A steering wheel vibration suppression method and device

Abstract

This invention discloses a method and apparatus for suppressing steering wheel vibration. It involves acquiring the vehicle's current wheel speed signal, the engine's current rotational speed signal, and the steering wheel's current vibration signal; performing a first matching of the current wheel speed signal and the current rotational speed signal within a preset first compensation relationship; if the first matching fails, comparing the current vibration signal with a target vibration signal; if the current vibration signal is greater than the target vibration signal, performing a second matching of the current vibration signal within a preset second compensation relationship to obtain a compensation signal; and controlling a vibration compensator to perform reverse vibration compensation on the steering wheel based on the compensation signal. In this way, steering wheel vibration can be predicted and compensated with reverse vibration to reduce steering wheel vibration. It can also detect and adjust the magnitude of the compensation vibration, and can self-learn and adjust the vibration level when the vehicle ages or its driving conditions change.

Description

Technical Field

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

[0002] In the process of automobile research and development, the NVH (Noise, Vibration, and Harshness) characteristics of a vehicle are an important research object. The NVH characteristics of a vehicle directly affect the comfort of the vehicle and are closely related to the quality of the vehicle.

[0003] Steering wheel vibration is one of the main NVH (Noise, Vibration, and Harshness) problems in vehicles. During actual driving, road surface and powertrain components can cause vehicle body vibration, which in turn leads to steering wheel vibration. Under certain conditions, increased steering wheel vibration can cause discomfort in the driver's hands, resulting in a poor driving experience and, in severe cases, even causing traffic accidents.

[0004] Therefore, how to reduce steering wheel vibration is a problem we need to solve. Summary of the Invention

[0005] In view of the above problems, the present invention is proposed to provide a steering wheel vibration suppression method and apparatus, which predicts the vibration of the steering wheel and provides reverse-direction compensation vibration to reduce the steering wheel vibration.

[0006] According to a first aspect of the present invention, a method for suppressing steering wheel vibration is provided, comprising:

[0007] Acquire the vehicle's current wheel speed signal, the engine's current speed signal, and the steering wheel's current vibration signal;

[0008] The current wheel speed signal and the current rotation speed signal are matched in a preset first compensation relationship, wherein the first compensation relationship is the relationship between the current wheel speed signal, the current rotation speed signal and the compensation signal;

[0009] If the first match fails, the current vibration signal is compared with the target vibration signal;

[0010] If the current vibration signal is greater than the target vibration signal, the current vibration signal is matched in the preset second compensation relationship to obtain the compensation signal; the second compensation relationship is the relationship between the current vibration signal and the compensation signal.

[0011] The vibration compensator is controlled by the compensation signal to perform reverse vibration compensation on the steering wheel.

[0012] Optionally, after the second match, the method also includes:

[0013] The first compensation relationship is updated based on the current wheel speed signal, the current rotational speed signal, and the compensation signal obtained from the second matching.

[0014] Optionally, the method also includes:

[0015] If the first match is successful, the compensation signals corresponding to the current wheel speed signal and the current rotational speed signal are determined.

[0016] Optionally, the current wheel speed signal and the current rotational speed signal are matched in a preset first compensation relationship, including:

[0017] Based on the current wheel speed signal and the current rotational speed signal, a search is performed in the first compensation relationship. If there is a matching wheel speed signal that is the same as the current wheel speed signal and a matching rotational speed signal that is the same as the current rotational speed signal, then the first match is successful.

[0018] Otherwise, the first match will fail.

[0019] Optionally, the current vibration signal is subjected to a second matching within a preset second compensation relationship to obtain a compensated signal, including:

[0020] Based on the current vibration signal, search in the second compensation relationship. If there is a matching vibration signal that is the same as the current vibration signal, then the matching compensation signal corresponding to the matching vibration signal is determined as the compensation signal.

[0021] Optionally, after controlling the vibration compensator to perform reverse vibration compensation on the steering wheel according to the compensation signal, the method further includes:

[0022] Obtain the vibration signal after steering wheel reverse compensation;

[0023] The vibration signal after reverse compensation is compared with the target vibration signal. If the vibration signal after reverse compensation is greater than the target vibration signal, the compensation signal is adjusted to enhance the reverse vibration compensation of the steering wheel by the vibration compensator.

