A method, system, storage medium and device for suppressing axial wobble of a steering wheel shaft

Abstract

The application provides a method, system, storage medium and equipment for inhibiting axial shaking of a steering wheel, the method comprising: acquiring vehicle information, and obtaining a wheel vibration frequency through a preset formula according to the vehicle information; controlling a sensor arranged on the vehicle to collect real-time torque information on the steering wheel, and performing frequency spectrum analysis on the real-time torque information; filtering the result of the frequency spectrum analysis through a preset method to obtain a corrected torque vibration amplitude and a corrected torque vibration frequency; comparing the corrected torque vibration frequency with the wheel vibration frequency, and judging whether the ratio of the two is within a preset range; if yes, sending a counter torque control signal to a vehicle power steering system according to the corrected torque vibration frequency and the corrected torque vibration amplitude, so that the vehicle power steering system inhibits axial shaking of the steering wheel. The application solves the problem in the prior art that the wheel dynamic balance of a vehicle is poor, which causes the steering wheel to shake and further affects the driving experience of a driver.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and in particular to a method, system, storage medium, and device for suppressing axial vibration of the steering wheel. Background Technology

[0002] Shimmy refers to the continuous vibration of the wheels around the kingpin that occurs when a car is traveling at a certain speed on a flat road. When shimmy occurs, the steering wheels oscillate left and right with a certain frequency and amplitude. Shimmy is a multibody dynamics problem influenced by various factors. Severe left-right oscillation of the front wheels can cause the steering wheel to "shake" (also known as "tumbling"), and in severe cases, the driver may lose control of the steering wheel. This is one of the common and difficult-to-diagnose malfunctions in automobiles.

[0003] Wheel shimmy can be caused by various factors, including poor wheel dynamic balance, braking vibration, and road surface excitation. Vibration caused by poor wheel dynamic balance is particularly problematic. While road surface excitation vibration can be avoided by choosing appropriate road conditions, vibration caused by poor wheel dynamic balance is unavoidable. During vehicle operation, tire dynamic imbalance inevitably occurs as mileage increases. Poor tire dynamic balance leads to steering wheel vibration around the axial direction, resulting in poor driving feel and impacting the driving experience. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide a method, system, storage medium and device for suppressing steering wheel axial vibration, aiming to solve the problem in the prior art that poor wheel dynamic balance of vehicles causes steering wheel vibration and thus affects the driver's driving experience.

[0005] A method for suppressing axial vibration of a steering wheel according to an embodiment of the present invention, the method comprising:

[0006] Obtain vehicle information and calculate the wheel vibration frequency based on the vehicle information using a preset formula;

[0007] The system controls the sensors deployed on the vehicle to collect real-time torque information from the steering wheel and performs spectrum analysis on the real-time torque information.

[0008] The results of the spectrum analysis are filtered using a preset method to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency.

[0009] The corrected torque vibration frequency is compared with the wheel vibration frequency, and it is determined whether the ratio between the two is within a preset range.

[0010] If so, a counter-torque control signal is sent to the power steering system based on the corrected torque vibration frequency and the corrected torque vibration amplitude, so that the power steering system can suppress axial vibration of the steering wheel.

[0011] In addition, a method for suppressing steering wheel axial vibration according to the above embodiments of the present invention may also have the following additional technical features:

[0012] Furthermore, the vehicle information includes vehicle speed information and the radius of the wheels and tires, and the preset formula is:

[0013]

[0014] f is the wheel vibration frequency, V is the vehicle speed, and R is the radius of the wheel / tire.

[0015] Furthermore, the step of controlling the sensors deployed on the vehicle to collect real-time torque information from the steering wheel and performing spectrum analysis on the real-time torque information includes:

[0016] Based on the vehicle information, determine whether the vehicle speed is constant within a preset time interval;

[0017] If so, the real-time torque information is subjected to Fourier transform processing to convert the real-time torque information from a time-domain graph to a spectrum graph;

[0018] If not, return to the step of determining whether the vehicle speed is constant within a preset time interval based on the vehicle information.

[0019] Further, the step of filtering the results of the spectrum analysis using a preset method to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency includes:

[0020] Obtain the absolute values ​​of the torque amplitude values ​​of all peaks and troughs in the results of the spectrum analysis, and filter out the mode value among the absolute values;

[0021] The torque amplitude values ​​whose absolute values ​​are greater than the mode value in the results of the spectrum analysis are selected and defined as disturbance values;

[0022] The average value of the torque amplitude values ​​on both sides of all the disturbance values ​​is obtained, and the average value is used to replace the corresponding disturbance value to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency.

