Vehicle steering wheel vibration optimization method, device, equipment and storage medium

Abstract

The present invention discloses a vehicle steering wheel vibration optimization method, device, equipment and storage medium, belonging to the field of steering wheel control technology. During the vehicle braking process, the present invention obtains the current motor recovery torque of the vehicle; when the current motor recovery torque is greater than a preset motor recovery torque threshold, it is determined that the vehicle's steering wheel is vibrating, and the current engine speed is obtained; based on the current engine speed and the current motor recovery torque, the steering wheel vibration is optimized to avoid the problem of steering wheel vibration during braking, shorten the development cycle, and improve the performance of the whole vehicle in a time-saving and economical way.

Description

Technical Field

[0001] The present invention relates to the field of steering wheel control technology, and in particular to a vehicle steering wheel vibration optimization method, device, equipment and storage medium. Background Art

[0002] Due to the complex working conditions of hybrid vehicles, when the braking energy recovery torque is large, the powertrain mount is affected by the recovery torque and works in the nonlinear region, resulting in poor vibration isolation of the mount. The vibration transmitted from the engine to the vehicle body becomes larger, and when the main order frequency of the engine is close to the steering wheel mode, it causes steering wheel vibration.

[0003] The current method for optimizing vehicle steering wheel vibration is through hardware optimization, which is costly and takes a long time. Summary of the invention

[0004] The main purpose of the present invention is to provide a method, device, equipment and storage medium for optimizing the steering wheel jitter of a vehicle, aiming to solve the technical problem of high cost and long period of steering wheel jitter optimization in the prior art.

[0005] To achieve the above object, the present invention provides a method for optimizing steering wheel vibration of a vehicle, the method comprising the following steps:

[0006] During the vehicle braking process, the current motor recovery torque of the vehicle is obtained;

[0007] When the current motor recovery torque is greater than a preset motor recovery torque threshold, determining that the steering wheel of the vehicle is shaking, and obtaining a current engine speed;

[0008] Steering wheel vibration is optimized based on the current engine speed and the current motor recovery torque.

[0009] Optionally, the optimizing the steering wheel vibration based on the current engine speed and the current motor recovery torque includes:

[0010] comparing the current engine speed with a preset engine speed range;

[0011] When the current engine speed is within the preset engine speed range, the steering wheel vibration is optimized based on the current engine speed or the current motor recovery torque.

[0012] Optionally, when the current engine speed is within the preset engine speed range, optimizing the steering wheel vibration based on the current motor recovery torque includes:

[0013] When the current engine speed is within the preset engine speed range, reducing the current motor recovery torque to obtain a reference motor recovery torque;

[0014] When the reference motor recovery torque is less than the preset motor recovery torque threshold, the steering wheel vibration optimization is completed.

[0015] Optionally, after reducing the current motor recovery torque to obtain a reference motor recovery torque, the method further includes:

[0016] Calculating a recovery torque difference according to the reference motor recovery torque and the current motor recovery torque;

[0017] Acquiring a current mechanical braking torque of the vehicle;

[0018] Calculating and updating the mechanical braking torque based on the recovery torque difference and the current mechanical braking torque;

[0019] The current mechanical braking torque is controlled to increase to the updated mechanical braking torque.

[0020] Optionally, when the current engine speed is within the preset engine speed range, optimizing the steering wheel vibration based on the current engine speed includes:

[0021] When the current engine speed is within the preset engine speed range, calculating a target engine speed based on the preset engine speed range and the current engine speed;

[0022] The current engine speed is reduced to the target engine speed to optimize the steering wheel vibration.

[0023] Optionally, during the vehicle braking process, after obtaining the current motor recovery torque of the vehicle, the method further includes:

[0024] Obtaining a preset motor recovery torque threshold of the vehicle;

[0025] The current motor regeneration torque is compared with the preset motor regeneration torque threshold.