[0024] Optionally, the current vibration signal is vibration acceleration.

[0025] According to a second aspect of the present invention, a steering wheel vibration suppression device is provided, comprising:

[0026] The acquisition module is used to acquire the vehicle's current wheel speed signal, the engine's current speed signal, and the steering wheel's current vibration signal;

[0027] The first matching module is used to perform a first matching of the current wheel speed signal and the current rotational speed signal in a preset first compensation relationship; wherein, the first compensation relationship is the relationship between the current wheel speed signal, the current rotational speed signal and the compensation signal;

[0028] The second matching module is used to compare the current vibration signal with the target vibration signal if the first matching fails; if the current vibration signal is greater than the target vibration signal, the current vibration signal is matched in a second preset compensation relationship to obtain a compensation signal; the second compensation relationship is the relationship between the current vibration signal and the compensation signal.

[0029] The compensation module is used to control the vibration compensator to perform reverse vibration compensation on the steering wheel based on the compensation signal.

[0030] According to a third aspect of the present invention, a controller is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor performs the aforementioned steering wheel vibration suppression method.

[0031] According to a fourth aspect of the present invention, a vehicle is provided, the vehicle including a vehicle body and a controller installed in the vehicle body, wherein the controller performs the aforementioned steering wheel vibration suppression method.

[0032] The above-described one or more technical solutions in the embodiments of this specification have at least the following technical effects:

[0033] This specification provides a steering wheel vibration suppression method and device. It acquires the vehicle's current wheel speed signal, the engine's current speed signal, and the steering wheel's current vibration signal. The current wheel speed signal and engine speed signal are first matched in a preset first compensation relationship. If the first matching fails, the current vibration signal is compared with a target vibration signal. If the current vibration signal is greater than the target vibration signal, the current vibration signal is second matched in a preset second compensation relationship to obtain a compensation signal. The second compensation relationship is the relationship between the current vibration signal and the compensation signal. Based on the compensation signal, a vibration compensator is controlled to perform reverse vibration compensation on the steering wheel. Thus, by installing a vibration compensator inside the steering wheel, steering wheel vibration is suppressed by predicting it and providing reverse compensation vibration. Simultaneously, the magnitude of the compensation vibration can be detected and adjusted. When the vehicle ages or its driving conditions change, it can also learn and adjust the vibration level in a timely manner, thereby ensuring vehicle quality for a longer period.

[0034] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0035] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference figures denote the same parts throughout the drawings.

[0036] In the attached diagram:

[0037] Figure 1 A flowchart of a steering wheel vibration suppression method according to an embodiment of the present invention is shown.

[0038] Figure 2 A schematic diagram of a steering wheel according to an embodiment of the present invention is shown.

[0039] Figure 3 A block diagram of a steering wheel vibration suppression device according to an embodiment of the present invention is shown. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0042] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0043] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] During automotive research and development, the steering wheel experiences linear vibrations due to the influence of road surface and powertrain factors during actual driving. Existing technologies address this by adjusting engine parameters after vibration is detected. Other solutions involve adjusting dampers to alter damping after vibration detection, but these methods only address single vibration frequencies.

[0045] Based on the above, this embodiment provides a steering wheel vibration suppression method. When the steering wheel vibration is detected to be greater than expected, the steering wheel vibration is suppressed by activating a reverse excitation.

[0046] In one embodiment, combined Figure 1 The flowchart shown illustrates that the steering wheel vibration suppression method includes steps 101 to 105:

[0047] Step 101: Acquire the vehicle's current wheel speed signal, the engine's current speed signal, and the steering wheel's current vibration signal;

[0048] In this embodiment, the vehicle is equipped with an engine. The vehicle can be a gasoline-powered vehicle or a hybrid vehicle; this embodiment does not limit the specific type. (In conjunction with...) Figure 2 As shown, the driver holds the steering wheel while the vehicle is in motion. The system acquires the vehicle's current wheel speed signal and the engine's current RPM signal at this moment.

