S4. Obtain the snow removal power required for snow removal according to the change data of torque frequency;

[0065] S5. Perform snow removal on the vehicle according to the snow removal power.

[0066] In the above implementation process, by constructing a transfer function and performing spectral response analysis on the transfer function, the change data of torque frequency can be obtained. According to the change data, the snow removal power required for snow removal can be accurately obtained, realizing automatic snow removal of the vehicle, improving the snow removal speed, without adding an additional snow removal device, with a short snow removal time and high snow removal efficiency, and can reduce costs.

[0067] Further, S2 includes:

[0068] Construct a transmission model according to the transmission parameters;

[0069] Construct a transfer function according to the transmission model.

[0070] In the above implementation process, constructing a transmission model and a transfer function according to the transmission parameters can reduce the error in the calculation process and accurately calculate the transmission parameters.

[0071] In the embodiment of the present application, the automatic snow removal function of the vehicle is realized through the vehicle's transmission system. As Figure 2 shown, it is the structure of the vehicle's transmission system, including a motor, a reducer, a half shaft, and wheels, etc.

[0072] By obtaining the transmission parameters through the transmission system, a transmission model can be constructed. Assuming that the wheel brakes do not rotate and the forces on the left and right half shafts are considered the same, and only the motor torque is given, a transmission model can be constructed:

[0073]

[0074] where, J m is the motor inertia in the transmission parameters, T m is the motor torque, θ m is the motor rotation angle in the transmission parameters, T d1 is the half shaft driving torque in the transmission parameters, K1 is the equivalent torsional stiffness in the transmission parameters, C1 is the equivalent damping in the transmission parameters, J w is the tire inertia in the transmission parameters.

[0075] In the above implementation process, according to the transmission parameters, a transmission model can be accurately constructed, and the relationship between the transmission parameters and the motor torque can be completely expressed, shortening the calculation time.

[0076] Further, the formula for constructing the transfer function according to the transmission model through the following method is:

[0077]

[0078] where, G(s) is the transfer function, T m (s) is the input quantity of the transfer function (taking the motor torque as the input quantity of the transfer function), θ m (s) is the output quantity of the transfer function (taking the motor rotation angle as the output quantity of the transfer function), J m is the motor inertia in the transmission parameters, K1 is the equivalent torsional stiffness in the transmission parameters, C1 is the equivalent damping in the transmission parameters.

[0079] In the above implementation process, a transfer function is constructed according to the transmission model, so that the transfer function can accurately express the relationship between multiple transmission parameters, improve the accuracy, and reduce the error.

[0080] In S3, by performing a frequency response analysis on the transfer function, it can be known that when the torque frequency reaches a certain value, a resonance peak will occur, specifically manifested as a relatively strong body vibration. Therefore, the change data of the torque frequency can be obtained as Figure 3 shown.

[0081] Further, S4 includes:

[0082] Obtain the snow removal gear of the vehicle;

[0083] Obtain the torque frequency corresponding to the snow removal gear according to the change data of the torque frequency;

[0084] Obtain the snow removal power required for snow removal according to the torque frequency corresponding to the snow removal gear.

[0085] In the above implementation process, obtaining the torque frequency of the snow removal gear according to the change data of the torque frequency makes the obtained snow removal power more accurate, without causing power loss or insufficient power, facilitating snow removal of the vehicle and improving the snow removal efficiency.

[0086] Further, the step of obtaining the snow removal power required for snow removal according to the torque frequency corresponding to the snow removal gear includes:

[0087] Obtain the motor torque according to the torque frequency corresponding to the snow removal gear;

[0088] Obtain the snow removal power required for snow removal according to the motor torque.

[0089] In the above implementation process, obtaining the snow removal power required for snow removal according to the motor torque can shorten the time required for snow removal, and the snow removal operation of the vehicle can be more conveniently controlled according to the motor torque, improving the snow removal process.

[0090] When the vehicle needs to remove snow, the vehicle should be in a stationary state. At this time, activate the snow removal system to make the vehicle in a parked state to prevent the vehicle from moving forward and backward during snow removal.