[0023] Furthermore, the step of comparing the corrected torque vibration frequency with the wheel vibration frequency and determining whether the ratio of the two is within a preset range includes:

[0024] The corrected torque vibration frequency is determined based on the frequency difference between the amplitudes of the corrected torque vibrations of two adjacent troughs.

[0025] Divide the corrected torque vibration frequency by the wheel vibration frequency and determine whether the ratio is within the range of 98%-102%.

[0026] Furthermore, the vehicle is equipped with a steering wheel anti-vibration button. Before the step of acquiring vehicle information and obtaining the wheel vibration frequency based on the vehicle information using a preset formula, the following steps are included:

[0027] The button signal of the steering wheel anti-shake button is obtained, and the button signal includes at least a trigger command and a button duration.

[0028] Furthermore, the vehicle information is obtained via the CAN bus, and the real-time torque information is obtained via the torque sensor integrated into the power steering system.

[0029] Another object of the present invention is to provide a system for suppressing steering wheel axial vibration, the system comprising:

[0030] The vibration frequency acquisition module is used to acquire vehicle information and obtain the wheel vibration frequency based on the vehicle information using a preset formula.

[0031] The spectrum analysis module is used to control the sensors deployed on the vehicle to collect real-time torque information from the steering wheel and to perform spectrum analysis on the real-time torque information.

[0032] The correction module is used to filter the results of the spectrum analysis through a preset method to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency.

[0033] The judgment module is used to compare the corrected torque vibration frequency with the wheel vibration frequency and determine whether the ratio between the two is within a preset range.

[0034] The execution module is used to send a counter-torque control signal to the power steering system according to the corrected torque vibration frequency and the corrected torque vibration amplitude when the ratio of the corrected torque vibration frequency to the wheel vibration frequency is within a preset range, so as to suppress the axial vibration of the steering wheel in the power steering system.

[0035] Another object of this invention is to provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for suppressing steering wheel axial vibration described above.

[0036] Another object of the present invention is to provide a device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the above-described method for suppressing steering wheel axial vibration.

[0037] This invention collects real-time torsional information of a vehicle's steering wheel using sensors, performs spectral analysis on this information, and then corrects the spectral analysis results. The corrected torque vibration frequency within the corrected spectral analysis results is compared with the wheel vibration frequency obtained from vehicle information to determine whether the steering wheel vibration is caused by the wheels' inability to maintain dynamic balance. If so, based on the corrected torque vibration frequency and amplitude within the corrected spectral analysis results, a torque control signal with the same frequency and amplitude but a different direction is sent to the vehicle's power steering system. This causes the power steering system to apply torque in the opposite direction to the steering wheel to balance the steering wheel vibration caused by poor tire balance, resulting in a better driving experience for the driver. This solves the problem in existing technologies where poor wheel dynamic balance leads to steering wheel vibration, thus affecting the driver's experience. Attached Figure Description

[0038] Figure 1 This is a flowchart of the method for suppressing steering wheel axial vibration in the first embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram showing the results of the system for suppressing axial vibration of the steering wheel in the second embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the device in the third embodiment of the present invention;

[0041] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0042] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0043] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0045] Example 1

[0046] Please see Figure 1 The figure shows a method for suppressing steering wheel axial vibration in the first embodiment of the present invention, which is applied to a smart vehicle system of a vehicle equipped with custom steering wheel buttons. The method specifically includes steps S01-S05.

[0047] Step S01: Obtain vehicle information and calculate the wheel vibration frequency based on the vehicle information using a preset formula;

[0048] In practice, the vehicle information is obtained through the CAN bus, and real-time torque information is obtained through the torque sensor built into the power steering system. The vehicle information includes vehicle speed and wheel tire radius.

[0049] Furthermore, the preset formula is:

[0050]

[0051] f is the wheel vibration frequency, V is the vehicle speed, and R is the radius of the wheel / tire.

[0052] Specifically, the vibration frequency of the tires is related to the vehicle speed and the tire radius, so the frequency of wheel vibration is changing. Therefore, it is necessary to monitor the vehicle's speed in real time to calculate the real-time frequency of wheel vibration in order to determine the cause of steering wheel vibration and apply appropriate reverse torque to suppress steering wheel vibration.

