Vehicle vibration optimization methods, devices, equipment and storage media

Abstract

The present invention discloses a vehicle jitter optimization method, device, equipment and storage medium, belonging to the field of vehicle control technology. The present invention obtains the vibration acceleration value and vibration frequency of the vehicle when the vehicle performs tire slip adhesion switching; obtains the power drive mode of the vehicle when the vibration acceleration value is greater than the preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency; and optimizes the vehicle jitter according to the power drive mode, which can not only solve the jitter problem caused by the tire slip adhesion switching of hybrid vehicles, but also has the advantage of high optimization efficiency, greatly shortens the research and development cycle, and reduces development costs.

Description

Technical Field

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

[0002] Hybrid vehicles experience tire slip when transitioning from high-grip roads to low-grip roads, vice versa, or when starting under high throttle. The resulting vibration caused by tire slip and adhesion switching has become a major source of customer complaints, directly impacting ride comfort. Compared to traditional fuel vehicles, tire slip and adhesion switching creates a driving force shock, stimulating torsional vibration in the drivetrain and causing vehicle vibration. Hybrid vehicles have multiple drive modes, including series, parallel, and direct drive. Due to the varying drivetrain inertia and damping requirements, the severity of this vibration varies, requiring unique optimization methods.

[0003] The existing vehicle jitter optimization method is to request the power system to limit torque when wheel slip is detected, so as to maintain the wheel slip rate within a reasonable range and ensure vehicle driving stability. However, the torque response closed-loop time from detecting wheel slip to transmitting the electrical signal to the controller is relatively long. During this process, the driving force is impacted when the tire slip and adhesion switch is switched, which can cause severe vehicle jitter. Summary of the Invention

[0004] The main purpose of the present invention is to provide a vehicle vibration optimization method, device, equipment and storage medium, aiming to solve the technical problem of poor vehicle vibration control effect in the prior art.

[0005] To achieve the above object, the present invention provides a vehicle vibration optimization method, which includes the following steps:

[0006] When the vehicle performs tire slip adhesion switching, obtaining a vibration acceleration value and a vibration frequency of the vehicle;

[0007] When the vibration acceleration value is greater than a preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency, obtaining a power driving mode of the vehicle;

[0008] The vehicle is subjected to vibration optimization according to the power driving mode.

[0009] Optionally, the performing vibration optimization on the vehicle according to the power driving mode includes:

[0010] Determining a corresponding vibration optimization strategy according to the power driving mode;

[0011] Obtaining a current wheel slip ratio of the vehicle;

[0012] The vehicle is subjected to vibration optimization according to the vibration optimization strategy and the current wheel slip rate.

[0013] Optionally, determining a corresponding vibration optimization strategy according to the power driving mode includes:

[0014] When the power drive mode is an engine direct drive mode, determining that the vehicle vibration optimization strategy is an engine torque limiting strategy;

[0015] When the power drive mode is a series mode or a pure electric mode, determining that the vibration optimization strategy of the vehicle is a motor torque limiting strategy;

[0016] When the power drive mode is the parallel mode, the vibration optimization strategy of the vehicle is determined to be the engine torque limiting strategy and the motor torque limiting strategy.

[0017] Optionally, the performing jitter optimization on the vehicle using the jitter optimization strategy and the current wheel slip rate includes:

[0018] When the vibration optimization strategy is an engine torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, reducing the engine torque of the vehicle to obtain an engine down torque;

[0019] obtaining a first updated vibration acceleration value of the vehicle operating under the engine reduced torque;

[0020] When the first updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed.

[0021] Optionally, the performing jitter optimization on the vehicle using the jitter optimization strategy and the current wheel slip rate includes:

[0022] When the vibration optimization strategy is a motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, obtaining a motor speed change rate of the vehicle;

[0023] When the motor speed change rate is greater than or equal to a preset speed change rate threshold, reducing the motor torque of the vehicle to obtain a motor reduction torque;

[0024] obtaining a second updated vibration acceleration value of the vehicle operating under the reduced torque of the motor;

[0025] When the second updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed.

[0026] Optionally, after obtaining a second updated vibration acceleration value of the vehicle running under the reduced torque of the motor, the method further includes:

[0027] When the second updated vibration acceleration value is greater than the preset vibration acceleration target value, obtaining a motor speed fluctuation amount;

[0028] When the motor speed fluctuation amount is greater than or equal to a preset motor speed fluctuation amount target value, obtaining a current motor anti-shake coefficient;

[0029] Adjusting the current motor anti-shake coefficient to obtain an adjusted motor anti-shake coefficient;

[0030] Obtaining a third updated vibration acceleration value of the vehicle under the adjustment of the motor anti-shake coefficient;

[0031] When the third updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed.