[0049] The current wheel speed signal can be detected in real time by the wheel speed sensors of the vehicle's EPS system. The current wheel speed signal can be either wheel speed or wheel acceleration. This embodiment will use wheel speed as an example to illustrate the current wheel speed signal.

[0050] For example, the wheel speed can be selected as the front wheel speed.

[0051] For example, when selecting the speed of the left wheel of the vehicle in front, in practical applications, the left wheel of the vehicle in front is equipped with a wheel speed sensor for measuring the speed of the left wheel of the vehicle in front. The wheel speed sensor will acquire the speed of the left wheel of the vehicle in front in real time and send it to the controller or control unit in the EPS system. This embodiment will be described using the controller as an example.

[0052] Alternatively, the right wheel speed of the vehicle in front can be selected. In practical applications, the right wheel of the vehicle in front is equipped with a wheel speed sensor for measuring the wheel speed of the right wheel of the vehicle in front. The wheel speed sensor will acquire the wheel speed of the right wheel of the vehicle in front in real time and send it to the controller in the EPS system.

[0053] Alternatively, the larger value between the left and right wheel speeds of the vehicle in front can be selected. In practical applications, the left and right wheels of the vehicle in front are equipped with wheel speed sensors to measure wheel speed. The wheel speed sensors acquire the wheel speeds of the left and right wheels of the vehicle in front in real time and send them to the controller in the EPS system. The controller or control unit selects the larger value between the wheel speeds of the left and right wheels of the vehicle in front as the current wheel speed signal.

[0054] The engine's current speed signal refers to the engine's rotational speed per unit time. The steering wheel's current vibration signal refers to the linear vibration intensity experienced by the steering wheel; in this embodiment, vibration acceleration can be used as the steering wheel's current vibration signal. In practical applications, a vibration signal receiver is installed on the steering wheel to detect the vibration acceleration experienced by the steering wheel. The vibration signal receiver is connected to the controller, and it detects the steering wheel's vibration acceleration in real time and sends the vibration acceleration data to the controller.

[0055] Step 102: Perform a first match on the current wheel speed signal and the current rotational speed signal in a preset first compensation relationship. The first compensation relationship is the relationship between the current wheel speed signal, the current rotational speed signal and the compensation signal.

[0056] The first compensation relationship includes multiple sets of current wheel speed signals and current engine speed signals, as well as compensation signals corresponding to each set of current wheel speed signals and current engine speed signals. The relationship between the current wheel speed signals, current engine speed signals, and compensation signals can be pre-calibrated. For example, a large number of tests can be conducted in advance to measure the current vibration signal of the vehicle under different wheel speeds and engine speeds. The measured current vibration signal is compared with the target vibration signal. If the current vibration signal is greater than the target vibration signal, a compensation signal is sent to the vibration compensator to control the vibration compensator on the steering wheel to perform reverse compensation vibration. Then, the current vibration signal of the compensated steering wheel is measured. If the current vibration signal of the compensated steering wheel is less than the target vibration signal, the current wheel speed signal, current engine speed signal, and corresponding compensation signal are recorded in the first compensation relationship. It should be noted that due to the influence of real-world conditions, the tests can only cover some combinations of current wheel speed signals and current engine speed signals, as well as some road conditions. Therefore, the first compensation relationship cannot cover all possible operating conditions. Other possible operating conditions require the vehicle to continuously learn during subsequent driving.

[0057] After acquiring the current wheel speed and engine speed signals of the vehicle, a first match is performed on these signals within a first compensation relationship. In other words, the current wheel speed and engine speed signals are searched for and matched within the first compensation relationship. If a matching wheel speed and engine speed signal exists in the first compensation relationship that matches the acquired current wheel speed and engine speed signals, the first match is successful; otherwise, the first match is unsuccessful.