[0053] Additionally, since running the steering wheel vibration suppression program requires system memory and consumes power, a corresponding function button is usually provided in the car. When the driver feels noticeable steering wheel vibration and a poor driving experience, they can trigger the steering wheel vibration suppression function by pressing the button. This driver-triggered function maximizes the use of the vehicle's memory and saves battery power. Furthermore, a short press of the button activates the steering wheel vibration suppression function, while a long press deactivates it.

[0054] Step S02: Control the sensors deployed on the vehicle to collect real-time torque information from the steering wheel, and perform spectrum analysis on the real-time torque information;

[0055] Specifically, based on the vehicle information, it is determined whether the vehicle speed is constant within a preset time interval. If so, the real-time torque information is subjected to Fourier transform processing to convert the real-time torque information from a time-domain graph to a frequency spectrum graph. If not, the process returns to the step of determining whether the vehicle speed is constant within the preset time interval based on the vehicle information. In practical implementation, since the wheel vibration frequency is related to the vehicle's speed, and the wheel vibration frequency and amplitude are not periodic when the vehicle accelerates, the power steering system applying a counter-torque may exacerbate steering wheel vibration. Therefore, it is necessary to suppress steering wheel vibration through the power steering system when the vehicle is traveling at a constant speed.

[0056] Step S03: Filter the results of the spectrum analysis using a preset method to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency;

[0057] In specific implementation, the absolute values ​​of the torque amplitude values ​​of all peaks and troughs in the spectrum analysis results are obtained, and the mode value among the absolute values ​​is selected; the torque amplitude values ​​whose absolute values ​​are greater than the mode value in the spectrum analysis results are selected and defined as perturbation values; the average value of the torque amplitude values ​​on both sides of all perturbation values ​​is obtained, and the average value is used to replace the corresponding perturbation value, thereby obtaining the corrected torque vibration amplitude and the corrected torque vibration frequency.

[0058] Specifically, after acquiring real-time torque information and performing spectral analysis, the steering wheel will twist due to road surface excitation. Therefore, the spectral analysis results need to be corrected to remove interference from road surface excitation and obtain the vibration amplitude and frequency generated entirely by the wheels. Furthermore, the influence of road surface excitation is mostly small, but the resulting vibration amplitude is large. Therefore, the maximum vibration amplitude caused by the wheels is determined by obtaining the mode of all vibration amplitudes. The vibration amplitude greater than the mode is the interference disturbance value generated by the road surface excitation. Replacing the disturbance value with the average of adjacent vibration amplitudes yields the true vibration amplitude and frequency data generated by wheel imbalance.

[0059] Step S04: Compare the corrected torque vibration frequency with the wheel vibration frequency, and determine whether the ratio of the two is within a preset range;

[0060] Specifically, the corrected torque vibration frequency is determined based on the frequency difference between the amplitudes of the corrected torque vibrations at two adjacent troughs; the corrected torque vibration frequency is then divided by the wheel vibration frequency, and it is determined whether the ratio is within the range of 98%-102%. To avoid systematic errors, it is sufficient to determine whether the wheel vibration frequency and the corrected torque vibration frequency are within a certain range; in this case, the steering wheel vibration is caused by wheel imbalance.

[0061] Step S05, if yes, then a counter-torque control signal is sent to the power steering system according to the corrected torque vibration frequency and the corrected torque vibration amplitude, so that the power steering system can suppress the axial vibration of the steering wheel.

[0062] Specifically, based on the corrected torque vibration frequency and corrected torque vibration amplitude in the corrected spectrum analysis results, a torque control signal with the same vibration frequency and amplitude but different direction is sent to the vehicle power steering system, so that the vehicle power steering system applies torque in the opposite direction to the steering wheel to balance the steering wheel vibration caused by poor tire balance.

[0063] In summary, the method for suppressing steering wheel axial vibration in the above embodiments of the present invention collects real-time torsional information of the vehicle's steering wheel using sensors, performs spectral analysis on the real-time torsional information, corrects the spectral analysis results, and compares the corrected torque vibration frequency in the corrected spectral analysis results with the wheel vibration frequency obtained based on vehicle information. This determines whether the steering wheel vibration is caused by the wheels' inability to maintain dynamic balance. If so, based on the corrected torque vibration frequency and amplitude in the corrected spectral analysis results, a torque control signal with the same vibration frequency and amplitude but a different direction is sent to the vehicle's power steering system. This causes the power steering system to apply torque in the opposite direction to the steering wheel to balance the steering wheel vibration caused by poor tire balance, resulting in a better driving experience for the driver. This solves the problem in the prior art where poor wheel dynamic balance causes steering wheel vibration, thus affecting the driver's driving experience.