[0026] Optionally, obtaining a preset motor recovery torque threshold of the vehicle includes:

[0027] Under different braking forces, control the vehicle to travel at different speeds;

[0028] Detect engine speed data, motor recovery torque data, and steering wheel vibration data when the vehicle is driving at different speeds under different braking forces;

[0029] Establishing a mapping relationship between the engine speed, the motor recovery torque and the steering wheel vibration value based on the engine speed data, the motor recovery torque data and the steering wheel vibration data;

[0030] Get the steering wheel vibration threshold;

[0031] When the steering wheel vibration value in the steering wheel vibration data exceeds the steering wheel vibration threshold, a corresponding motor recovery torque is obtained based on the mapping relationship as a preset motor recovery torque threshold.

[0032] In addition, to achieve the above-mentioned purpose, the present invention further proposes a vehicle steering wheel jitter optimization device, the vehicle steering wheel jitter optimization device comprising:

[0033] An acquisition module, used for acquiring the current motor recovery torque of the vehicle during the vehicle braking process;

[0034] The acquisition module is further used to determine that the steering wheel of the vehicle is shaking when the current motor recovery torque is greater than a preset motor recovery torque threshold, and to acquire the current engine speed;

[0035] An optimization module is used to optimize the steering wheel vibration based on the current engine speed and the current motor recovery torque.

[0036] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle steering wheel jitter optimization device, the vehicle steering wheel jitter optimization device comprising: a memory, a processor, and a vehicle steering wheel jitter optimization program stored on the memory and executable on the processor, the vehicle steering wheel jitter optimization program being configured to implement the steps of the vehicle steering wheel jitter optimization method as described above.

[0037] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle steering wheel jitter optimization program is stored. When the vehicle steering wheel jitter optimization program is executed by a processor, the steps of the vehicle steering wheel jitter optimization method described above are implemented.

[0038] During the vehicle braking process, the present invention obtains the current motor recovery torque of the vehicle; when the current motor recovery torque is greater than a preset motor recovery torque threshold, it is determined that the steering wheel of the vehicle is shaking and the current engine speed is obtained; based on the current engine speed and the current motor recovery torque, the steering wheel shaking is optimized to avoid the steering wheel vibration problem during braking, shorten the development cycle, and improve the performance of the entire vehicle in a time-saving and economical way. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of a vehicle steering wheel vibration optimization device in a hardware operating environment involved in an embodiment of the present invention;

[0040] Figure 2A schematic diagram of a flow chart of a first embodiment of a method for optimizing vehicle steering wheel vibration according to the present invention;

[0041] Figure 3 A schematic diagram of vibration and operating condition data during braking of an embodiment of a method for optimizing vehicle steering wheel vibration according to the present invention;

[0042] Figure 4 It is a schematic diagram of the overall process of an embodiment of a method for optimizing the steering wheel vibration of a vehicle of the present invention;

[0043] Figure 5 A schematic flow chart of a second embodiment of a method for optimizing vehicle steering wheel vibration according to the present invention;

[0044] Figure 6 A schematic flow chart of a third embodiment of a method for optimizing vehicle steering wheel vibration according to the present invention;

[0045] Figure 7 A schematic flow chart of a fourth embodiment of a method for optimizing vehicle steering wheel vibration according to the present invention;

[0046] Figure 8 This is a structural block diagram of the first embodiment of the vehicle steering wheel vibration optimization device of the present invention.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0049] Reference Figure 1 , Figure 1 A schematic diagram of the structure of a vehicle steering wheel vibration optimization device in the hardware operating environment involved in an embodiment of the present invention.

[0050] like Figure 1As shown, the steering wheel jitter optimization device of the vehicle may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art will understand that Figure 1 The structure shown in does not constitute a limitation on the vehicle steering wheel vibration optimization device, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0052] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle steering wheel vibration optimization program.

[0053] exist Figure 1 In the steering wheel jitter optimization device of the vehicle shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the steering wheel jitter optimization device of the vehicle of the present invention can be set in the steering wheel jitter optimization device of the vehicle, and the steering wheel jitter optimization device of the vehicle calls the vehicle steering wheel jitter optimization program stored in the memory 1005 through the processor 1001, and executes the vehicle steering wheel jitter optimization method provided by the embodiment of the present invention.