[0091] Since the motor controller of the vehicle controls the drive motor to output torque T m , where T m consists of a bias torque T offset and an alternating torque T alternate , that is: T m = T offset + T alternate . The bias torque T offsetIts main function is to eliminate the shaft tooth clearance in the transmission system and prevent gear knocking, which may damage the components of the transmission system. The alternating torque T alternate Its main function is to generate vehicle body vibration. The alternating torque can be set as a sinusoidal alternating torque, i.e., T alternate = A×sinωt, where A is the amplitude of the alternating torque and ω is the frequency of the alternating torque. By adjusting the amplitude A of the alternating torque, the amplitude of the vehicle body vibration can be adjusted. When the snow accumulation on the vehicle body is thick and a higher snow removal gear is required, the set value of the amplitude A of the alternating torque is larger.

[0092] Therefore, in the embodiments of the present application, the magnitude of the motor torque can be controlled by the torque frequency (specifically, the torque frequency of the alternating torque). As can be seen from the previous spectral response analysis results, when the input torque frequency reaches a certain value ω3, the transmission system and the vehicle body will generate significant vibration due to resonance. Therefore, adjust the alternating torque T alternae of the torque frequency ω. When the snow accumulation on the vehicle body is thick and a larger snow removal gear is required, make ω = ω3. When the torque frequency reaches ω3, the value of the motor torque also becomes larger accordingly, the snow removal power is enhanced, and the snow removal effect is the best.

[0093] Set the snow removal gear to the third gear, and set the torque frequencies of the alternating torque from weak to strong as follows: Gear 1: ω1, Gear 2: ω2, Gear 3: ω3.

[0094] In the embodiments of the present application, by adjusting the torque of the motor in the electric drive system, the vehicle body vibration is actively caused to achieve the effect of quickly removing snow. Utilizing the existing hardware equipment of the vehicle, no additional cost is required, and the control is simple and reliable.

[0095] Embodiment 2

[0096] In order to execute the method corresponding to Embodiment 1 above to achieve the corresponding functions and technical effects, a snow removal device for a vehicle is provided below, as Figure 4 shown. The device includes:

[0097] An acquisition module 1, configured to acquire the transmission parameters of the vehicle;

[0098] A construction module 2, configured to construct a transfer function according to the transmission parameters;

[0099] An analysis module 3, configured to perform spectral response analysis on the transfer function to obtain the variation data of the torque frequency;

[0100] A data acquisition module 4, configured to obtain the snow removal power required for snow removal according to the variation data of the torque frequency;

[0101] A snow removal module 5, configured to perform snow removal on the vehicle according to the snow removal power.

[0102] In the above implementation process, by constructing a transfer function and analyzing the frequency response of the transfer function, the change data of the torque frequency can be obtained. According to the change data, the snow removal power required for snow removal can be accurately obtained, realizing the automatic snow removal of the vehicle, improving the snow removal speed, without adding additional snow removal devices, with a short snow removal time and high snow removal efficiency, and the cost can be reduced.

[0103] Furthermore, the construction module 2 is also used for:

[0104] Constructing a transmission model according to the transmission parameters;

[0105] Constructing a transfer function according to the transmission model.

[0106] In the above implementation process, by constructing a transmission model and a transfer function according to the transmission parameters, the error in the calculation process can be reduced, and the transmission parameters can be accurately calculated.

[0107] Furthermore, the construction module 2 is also used for constructing a transmission model according to the transmission parameters in the following way:

[0108]

[0109] Where, J m is the moment of inertia of the motor in the transmission parameters, T m is the motor torque, θ m is the motor rotation angle in the transmission parameters, T d1 is the driving torque of the half shaft in the transmission parameters, K1 is the equivalent torsional stiffness in the transmission parameters, C1 is the equivalent damping in the transmission parameters, J w is the moment of inertia of the tire in the transmission parameters.

[0110] In the above implementation process, according to the transmission parameters, the transmission model can be accurately constructed, and the relationship between the transmission parameters and the motor torque can be completely expressed, shortening the calculation time.