[0032] Optionally, the performing jitter optimization on the vehicle using the jitter optimization strategy and the current wheel slip rate includes:

[0033] When the vibration optimization strategy is an engine torque limiting strategy and a motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, reducing the engine torque of the vehicle to obtain an engine down torque;

[0034] Obtaining a rate of change of motor speed of the vehicle;

[0035] When the motor speed change rate is greater than or equal to a preset speed change rate threshold, reducing the motor torque of the vehicle to obtain a motor reduction torque;

[0036] acquiring a fourth updated vibration acceleration value of the vehicle operating under the engine reduced torque and the motor reduced torque;

[0037] When the fourth updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed.

[0038] In addition, to achieve the above-mentioned purpose, the present invention further proposes a vehicle vibration optimization device, which includes:

[0039] an acquisition module, configured to acquire a vibration acceleration value and a vibration frequency of the vehicle when the vehicle performs tire slip adhesion switching;

[0040] The acquisition module is further configured to acquire the power drive mode of the vehicle when the vibration acceleration value is greater than a preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency;

[0041] An optimization module is used to optimize the vibration of the vehicle according to the power driving mode.

[0042] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle jitter optimization device, which includes: a memory, a processor, and a vehicle jitter optimization program stored on the memory and runnable on the processor, and the vehicle jitter optimization program is configured to implement the steps of the vehicle jitter optimization method described above.

[0043] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle jitter optimization program is stored. When the vehicle jitter optimization program is executed by a processor, the steps of the vehicle jitter optimization method described above are implemented.

[0044] The present invention obtains the vibration acceleration value and vibration frequency of the vehicle when the vehicle performs tire slip adhesion switching; obtains the power drive mode of the vehicle when the vibration acceleration value is greater than a preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency; and optimizes the vehicle vibration according to the power drive mode. This not only solves the vibration problem caused by the tire slip adhesion switching of the hybrid vehicle, but also has the advantage of high optimization efficiency, greatly shortens the research and development cycle, and reduces development costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Schematic diagram of the structure of a vehicle vibration optimization device in a hardware operating environment according to an embodiment of the present invention;

[0046] Figure 2 This is a flow chart of a first embodiment of the vehicle vibration optimization method of the present invention;

[0047] Figure 3 This is a schematic diagram of the overall process of an embodiment of a vehicle vibration optimization method of the present invention;

[0048] Figure 4 This is a flow chart of a second embodiment of the vehicle vibration optimization method of the present invention;

[0049] Figure 5 This is a flow chart of a third embodiment of the vehicle vibration optimization method of the present invention;

[0050] Figure 6 This is a flow chart of a fourth embodiment of the vehicle vibration optimization method of the present invention;

[0051] Figure 7 This is a flow chart of a fifth embodiment of the vehicle vibration optimization method of the present invention;

[0052] Figure 8 This is a flow chart of a sixth embodiment of the vehicle vibration optimization method of the present invention;

[0053] Figure 9This is a schematic diagram of the optimization strategy flow corresponding to different power drive modes in an embodiment of the vehicle vibration optimization method of the present invention;

[0054] Figure 10 Schematic diagram of the combined optimization effect of active torque limiting and anti-shake of the motor in one embodiment of the vehicle vibration optimization method of the present invention;

[0055] Figure 11 This is a structural block diagram of the first embodiment of the vehicle vibration optimization device of the present invention.

[0056] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0058] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a vehicle vibration optimization device in the hardware operating environment involved in an embodiment of the present invention.

[0059] like Figure 1 As shown, the vehicle jitter optimization device 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 user interface 1003 may optionally 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 optionally be a storage device independent of the aforementioned processor 1001.

[0060] Those skilled in the art will understand that Figure 1 The structure shown in does not constitute a limitation on the vehicle vibration optimization device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0061] like Figure 1As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle vibration optimization program.

[0062] exist Figure 1 In the vehicle jitter optimization device 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 vehicle jitter optimization device of the present invention can be set in the vehicle jitter optimization device, and the vehicle jitter optimization device calls the vehicle jitter optimization program stored in the memory 1005 through the processor 1001, and executes the vehicle jitter optimization method provided by the embodiment of the present invention.

[0063] The embodiment of the present invention provides a vehicle vibration optimization method, referring to Figure 2 , Figure 2 Schematic diagram of the flow chart of the first embodiment of the vehicle vibration optimization method of the present invention.

[0064] In this embodiment, the vehicle vibration optimization method includes the following steps:

[0065] Step S10: When the vehicle performs tire slip adhesion switching, the vibration acceleration value and vibration frequency of the vehicle are obtained.

[0066] It should be noted that the executor of this embodiment may be a controller in the vehicle, such as the traction control system (TCS) and MCU (Motor Control Unit) in the vehicle, and the vehicle vibration optimization is performed through the TCS or MCU. It may also be other devices or systems that can achieve the same or similar functions. This embodiment does not limit this. This embodiment is explained using the traction control system and MCU as examples.