[0054] The embodiment of the present invention provides a method for optimizing the steering wheel vibration of a vehicle, referring to Figure 2 , Figure 2 It is a flow chart of the first embodiment of the method for optimizing the steering wheel vibration of a vehicle according to the present invention.

[0055] In this embodiment, the steering wheel vibration optimization method of the vehicle includes the following steps:

[0056] Step S10: During the vehicle braking process, the current motor recovery torque of the vehicle is obtained.

[0057] It should be noted that the executor of this embodiment may be a vehicle's steering wheel jitter optimization device, or other devices that can achieve the same or similar results. This embodiment does not limit this. This embodiment is described using a vehicle's steering wheel jitter optimization device as an example.

[0058] This embodiment can be applicable to hybrid vehicles and extended-range vehicles, and can also be applicable to other types of vehicles. This embodiment is used to optimize steering wheel jitter. For example, when the motor recovery torque exceeds a certain amplitude and the engine main order frequency is close to the steering wheel modal frequency, steering wheel jitter is caused. The steering wheel jitter can be optimized, for example, by reducing the engine speed to avoid the steering wheel modal frequency or referring to the motor recovery torque.

[0059] In specific implementation, due to the complex working conditions of hybrid vehicles, when the braking energy recovery torque is large, the powertrain suspension is affected by the recovery torque and works in the nonlinear region, resulting in poor suspension vibration isolation. When the vehicle is in the braking process, it is easy to cause the steering wheel to shake, and the current motor recovery torque of the vehicle can be obtained. Motor recovery torque refers to the process in which the torque generated by the motor of a hybrid vehicle during deceleration or braking is recovered and converted into electrical energy for storage or reuse.

[0060] Optionally, after obtaining the current motor recovery torque of the vehicle, the preset motor recovery torque threshold of the vehicle can also be obtained to determine whether steering wheel jitter optimization is needed. After step S10, it also includes: obtaining the preset motor recovery torque threshold of the vehicle; comparing the current motor recovery torque with the preset motor recovery torque threshold.

[0061] It should be noted that the vehicle's preset motor recovery torque threshold can be obtained, and the preset motor recovery torque threshold can be the critical value for steering wheel shaking. By comparing the current motor recovery torque with the preset motor recovery torque threshold, if the current motor recovery torque is less than or equal to the preset motor recovery torque threshold, it means that the steering wheel is not shaking, and no shaking optimization is performed, and the current recovery torque of the vehicle continues to be detected.

[0062] Furthermore, the process of obtaining the preset motor recovery torque threshold includes: controlling the vehicle to travel at different speeds under different braking forces; detecting engine speed data, motor recovery torque data, and steering wheel vibration data when the vehicle travels at different speeds under different braking forces;

[0063] It should be noted that the mapping relationship between the engine speed, motor recovery torque and steering wheel vibration value can be established in advance, so the vehicle can be controlled to drive at different speeds under different braking forces for testing. The measurement points mainly include steering wheel vibration, suspension active and passive end vibration; the test signal includes motor speed and torque, vehicle speed, engine speed and torque, etc. The specific test conditions are: under different braking forces, the vehicle speed is controlled to decrease from 100km / h to 10km / h.

[0064] In a specific implementation, the engine speed data, the motor recovery torque data and the steering wheel vibration data under different braking forces and different speeds can be detected.

[0065] Establishing a mapping relationship between the engine speed, the motor recovery torque and the steering wheel vibration value based on the engine speed data, the motor recovery torque data and the steering wheel vibration data;

[0066] Get the steering wheel vibration threshold;

[0067] When the steering wheel vibration value in the steering wheel vibration data exceeds the steering wheel vibration threshold, a corresponding motor recovery torque is obtained based on the mapping relationship as a preset motor recovery torque threshold.