[0064] Example 2

[0065] Please see Figure 2 The diagram shows a structural block diagram of a system for suppressing axial vibration of the steering wheel proposed in the second embodiment of the present invention. The system 200 includes: a vibration frequency acquisition module 21, a spectrum analysis module 22, a correction module 23, a judgment module 24, and an execution module 25, wherein:

[0066] The vibration frequency acquisition module 21 is used to acquire vehicle information and obtain the wheel vibration frequency based on the vehicle information using a preset formula; the vehicle information includes vehicle speed information and the radius of the wheel tires, and the preset formula is:

[0067]

[0068] f is the wheel vibration frequency, V is the vehicle speed, and R is the radius of the wheel tire.

[0069] The spectrum analysis module 22 is used to control the sensors deployed on the vehicle to collect real-time torque information from the steering wheel and to perform spectrum analysis on the real-time torque information.

[0070] The correction module 23 is used to filter the results of the spectrum analysis through a preset method to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency.

[0071] The judgment module 24 is used to compare the corrected torque vibration frequency with the wheel vibration frequency and determine whether the ratio between the two is within a preset range.

[0072] The execution module 25 is used to send a counter-torque control signal to the power steering system according to the corrected torque vibration frequency and the corrected torque vibration amplitude when the ratio of the corrected torque vibration frequency to the wheel vibration frequency is within a preset range, so as to make the power steering system suppress the axial vibration of the steering wheel.

[0073] Furthermore, in other embodiments of the present invention, the system 200 for suppressing steering wheel axial vibration includes:

[0074] A signal receiving module is used to acquire the button signal of the steering wheel anti-shake button. The button signal includes at least a trigger command and a button duration. The vehicle is equipped with a steering wheel anti-shake button.

[0075] Furthermore, the spectrum analysis module 22 includes:

[0076] The judgment unit is used to determine whether the vehicle speed is constant within a preset time interval based on the vehicle information.

[0077] The spectrum analysis unit is used to perform Fourier transform processing on the real-time torque information when the vehicle speed is constant within a preset time interval, so as to convert the real-time torque information from a time domain graph to a spectrum graph.

[0078] The return unit is used to return to the step of determining whether the vehicle speed is constant within the preset time interval when the vehicle speed is not constant within the preset time interval based on the vehicle information.

[0079] Furthermore, in other embodiments of the present invention, the correction module 23 includes:

[0080] A filtering unit is used to obtain the absolute values ​​of the torque amplitude values ​​of all peaks and troughs in the results of the spectrum analysis, and to filter out the mode value among the absolute values.

[0081] The disturbance determination unit is used to filter out all torque amplitude values ​​in the results of the spectrum analysis whose absolute values ​​are greater than the mode value, and define them as disturbance values;

[0082] The correction unit is used to obtain the average value of the torque amplitude values ​​on both sides of all the disturbance values, and replace the corresponding disturbance values ​​with the average value to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency.

[0083] Furthermore, the determination module 24 includes:

[0084] The corrected torque vibration frequency unit is used to determine the corrected torque vibration frequency based on the frequency difference between the corrected torque vibration amplitudes of two adjacent troughs.

[0085] The ratio judgment unit is used to divide the corrected torque vibration frequency by the wheel vibration frequency and determine whether the ratio between the two is within the range of 98%-102%.

[0086] The functions or operation steps implemented by the above modules are largely the same as those in the above method embodiments, and will not be repeated here.

[0087] Example 3

[0088] In another aspect, the present invention also proposes an electronic device, please refer to [link to relevant documentation]. Figure 3 The diagram shows an electronic device according to the third embodiment of the present invention, including a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor. When the processor 10 executes the computer program 30, it implements the method for suppressing steering wheel axial vibration as described above.

[0089] In some embodiments, the processor 10 may be a central processing unit (CPU), controller, microcontroller, microprocessor or other data processing chip, used to run program code stored in memory 20 or process data, such as executing access restriction programs.

[0090] The memory 20 includes at least one type of readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 20 can be an internal storage unit of an electronic device, such as the hard disk of the electronic device. In other embodiments, the memory 20 can also be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. Furthermore, the memory 20 can include both internal and external storage units of the electronic device. The memory 20 can be used not only to store application software and various types of data of the electronic device, but also to temporarily store data that has been output or will be output.