[0111] Furthermore, the construction module 2 is also used for constructing a transfer function according to the transmission model in the following way, and the formula is:

[0112]

[0113] Where, G(s) is the transfer function, T m (s) is the input quantity of the transfer function (taking the motor torque as the input quantity of the transfer function), θ m (s) is the output quantity of the transfer function (taking the motor rotation angle as the output quantity of the transfer function), J m is the moment of inertia of the motor in the transmission parameters, K1 is the equivalent torsional stiffness in the transmission parameters, and C1 is the equivalent damping in the transmission parameters.

[0114] In the above implementation process, a transfer function is constructed according to the transmission model, so that the transfer function can accurately express the relationship between multiple transmission parameters, improve the accuracy, and reduce the error.

[0115] Further, the data acquisition module 4 is further configured to:

[0116] Obtain the snow removal gear of the vehicle;

[0117] Obtain the torque frequency corresponding to the snow removal gear according to the change data of the torque frequency;

[0118] Obtain the snow removal power required for snow removal according to the torque frequency corresponding to the snow removal gear.

[0119] In the above implementation process, obtaining the torque frequency of the snow removal gear according to the change data of the torque frequency makes the obtained snow removal power more accurate, without causing power loss or insufficient power, facilitating snow removal of the vehicle, and improving the snow removal efficiency.

[0120] Further, the data acquisition module 4 is further configured to:

[0121] Obtain the motor torque according to the torque frequency corresponding to the snow removal gear;

[0122] Obtain the snow removal power required for snow removal according to the motor torque.

[0123] In the above implementation process, obtaining the snow removal power required for snow removal according to the motor torque can shorten the time required for snow removal, and the snow removal operation of the vehicle can be more conveniently controlled according to the motor torque, improving the snow removal process.

[0124] The above snow removal device of the vehicle can implement the method of the first embodiment. The optional items in the first embodiment are also applicable to this embodiment and will not be elaborated here.

[0125] The remaining content of the embodiments of the present application can refer to the content of the first embodiment, and will not be elaborated in this embodiment.

[0126] Embodiment 3

[0127] The embodiment of the present application provides a vehicle, including the snow removal device of the vehicle in Embodiment 2.

[0128] Embodiment 4

[0129] The embodiment of the present application provides an electronic device, including a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the snow removal method of the vehicle in Embodiment 1.

[0130] Optionally, the above electronic device may be a server.

[0131] Please refer toFigure 5 , Figure 5 This is a schematic diagram of the structural composition of the electronic device provided by the embodiment of the present application. The electronic device may include a processor 51, a communication interface 52, a memory 53, and at least one communication bus 54. Among them, the communication bus 54 is used to realize the direct connection and communication of these components. Among them, the communication interface 52 of the device in the embodiment of the present application is used to communicate with other node devices for signaling or data. The processor 51 may be an integrated circuit chip with signal processing capabilities.

[0132] The above-mentioned processor 51 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor 51 may also be any conventional processor, etc.

[0133] The memory 33 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 53 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 51, the device can execute the above Figure 1 each step involved in the method embodiment.

[0134] Optionally, the electronic device may further include a storage controller and an input / output unit. The memory 53, the storage controller, the processor 51, the peripheral interface, and the input / output unit are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these components may be electrically connected to each other through one or more communication buses 54. The processor 51 is used to execute the executable module stored in the memory 53, such as the software function module or computer program included in the device.

[0135] The input / output unit is used to enable the user to create tasks and create an optional start period or a preset execution time for the task to achieve the interaction between the user and the server. The input / output unit can be, but is not limited to, a mouse, a keyboard, etc.

[0136] It can be understood that Figure 5 the structure shown is only schematic, and the electronic device may further include more or fewer components than those shown Figure 5 in it, or have a configuration different from that shown Figure 5 in it. Figure 5 Each component shown in it can be implemented by hardware, software, or a combination thereof.

[0137] In addition, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the snow removal method of the vehicle in the first embodiment.

[0138] An embodiment of the present application further provides a computer program product. When the computer program product runs on a computer, it causes the computer to execute the method described in the method embodiment.