[0068] It should be understood that a mapping relationship between the engine speed, the motor recovery torque and the steering wheel vibration value can be established based on the engine speed data, the motor recovery torque data and the steering wheel vibration data, such as Figure 3 As shown, Figure 3 This is a schematic diagram of the vibration and working condition data during the braking process. 1 is the engine speed data, 2 is the motor recovery torque data, and 3 is the steering wheel vibration data. Figure 3 According to the test data in, the critical value of the steering wheel vibration, i.e., the steering wheel vibration threshold value, can be set as V1. When the steering wheel vibration value exceeds V1 during braking, the motor recovery torque exceeding V1 is set as the preset motor recovery torque threshold value T1 according to the mapping relationship. The corresponding engine speed N1 can also be obtained according to the mapping relationship and V1 and T1.

[0069] Step S20: When the current motor recovery torque is greater than a preset motor recovery torque threshold, it is determined that the steering wheel of the vehicle is shaking, and the current engine speed is obtained.

[0070] In a specific implementation, when the current motor recovery torque is greater than a preset motor recovery torque threshold, the steering wheel of the vehicle shakes and steering wheel shake optimization is required, then the current engine speed can be obtained.

[0071] Step S30: Optimizing steering wheel vibration based on the current engine speed and the current motor recovery torque.

[0072] In a specific implementation, the vehicle's steering wheel jitter can be optimized based on the current engine speed and the current motor recovery torque. For example, the current engine speed is compared with a set preset engine speed range to determine whether jitter optimization is required.

[0073] like Figure 4 As shown, Figure 4 The overall process diagram for steering wheel jitter optimization includes step S1: braking process data test, step S2: determining the preset motor recovery torque threshold T1 that the suspension bears, step S3: determining the engine speed N1 at which the steering wheel jitter occurs when T1 is exceeded, and step S4: formulating a corresponding optimization strategy, when the motor recovery torque is greater than the preset motor recovery torque threshold T1, determining whether the engine speed is within the preset engine speed range N1±100rpm, when the engine speed is within the preset engine speed range N1±100rpm, strategy 1 can be executed: reducing the motor recovery torque to be less than the preset motor recovery torque threshold T1, or strategy 2 can be executed: reducing the engine speed to the next series power generation point.

[0074] During the vehicle braking process, the present embodiment obtains the current motor recovery torque of the vehicle; when the current motor recovery torque is greater than a preset motor recovery torque threshold, it is determined that the steering wheel of the vehicle is vibrating and the current engine speed is obtained; based on the current engine speed and the current motor recovery torque, the steering wheel vibration is optimized to avoid the steering wheel vibration problem during braking, shorten the development cycle, and improve the performance of the entire vehicle in a time-saving and economical way.

[0075] refer to Figure 5 , Figure 5 It is a flow chart of the second embodiment of the method for optimizing the steering wheel vibration of a vehicle according to the present invention.

[0076] Based on the first embodiment, step S30 of the steering wheel vibration optimization method of the vehicle in this embodiment includes:

[0077] Step S301: Compare the current engine speed with a preset engine speed range.

[0078] It should be noted that by comparing the current engine speed with the preset engine speed range, it is determined whether the current engine speed is within the preset engine speed range.

[0079] Step S302: When the current engine speed is within the preset engine speed range, the steering wheel vibration is optimized based on the current engine speed or the current motor recovery torque.

[0080] In a specific implementation, if the engine speed is not within a preset engine speed range, the steering wheel vibration is not optimized and the engine speed continues to be detected.

[0081] When the engine speed is within the preset engine speed range, the steering wheel vibration can be optimized according to the current engine speed or the current motor recovery torque, thereby improving the optimization effect.

[0082] This embodiment compares the current engine speed with a preset engine speed range; when the current engine speed is within the preset engine speed range, the steering wheel jitter is optimized based on the current engine speed or the current motor recovery torque. The steering wheel jitter can be dynamically optimized according to the engine speed and the current motor recovery torque, thereby avoiding the problem of steering wheel vibration during braking. Compared with hardware control, the optimization efficiency is improved and the optimization cost is reduced.

[0083] refer to Figure 6 , Figure 6 It is a flow chart of a third embodiment of the method for optimizing vehicle steering wheel vibration according to the present invention.

[0084] Based on the above first and second embodiments, step S302 of the steering wheel vibration optimization method of the vehicle in this embodiment includes:

[0085] Step S3021: When the current engine speed is within the preset engine speed range, the current motor recovery torque is reduced to obtain a reference motor recovery torque.