[0058] For example, when a vehicle is driving on the road, the current wheel speed signal is obtained as 50 km / h, and the current engine speed signal is 2700 rpm. Then, a search is performed in the first compensation relationship to obtain a set of data, i.e., a matching wheel speed signal of 50 km / h and a matching engine speed signal of 2700 rpm. This indicates that the first match is successful, and the matching compensation signal corresponding to the matching wheel speed signal and the matching engine speed signal is determined as the compensation signal. If the current wheel speed signal found in the first compensation relationship is 50 km / h, but the current engine speed signal is 3000 rpm, then the first match is unsuccessful. If the current wheel speed signal found in the first compensation relationship is 60 km / h, but the current engine speed signal is 2700 rpm, then the first match is also unsuccessful. If neither the same current wheel speed signal nor the same current engine speed signal is found in the first compensation relationship, then the first match is unsuccessful. For convenience, the values ​​of the current wheel speed signal and the current engine speed signal in this embodiment are rounded to the nearest integer.

[0059] Step 103: If the first match fails, compare the current vibration signal with the target vibration signal;

[0060] As can be seen from the foregoing, if the same current wheel speed signal and current rotation speed signal are not found simultaneously in the first compensation relationship, it means that the first matching is unsuccessful.

[0061] If the first match fails, it indicates that the signal was not recorded in the first compensation relationship. One possibility for the current wheel speed and current speed signals not being recorded in the first compensation relationship is that they were not covered in previous tests. Another possibility is that the current wheel speed and current speed signals appeared in previous tests or during vehicle operation, but the current vibration signal of the steering wheel was less than or equal to the target vibration signal, thus the current wheel speed and current speed signals were not recorded in the first compensation relationship.

[0062] Furthermore, vehicles will experience aging and wear during later use, as well as different road conditions, all of which can cause changes in steering wheel vibration. Therefore, after the first matching fails, this embodiment will also compare the current vibration signal with the target vibration signal. The target vibration signal is used to characterize the vibration intensity that the driver can tolerate while ensuring a good driving experience.

[0063] Step 104: If the current vibration signal is greater than the target vibration signal, then the current vibration signal is matched in the preset second compensation relationship to obtain the compensation signal; the second compensation relationship is the relationship between the current vibration signal and the compensation signal.

[0064] If the current vibration signal is less than or equal to the target vibration signal, it indicates that the vibration intensity of the steering wheel is within acceptable limits. If the current vibration signal is greater than the target vibration signal, it indicates that reverse vibration compensation of the steering wheel is required.

[0065] For example, if the current vibration signal is greater than the target vibration signal, the current rotational speed signal is subjected to a second matching within a preset second compensation relationship. During the second matching, the system searches the second compensation relationship based on the current vibration signal. If a matching vibration signal identical to the current vibration signal exists, the corresponding matching compensation signal is determined as the compensation signal. The compensation signal can be a vibration signal that is out of phase with the current vibration signal but of the same intensity.

[0066] It should be explained that this embodiment uses the detected current wheel speed and current engine speed signals to make a preliminary judgment on whether vibration compensation should be performed, rather than using the current vibration signal itself. This is because vibration transmission takes time; therefore, judging based on the current vibration signal has a certain lag compared to judging using the current wheel speed and current engine speed signals. Thus, using the current wheel speed and current engine speed signals provides a better predictive effect for steering wheel vibration. Although the compensation signals corresponding to the current wheel speed and current engine speed signals are also determined through calibration using the current vibration signal, the vehicle's driving conditions can remain stable in the calibration experiment compared to actual driving conditions.

[0067] After the second matching is completed, the current wheel speed signal, the current rotational speed signal, and the compensation signal after the second matching can be recorded in the first compensation relationship to update the first compensation relationship, so that the vehicle can learn in time and adjust the intensity of the compensation vibration, thus ensuring vehicle quality for a longer period of time.

[0068] Step 105: Control the vibration compensator to perform reverse vibration compensation on the steering wheel according to the compensation signal.

[0069] In this embodiment, after determining the compensation signal, the controller can send the compensation signal to the vibration compensator. The vibration compensator performs reverse vibration compensation of different vibration intensities on the steering wheel according to the compensation signal, thereby suppressing the vibration of the steering wheel. The vibration compensator can be a vibrator, and this embodiment does not limit it to this.

[0070] After compensating for the reverse vibration of the steering wheel, in order to determine the effect of the reverse vibration compensation, in one embodiment, the method may further include:

[0071] Obtain the current vibration signal after steering wheel reverse compensation;

[0072] The current vibration signal after reverse compensation is compared with the target vibration signal. If the current vibration signal after reverse compensation is greater than the target vibration signal, the compensation signal is adjusted to enhance the reverse vibration compensation of the steering wheel by the vibration compensator.