[0091] It should be pointed out that, Figure 3 The structure shown does not constitute a limitation on the electronic device. In other embodiments, the electronic device may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0092] This invention also proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for suppressing steering wheel axial vibration as described above.

[0093] Those skilled in the art will understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequential list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can mean any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0094] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0095] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0096] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0097] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A method for suppressing axial vibration of a steering wheel, characterized in that, The method includes: Obtain vehicle information and calculate the wheel vibration frequency based on the vehicle information using a preset formula; The system controls the sensors deployed on the vehicle to collect real-time torque information from the steering wheel and performs spectrum analysis on the real-time torque information. The results of the spectrum analysis are filtered using a preset method to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency. The corrected torque vibration frequency is compared with the wheel vibration frequency, and it is determined whether the ratio between the two is within a preset range. If so, a counter-torque control signal is sent to the power steering system according to the corrected torque vibration frequency and the corrected torque vibration amplitude, so that the power steering system can suppress the axial vibration of the steering wheel; The steps of controlling the sensors deployed on the vehicle to collect real-time torque information from the steering wheel and performing spectrum analysis on the real-time torque information include: Based on the vehicle information, determine whether the vehicle speed is constant within a preset time interval; If so, the real-time torque information is subjected to Fourier transform processing to convert the real-time torque information from a time-domain graph to a spectrum graph; If not, return to the step of determining whether the vehicle speed is constant within a preset time interval based on the vehicle information; The step of filtering the results of the spectrum analysis using a preset method to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency includes: Obtain the absolute values ​​of the torque amplitude values ​​of all peaks and troughs in the results of the spectrum analysis, and filter out the mode value among the absolute values; The torque amplitude values ​​whose absolute values ​​are greater than the mode value in the results of the spectrum analysis are selected and defined as disturbance values; The average value of the torque amplitude values ​​on both sides of all the disturbance values ​​is obtained, and the average value is used to replace the corresponding disturbance value to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency.

2. The method for suppressing axial vibration of the steering wheel according to claim 1, characterized in that, The vehicle information includes vehicle speed and wheel / tire radius, and the preset formula is: The frequency of wheel vibration. For the speed of the car's movement, This refers to the radius of the wheel / tire.

3. The method for suppressing axial vibration of the steering wheel according to claim 1, characterized in that, The step of comparing the corrected torque vibration frequency with the wheel vibration frequency and determining whether the ratio of the two is within a preset range includes: The corrected torque vibration frequency is determined based on the frequency difference between the amplitudes of the corrected torque vibrations of two adjacent troughs. Divide the corrected torque vibration frequency by the wheel vibration frequency and determine whether the ratio is within the range of 98%-102%.

4. The method for suppressing axial vibration of the steering wheel according to claim 3, characterized in that, The vehicle is equipped with a steering wheel anti-vibration button. Before the step of acquiring vehicle information and determining the wheel vibration frequency based on the vehicle information using a preset formula, the following steps are included: The button signal of the steering wheel anti-shake button is obtained, and the button signal includes at least a trigger command and a button duration.

5. The method for suppressing axial vibration of a steering wheel according to any one of claims 1 to 4, characterized in that, The vehicle information is obtained via the CAN bus, and the real-time torque information is obtained via the torque sensor integrated into the power steering system.

6. A system for suppressing axial vibration of a steering wheel, characterized in that, For implementing claim 1 The method for suppressing steering wheel axial vibration as described in any one of the five claims, wherein the system comprises: The vibration frequency acquisition module is used to acquire vehicle information and obtain the wheel vibration frequency based on the vehicle information using a preset formula. The spectrum analysis module is used to control the sensors deployed on the vehicle to collect real-time torque information from the steering wheel and to perform spectrum analysis on the real-time torque information. The correction module is used to filter the results of the spectrum analysis through a preset method to obtain the corrected torque vibration amplitude and the corrected torque vibration frequency. The judgment module is used to compare the corrected torque vibration frequency with the wheel vibration frequency and determine whether the ratio between the two is within a preset range. The execution module is used to send a counter-torque control signal to the power steering system according to the corrected torque vibration frequency and the corrected torque vibration amplitude when the ratio of the corrected torque vibration frequency to the wheel vibration frequency is within a preset range, so as to suppress the axial vibration of the steering wheel in the power steering system.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method for suppressing steering wheel axial vibration as described in any one of claims 1 to 5.

8. A device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method for suppressing steering wheel axial vibration as described in any one of claims 1-5.

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