[0086] It should be noted that when the current engine speed is within the preset engine speed range, an optimization strategy can be executed, such as a strategy for reducing the current motor recovery torque. By reducing the current motor recovery torque, a reference motor recovery torque is obtained, so that the reference motor recovery torque is less than the preset motor recovery torque threshold T1.

[0087] Optionally, while reducing the current motor recovery torque, the braking force requirement needs to be met, and then after step S3021, the following is further included:

[0088] Calculating a recovery torque difference according to the reference motor recovery torque and the current motor recovery torque;

[0089] Acquiring a current mechanical braking torque of the vehicle;

[0090] Calculating and updating the mechanical braking torque based on the recovery torque difference and the current mechanical braking torque;

[0091] The current mechanical braking torque is controlled to increase to the updated mechanical braking torque.

[0092] It should be noted that the recovery torque difference can be calculated based on the reference motor recovery torque and the current motor recovery torque. For example, if the recovery torque is reduced to T2 and the current motor recovery torque is T0, then the recovery torque difference ΔT=T0-T2, and the current mechanical braking torque of the vehicle can be obtained. The current mechanical braking torque refers to the braking torque achieved by a mechanical braking system (usually brake discs and brake pads), which can be obtained through sensor detection. The mechanical braking torque can be updated by calculating the recovery torque difference and the current mechanical braking torque. The reduced recovery torque difference ΔT is supplemented by mechanical braking, the motor recovery torque is reduced by ΔT, and the mechanical braking torque is increased by ΔT. For example, if the current mechanical braking torque is F1, then the mechanical braking torque F2=F1+ΔT is updated.

[0093] It can be understood that the current mechanical braking torque can be controlled to increase to the updated mechanical braking torque, thereby satisfying the braking force requirement.

[0094] Step S3022: When the reference motor recovery torque is less than the preset motor recovery torque threshold, the steering wheel vibration optimization is completed.

[0095] It should be noted that the reference motor recovery torque can be compared with the preset motor recovery torque threshold, and when the reference motor recovery torque is less than the preset motor recovery torque threshold, the steering wheel vibration optimization is completed. When the reference motor recovery torque is greater than or equal to the preset motor recovery torque threshold, the reference motor recovery torque continues to be reduced until the reference motor recovery torque is less than the preset motor recovery torque threshold.

[0096] This embodiment obtains a reference motor recovery torque by reducing the current motor recovery torque when the current engine speed is within the preset engine speed range; when the reference motor recovery torque is less than the preset motor recovery torque threshold, the steering wheel jitter is optimized, and the motor recovery torque can be dynamically adjusted in real time to avoid the problem of steering wheel jitter during braking, thereby improving the user's driving experience.

[0097] refer to Figure 7 , Figure 7 It is a flow chart of a fourth embodiment of a method for optimizing vehicle steering wheel vibration according to the present invention.

[0098] Based on the above first and second embodiments, step S302 of the steering wheel vibration optimization method of the vehicle in this embodiment includes:

[0099] Step S3021': when the current engine speed is within the preset engine speed range, calculating a target engine speed based on the preset engine speed range and the current engine speed.

[0100] It should be noted that when the current engine speed is within the preset engine speed range, the target engine speed can be calculated based on the preset engine speed range and the current engine speed, and the target engine speed is less than the minimum value of the preset engine speed range.

[0101] Step S3022': reducing the current engine speed to the target engine speed to complete the optimization of steering wheel vibration.

[0102] The current engine speed can be reduced to the target engine speed, thereby optimizing the steering wheel vibration.

[0103] In this embodiment, when the current engine speed is within the preset engine speed range, the target engine speed is calculated based on the preset engine speed range and the current engine speed; the current engine speed is reduced to the target engine speed to optimize the steering wheel jitter. The engine speed can be dynamically adjusted in real time to avoid the problem of steering wheel jitter during braking, thereby improving the user's driving experience.