[0073] After compensating for the reverse vibration of the steering wheel, the current vibration signal of the compensated steering wheel can be obtained. By comparing the current vibration signal with the target vibration signal, if the current vibration signal is less than or equal to the target vibration signal, it means that the reverse vibration compensation effect has been achieved. If the current vibration signal is greater than the target vibration signal, it means that the compensation signal is insufficient to suppress the steering wheel vibration and the compensation signal needs to be adjusted.

[0074] Specifically, the compensation signals that need adjustment in the above situations are generally determined after the first matching is successful, indicating that the compensation signals corresponding to the current wheel speed signal and the current rotational speed signal in the first compensation relationship need to be adjusted. During adjustment, the corresponding compensation signals can be determined based on the current vibration signal and the second compensation relationship. The first compensation relationship is then updated based on the compensation signals determined in the second compensation relationship. That is, the compensation signals corresponding to the current wheel speed signal and the current rotational speed signal are updated to the compensation signals determined in the second compensation relationship.

[0075] In summary, the steering wheel vibration suppression method provided in this specification involves acquiring the vehicle's current wheel speed signal, the engine's current speed signal, and the steering wheel's current vibration signal; performing a first matching of the current wheel speed signal and the current speed signal within a preset first compensation relationship; if the first matching fails, comparing the current vibration signal with a target vibration signal; if the current vibration signal is greater than the target vibration signal, performing a second matching of the current vibration signal within a preset second compensation relationship to obtain a compensation signal; the second compensation relationship is the relationship between the current vibration signal and the compensation signal; and controlling a vibration compensator to perform reverse vibration compensation on the steering wheel based on the compensation signal. Thus, by installing a vibration compensator inside the steering wheel, steering wheel vibration is suppressed by predicting it and providing reverse compensating vibration. Simultaneously, the magnitude of the compensating vibration can be detected and adjusted, and when the vehicle ages or its driving conditions change, it can learn and adjust the vibration level in a timely manner, thereby ensuring vehicle quality for a longer period.

[0076] Based on the same inventive concept, combined with Figure 3 As shown, this embodiment of the invention also provides a steering wheel vibration suppression device, comprising:

[0077] The acquisition module is used to acquire the vehicle's current wheel speed signal, the engine's current speed signal, and the steering wheel's current vibration signal;

[0078] The first matching module is used to perform a first matching of the current wheel speed signal and the current rotational speed signal in a preset first compensation relationship; wherein, the first compensation relationship is the relationship between the current wheel speed signal, the current rotational speed signal and the compensation signal;

[0079] The second matching module is used to compare the current vibration signal with the target vibration signal if the first matching fails; if the current vibration signal is greater than the target vibration signal, the current vibration signal is matched in a second preset compensation relationship to obtain a compensation signal; the second compensation relationship is the relationship between the current vibration signal and the compensation signal.

[0080] The compensation module is used to control the vibration compensator to perform reverse vibration compensation on the steering wheel based on the compensation signal.

[0081] In one alternative implementation, the second matching module is further configured to:

[0082] The first compensation relationship is updated based on the current wheel speed signal, the current rotational speed signal, and the compensation signal obtained from the second matching.

[0083] In an optional implementation, the first matching module is further configured to:

[0084] If the first match is successful, then the compensation signal corresponding to the current wheel speed signal and the current rotational speed signal is determined.

[0085] In an optional implementation, the first matching module is further configured to:

[0086] Based on the current wheel speed signal and the current rotational speed signal, a search is performed in the first compensation relationship. If there is a matching wheel speed signal that is the same as the current wheel speed signal and a matching rotational speed signal that is the same as the current rotational speed signal, then the first match is successful.

[0087] Otherwise, the first match will fail.

[0088] In one alternative implementation, the second matching module is further configured to:

[0089] Based on the current vibration signal, search in the second compensation relationship. If there is a matching vibration signal that is the same as the current vibration signal, then the matching compensation signal corresponding to the matching vibration signal is determined as the compensation signal.