[0139] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based device for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0140] In addition, in each embodiment of the present application, the various functional modules may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

[0141] When the above-mentioned functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing 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 methods described in various embodiments of this application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0142] The above are only the embodiments of this application and are not used to limit the protection scope of this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application. It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0143] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by this application, and all of them should be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0144] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

Claims

1. A snow removal method for a vehicle, characterized in that, The method includes: Obtaining the transmission parameters of the vehicle; Constructing a transfer function according to the transmission parameters; Performing a frequency response analysis on the transfer function to obtain the variation data of the torque frequency; Obtaining the snow removal power required for snow removal according to the variation data of the torque frequency; Performing snow removal on the vehicle according to the snow removal power; The step of constructing a transfer function according to the transmission parameters includes: Constructing a transmission model according to the transmission parameters; Constructing the transfer function according to the transmission model; The transmission model is constructed according to the transmission parameters in the following manner: Among them, J m is the moment of inertia of the motor in the transmission parameters, T m is the motor torque, θ m is the motor rotation angle in the transmission parameters, K1 is the equivalent torsional stiffness in the transmission parameters, C1 is the equivalent damping in the transmission parameters, J w is the moment of inertia of the tire in the transmission parameters; The formula for constructing the transfer function according to the transmission model is as follows: where G(s) is the transfer function, T m (s) is the input of the transfer function, taking the motor torque as the input of the transfer function, θ m (s) is the output of the transfer function, taking the motor rotation angle as the output of the transfer function, J m is the moment of inertia of the motor in the transmission parameters, K1 is the equivalent torsional stiffness in the transmission parameters, and C1 is the equivalent damping in the transmission parameters; When the vehicle is in a parked state, activate the snow removal system, control the magnitude of the motor torque through the torque frequency. When the input torque frequency reaches a certain value, the transmission system and the vehicle body will generate significant vibrations due to resonance.

2. The snow removal method for a vehicle according to claim 1, wherein, The step of obtaining the snow removal power required for snow removal according to the variation data of the torque frequency includes: Obtaining the snow removal gear of the vehicle; Obtaining the torque frequency corresponding to the snow removal gear according to the variation data of the torque frequency; Obtaining the snow removal power required for snow removal according to the torque frequency corresponding to the snow removal gear.

3. The snow removal method for a vehicle according to claim 2, characterized in that, The step of obtaining the snow removal power required for snow removal according to the torque frequency corresponding to the snow removal gear includes: Obtaining the motor torque according to the torque frequency corresponding to the snow removal gear; Obtaining the snow removal power required for snow removal according to the motor torque.

4. A snow removal device for a vehicle, characterized in that, The device includes: An acquisition module for obtaining the transmission parameters of the vehicle; A construction module for constructing a transfer function according to the transmission parameters; An analysis module for performing a frequency response analysis on the transfer function to obtain the variation data of the torque frequency; A data acquisition module for obtaining the snow removal power required for snow removal according to the variation data of the torque frequency; A snow removal module for performing snow removal on the vehicle according to the snow removal power; The construction module is further configured to: Construct a transmission model according to the transmission parameters; Construct the transfer function according to the transmission model; The transmission model is constructed according to the transmission parameters in the following manner: Among them, J m is the moment of inertia of the motor in the transmission parameters, T m is the motor torque, θ m is the motor rotation angle in the transmission parameters, K1 is the equivalent torsional stiffness in the transmission parameters, C1 is the equivalent damping in the transmission parameters, J w is the moment of inertia of the tire in the transmission parameters; The formula for constructing the transfer function according to the transmission model is as follows: where G(s) is the transfer function, T m (s) is the input of the transfer function, taking the motor torque as the input of the transfer function, θ m (s) is the output of the transfer function, taking the motor rotation angle as the output of the transfer function, J m is the moment of inertia of the motor in the transmission parameters, K1 is the equivalent torsional stiffness in the transmission parameters, and C1 is the equivalent damping in the transmission parameters; When the vehicle is in a parked state, activate the snow removal system, control the magnitude of the motor torque through the torque frequency. When the input torque frequency reaches a certain value, the transmission system and the vehicle body will generate significant vibrations due to resonance.

5. A vehicle, characterized in that, The vehicle includes the snow removal device of the vehicle according to claim 4.

6. An electronic device, characterized in that, It includes a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the snow removal method of the vehicle according to any one of claims 1 to 3.

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