[0104] Reference Figure 8 , Figure 8 This is a structural block diagram of the first embodiment of the vehicle steering wheel vibration optimization device of the present invention.

[0105] like Figure 8 As shown, the vehicle steering wheel vibration optimization device proposed in the embodiment of the present invention includes:

[0106] The acquisition module 10 is used to acquire the current motor recovery torque of the vehicle during the braking process of the vehicle.

[0107] The acquisition module 10 is further configured to determine that the steering wheel of the vehicle is shaking and acquire the current engine speed when the current motor recovery torque is greater than a preset motor recovery torque threshold.

[0108] The optimization module 20 is used to optimize the steering wheel vibration based on the current engine speed and the current motor recovery torque.

[0109] During the vehicle braking process, the present embodiment obtains the current motor recovery torque of the vehicle; when the current motor recovery torque is greater than a preset motor recovery torque threshold, it is determined that the steering wheel of the vehicle is vibrating and the current engine speed is obtained; based on the current engine speed and the current motor recovery torque, the steering wheel vibration is optimized to avoid the steering wheel vibration problem during braking, shorten the development cycle, and improve the performance of the entire vehicle in a time-saving and economical way.

[0110] In one embodiment, the optimization module 20 is also used to compare the current engine speed with a preset engine speed range; when the current engine speed is within the preset engine speed range, the steering wheel vibration is optimized based on the current engine speed or the current motor recovery torque.

[0111] In one embodiment, the optimization module 20 is also used to reduce the current motor recovery torque to obtain a reference motor recovery torque when the current engine speed is within the preset engine speed range; and complete the steering wheel jitter optimization when the reference motor recovery torque is less than the preset motor recovery torque threshold.

[0112] In one embodiment, the optimization module 20 is further used to calculate the recovery torque difference based on the reference motor recovery torque and the current motor recovery torque; obtain the current mechanical braking torque of the vehicle; calculate and update the mechanical braking torque based on the recovery torque difference and the current mechanical braking torque; and control the current mechanical braking torque to increase to the updated mechanical braking torque.

[0113] In one embodiment, the optimization module 20 is also used to calculate the target engine speed based on the preset engine speed range and the current engine speed when the current engine speed is within the preset engine speed range; reduce the current engine speed to the target engine speed to complete the steering wheel jitter optimization.

[0114] In one embodiment, the acquisition module 10 is further configured to acquire a preset motor recovery torque threshold of the vehicle; and compare the current motor recovery torque with the preset motor recovery torque threshold.

[0115] In one embodiment, the acquisition module 10 is also used to control the vehicle to travel at different speeds under different braking forces; detect engine speed data, motor recovery torque data and steering wheel vibration data when the vehicle travels at different speeds under different braking forces; establish a mapping relationship between engine speed, motor recovery torque and steering wheel vibration value based on the engine speed data, the motor recovery torque data and the steering wheel vibration data; obtain a steering wheel vibration threshold; when the steering wheel vibration value in the steering wheel vibration data exceeds the steering wheel vibration threshold, obtain the corresponding motor recovery torque based on the mapping relationship as a preset motor recovery torque threshold.

[0116] In addition, an embodiment of the present invention also proposes a storage medium, on which a vehicle steering wheel jitter optimization program is stored. When the vehicle steering wheel jitter optimization program is executed by a processor, the steps of the vehicle steering wheel jitter optimization method described above are implemented.

[0117] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0118] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0119] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0120] In addition, for technical details that are not described in detail in this embodiment, please refer to the vehicle steering wheel jitter optimization method provided in any embodiment of the present invention, and will not be repeated here.

[0121] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0122] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0123] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0124] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for optimizing the steering wheel vibration of a vehicle, characterized in that: The steering wheel vibration optimization method of the vehicle comprises: During the vehicle braking process, the current motor recovery torque of the vehicle and the preset motor recovery torque threshold of the vehicle are obtained, wherein the current motor recovery torque is the torque generated by the motor during deceleration or braking, which is recovered and converted into electric energy for storage or reuse, and the preset motor recovery torque threshold is the critical value of steering wheel vibration, which is obtained by mapping between the engine speed, the motor recovery torque and the steering wheel vibration value; When the current motor recovery torque is greater than the preset motor recovery torque threshold, determining that the steering wheel of the vehicle is shaking, and obtaining the current engine speed; Steering wheel vibration is optimized based on the current engine speed and the current motor recovery torque.