[0090] In one optional implementation, the compensation module is further configured to:

[0091] Obtain the current vibration signal after steering wheel reverse compensation;

[0092] The current vibration signal after reverse compensation is compared with the target vibration signal. If the current vibration signal after reverse compensation is greater than the target vibration signal, the compensation signal is adjusted to enhance the reverse vibration compensation of the steering wheel by the vibration compensator.

[0093] In summary, the steering wheel vibration suppression device provided in this specification acquires the vehicle's current wheel speed signal, the engine's current speed signal, and the steering wheel's current vibration signal. It then performs a first matching of the current wheel speed signal and the current engine speed signal within a preset first compensation relationship. If the first matching fails, it compares the current vibration signal with a target vibration signal. If the current vibration signal is greater than the target vibration signal, it performs a second matching of the current vibration signal within a preset second compensation relationship to obtain a compensation signal. The second compensation relationship is the relationship between the current vibration signal and the compensation signal. Based on the compensation signal, it controls a vibration compensator to perform reverse vibration compensation on the steering wheel. Thus, by installing a vibration compensator inside the steering wheel, it predicts steering wheel vibration and provides reverse compensation vibration to suppress it. Simultaneously, it can detect and adjust the magnitude of the compensation vibration. When the vehicle ages or its driving conditions change, it can also learn and adjust the vibration level in a timely manner, thereby ensuring vehicle quality for a longer period.

[0094] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the steering wheel vibration suppression device described above can be referred to the corresponding process in the aforementioned method, and will not be elaborated further here.

[0095] Based on the same inventive concept, this embodiment provides a controller, which includes a steering wheel vibration suppression device, a memory, a processor, and a communication unit. The memory stores machine-readable instructions that can be executed by the processor. When the controller is running, the processor and the memory communicate with each other via a bus. The processor executes the machine-readable instructions and performs the steering wheel vibration suppression method.

[0096] The memory, processor, and communication unit are electrically connected directly or indirectly to achieve signal transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The steering wheel vibration damping device includes at least one software function module that can be stored in the memory in the form of software or firmware. The processor is used to execute the executable module stored in the memory (e.g., the software function module or computer program included in the steering wheel vibration damping device).

[0097] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc.

[0098] In some embodiments, the processor is used to perform one or more functions described in this embodiment. In some embodiments, the processor may include one or more processing cores (e.g., a single-core processor (S) or a multi-core processor (S)).

[0099] In this embodiment, the memory is used to store the program, and the processor is used to execute the program after receiving the execution instruction. The process definition method disclosed in any implementation of this embodiment can be applied to the processor, or implemented by the processor.

[0100] The communication unit is used to establish communication connections between the controller and other devices via the network, and to send and receive data via the network.

[0101] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the controller described above can be referred to the corresponding process in the aforementioned method, and will not be elaborated further here.

[0102] According to a fourth aspect of the present invention, a vehicle is provided, including a vehicle body, an engine, a controller, and a steering wheel installed in the vehicle body.

[0103] The vehicle can be a gasoline-powered vehicle or a hybrid vehicle. Wheel speed sensors are installed on the vehicle's wheels to measure the current wheel speed signal, and a vibration signal receiver is installed on the steering wheel to measure steering wheel vibration, as well as a vibration compensator to compensate for reverse vibration of the steering wheel. The wheel speed sensors, vibration signal receiver, and vibration compensator are all connected to a controller. The controller is used to implement the aforementioned steering wheel vibration suppression method.

[0104] In summary, the vehicle embodiment provided in this specification includes a controller that acquires the vehicle's current wheel speed signal, the engine's current speed signal, and the steering wheel's current vibration signal. The controller performs a first matching of the current wheel speed signal and the current engine speed signal within a preset first compensation relationship. If the first matching fails, the controller compares the current vibration signal with a target vibration signal. If the current vibration signal is greater than the target vibration signal, the controller performs a second matching of the current vibration signal within a preset second compensation relationship to obtain a compensation signal. The second compensation relationship is the relationship between the current vibration signal and the compensation signal. Based on the compensation signal, the controller controls a vibration compensator to provide reverse vibration compensation to the steering wheel. Thus, by installing a vibration compensator inside the steering wheel, the controller predicts steering wheel vibration and provides reverse compensation vibration to suppress it. Simultaneously, it can detect and adjust the magnitude of the compensation vibration. When the vehicle ages or its driving conditions change, it can also learn and adjust the vibration level in a timely manner, thereby ensuring vehicle quality for a longer period.

[0105] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the controller inside the vehicle body described above can be referred to the corresponding process in the aforementioned method, and will not be elaborated further here.

[0106] The above are merely various embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for suppressing steering wheel vibration, characterized in that, include: Acquire the vehicle's current wheel speed signal, the engine's current speed signal, and the steering wheel's current vibration signal; The current wheel speed signal and the current rotation speed signal are matched in a preset first compensation relationship, wherein the first compensation relationship is the relationship between the current wheel speed signal, the current rotation speed signal and the compensation signal; If the first match fails, the current vibration signal is compared with the target vibration signal; If the current vibration signal is greater than the target vibration signal, then the current vibration signal is matched in a second preset second compensation relationship to obtain a compensation signal; the second compensation relationship is the relationship between the current vibration signal and the compensation signal. The vibration compensator is controlled according to the compensation signal to perform reverse vibration compensation on the steering wheel; After the second match, the method further includes: The first compensation relationship is updated based on the current wheel speed signal, the current rotational speed signal, and the compensation signal obtained by the second matching.

2. The method according to claim 1, characterized in that, The method further includes: If the first match is successful, the compensation signals corresponding to the current wheel speed signal and the current rotational speed signal are determined.

3. The method according to claim 1, characterized in that, The step of performing a first match between the current wheel speed signal and the current rotational speed signal in a preset first compensation relationship includes: Based on the current wheel speed signal and the current rotational speed signal, a search is performed in the first compensation relationship. If there is a matching wheel speed signal that is the same as the current wheel speed signal and a matching rotational speed signal that is the same as the current rotational speed signal, then the first match is successful. Otherwise, the first match will fail.

4. The method according to claim 1, characterized in that, The step of performing a second matching of the current vibration signal within a preset second compensation relationship to obtain a compensation signal includes: Based on the current vibration signal, a search is conducted in the second compensation relationship. If a matching vibration signal identical to the current vibration signal exists, the matching compensation signal corresponding to that matching vibration signal is determined as the compensation signal.

5. The method according to claim 1, characterized in that, After controlling the vibration compensator to perform reverse vibration compensation on the steering wheel according to the compensation signal, the method further includes: Obtain the vibration signal after steering wheel reverse compensation; The vibration signal after reverse compensation is compared with the target vibration signal. If the vibration signal after reverse compensation is greater than the target vibration signal, the compensation signal is adjusted to enhance the reverse vibration compensation of the steering wheel by the vibration compensator.

6. The method according to claim 1, characterized in that, The current vibration signal is vibration acceleration.

7. A steering wheel vibration suppression device, characterized in that, include: The acquisition module is used to acquire the vehicle's current wheel speed signal, the engine's current speed signal, and the steering wheel's current vibration signal; The first matching module is used to perform a first matching on the current wheel speed signal and the current rotation speed signal in a preset first compensation relationship, wherein the first compensation relationship is the relationship between the current wheel speed signal, the current rotation speed signal and the compensation signal; The second matching module is used to compare the current vibration signal with the target vibration signal if the first matching fails; if the current vibration signal is greater than the target vibration signal, the current vibration signal is matched in a preset second compensation relationship to obtain a compensation signal; the second compensation relationship is the relationship between the current vibration signal and the compensation signal. The compensation module is used to control the vibration compensator to perform reverse vibration compensation on the steering wheel according to the compensation signal; The second matching module is also used for: The first compensation relationship is updated based on the current wheel speed signal, the current rotational speed signal, and the compensation signal obtained by the second matching.

8. A controller, characterized in that, The controller includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steering wheel vibration suppression method according to any one of claims 1-6.

9. A vehicle, characterized in that, The vehicle includes a vehicle body and a controller installed in the vehicle body, wherein the controller performs the steering wheel vibration suppression method according to any one of claims 1-6.

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