2. The method for optimizing the steering wheel vibration of a vehicle according to claim 1, characterized in that: The optimizing the steering wheel vibration based on the current engine speed and the current motor recovery torque includes: comparing the current engine speed with a preset engine speed range; When the current engine speed is within the preset engine speed range, the steering wheel vibration is optimized based on the current engine speed or the current motor recovery torque.

3. The method for optimizing the steering wheel vibration of a vehicle according to claim 2, characterized in that: When the current engine speed is within the preset engine speed range, optimizing the steering wheel vibration based on the current motor recovery torque includes: When the current engine speed is within the preset engine speed range, reducing the current motor recovery torque to obtain a reference motor recovery torque; When the reference motor recovery torque is less than the preset motor recovery torque threshold, the steering wheel vibration optimization is completed.

4. The method for optimizing the steering wheel vibration of a vehicle according to claim 3, characterized in that: After reducing the current motor recovery torque to obtain the reference motor recovery torque, the method further includes: Calculating a recovery torque difference according to the reference motor recovery torque and the current motor recovery torque; Acquiring a current mechanical braking torque of the vehicle; Calculating and updating the mechanical braking torque based on the recovery torque difference and the current mechanical braking torque; The current mechanical braking torque is controlled to increase to the updated mechanical braking torque.

5. The method for optimizing the steering wheel vibration of a vehicle according to claim 2, characterized in that: When the current engine speed is within the preset engine speed range, optimizing the steering wheel vibration based on the current engine speed includes: When the current engine speed is within the preset engine speed range, calculating a target engine speed based on the preset engine speed range and the current engine speed; The current engine speed is reduced to the target engine speed to optimize the steering wheel vibration.

6. The method for optimizing the steering wheel vibration of a vehicle according to claim 1, characterized in that: Obtaining a preset motor recovery torque threshold of the vehicle, including: Under different braking forces, control the vehicle to travel at different speeds; Detect engine speed data, motor recovery torque data, and steering wheel vibration data when the vehicle is driving at different speeds under different braking forces; Establishing a mapping relationship between the engine speed, the motor recovery torque and the steering wheel vibration value based on the engine speed data, the motor recovery torque data and the steering wheel vibration data; Get the steering wheel vibration threshold; When the steering wheel vibration value in the steering wheel vibration data exceeds the steering wheel vibration threshold, a corresponding motor recovery torque is obtained based on the mapping relationship as a preset motor recovery torque threshold.

7. A vehicle steering wheel vibration optimization device, characterized in that: The vehicle steering wheel vibration optimization device comprises: An acquisition module is used to acquire the current motor recovery torque of the vehicle and a preset motor recovery torque threshold of the vehicle during the vehicle braking process, wherein the current motor recovery torque is the torque generated by the motor during deceleration or braking, which is recovered and converted into electric energy for storage or reuse, and the preset motor recovery torque threshold is a critical value for steering wheel vibration, which is obtained by mapping between the engine speed, the motor recovery torque and the steering wheel vibration value; The acquisition module is further used to determine that the steering wheel of the vehicle is shaking when the current motor recovery torque is greater than a preset motor recovery torque threshold, and to acquire the current engine speed; An optimization module is used to optimize the steering wheel vibration based on the current engine speed and the current motor recovery torque.

8. A vehicle steering wheel vibration optimization device, characterized in that: The vehicle steering wheel jitter optimization device includes: a memory, a processor, and a vehicle steering wheel jitter optimization program stored in the memory and executable on the processor, wherein the vehicle steering wheel jitter optimization program is configured to implement the vehicle steering wheel jitter optimization method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a vehicle steering wheel jitter optimization program, and when the vehicle steering wheel jitter optimization program is executed by the processor, the vehicle steering wheel jitter optimization method according to any one of claims 1 to 6 is implemented.

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