[0067] In a specific implementation, the vehicle is a hybrid electric vehicle. Before performing vehicle vibration optimization, a test and diagnosis system for the vibration acceleration values ​​caused by tire slip and adhesion switching can be designed to detect vehicle parameters during driving. This test and diagnosis system, applied to a hybrid electric vehicle, can specifically include a vibration acceleration sensor installed in the seat rail, connected to a vibration and noise data acquisition front-end via a cable. The vehicle's CAN bus OBD diagnostic port is connected to the vibration and noise data acquisition front-end via a one-to-two OBD adapter cable. The vibration and noise data acquisition front-end is then connected to a computer, forming a vibration test system. This system can collect signals such as seat rail vibration, engine torque, engine speed, motor torque, and motor speed during the hybrid electric vehicle's tire slip and adhesion switching.

[0068] It should be understood that when the TCS detects the vehicle undergoing tire slip adhesion switching, it acquires the vehicle's vibration acceleration value. This vibration acceleration value is the vibration acceleration value caused by the hybrid vehicle's tire slip adhesion switching. This vibration acceleration value is the vibration acceleration value of the driver's seat rail during the hybrid vehicle's tire slip adhesion switching. The vibration frequency is the vibration frequency of the driver's seat rail.

[0069] In a specific implementation, the vibration acceleration value and vibration frequency of the vehicle can be detected by a test diagnosis system arranged in advance in the vehicle.

[0070] Step S20: When the vibration acceleration value is greater than a preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency, obtaining the power drive mode of the vehicle.

[0071] It should be noted that the preset vibration acceleration target value can be set in advance. The preset vibration acceleration target value is the threshold at which the vehicle shakes. The wheel speed fluctuation frequency is the torsional vibration frequency of the drivetrain. The vehicle's wheel speed fluctuation frequency refers to the frequency at which wheel speed fluctuates under specific conditions. This fluctuation is typically related to factors such as wheel-road adhesion, the suspension system, and tire characteristics. The vehicle's wheel speed fluctuation frequency can be measured using sensors and data acquisition equipment.

[0072] In a specific implementation, the vibration acceleration can be compared with the preset vibration acceleration target value, and the vibration frequency can be compared with the wheel speed fluctuation frequency. When the vibration acceleration value is greater than the preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency, the vehicle vibration needs to be optimized. The vehicle's power drive mode can then be obtained, and the vehicle vibration can be optimized according to the vehicle's power drive mode.

[0073] If the vibration acceleration value is less than or equal to the preset vibration acceleration target value, there is no need to perform vibration optimization on the vehicle and the vibration acceleration value of the vehicle continues to be detected.

[0074] Step S30: Optimizing vibration of the vehicle according to the power driving mode.

[0075] It can be understood that the vehicle's power drive mode may include engine direct drive mode, series mode, pure electric mode and parallel mode, etc. The corresponding optimization strategy can be selected according to different power drive modes to optimize the vehicle's vibration.

[0076] like Figure 3 As shown, Figure 3This is a schematic diagram of the overall process of the vehicle vibration optimization method. S1 detects the vibration acceleration value a of the driver's seat guide rail and the corresponding vibration frequency f at the moment of tire slip and adhesion switching. When a is greater than the preset vibration acceleration target value aTarg and the vibration frequency f is equal to the wheel speed fluctuation frequency fTor, step S2 is executed: according to the vehicle's power drive mode, the corresponding optimization strategy is selected to optimize the vehicle vibration until the vibration acceleration value is less than or equal to the preset vibration acceleration target value aTarg, thereby completing the vehicle vibration optimization.

[0077] This embodiment obtains a vibration acceleration value and a vibration frequency of the vehicle when the vehicle performs tire slip-adhesion switching; obtains a power drive mode of the vehicle when the vibration acceleration value is greater than a preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency; and performs vibration optimization on the vehicle according to the power drive mode. This not only solves the vibration problem caused by tire slip-adhesion switching of hybrid vehicles, but also has the advantage of high optimization efficiency, greatly shortens the research and development cycle, and reduces development costs.

[0078] refer to Figure 4 , Figure 4 2 is a flow chart of the second embodiment of the vehicle vibration optimization method of the present invention.

[0079] Based on the first embodiment described above, step 30 of the vehicle jitter optimization method of this embodiment specifically includes:

[0080] Step S301: determining a corresponding vibration optimization strategy according to the power driving mode.

[0081] It should be noted that different power drive modes have different vibration optimization strategies. For example, if the power drive mode is the engine direct drive mode, the engine active torque limiting strategy is executed to optimize vehicle vibration.

[0082] Step S302: Acquire the current wheel slip rate of the vehicle.

[0083] In specific implementations, the vehicle's current wheel slip ratio can be obtained. The vehicle's wheel slip ratio refers to the relative slip between the vehicle's tires and the road surface during driving. It can be expressed as a percentage and can be divided into longitudinal slip ratio (Longitudinal Slip Ratio) and lateral slip ratio (Lateral Slip Ratio). The specific value varies depending on the vehicle's driving state and road conditions. To calculate the current wheel slip ratio, it is necessary to measure the vehicle's wheel speed and the relative speed between the wheel and the road surface to calculate the current wheel slip ratio.

[0084] Step S303: performing jitter optimization on the vehicle using the jitter optimization strategy and the current wheel slip rate.

[0085] In a specific implementation, the vehicle vibration can be optimized through the vibration optimization strategy and the current wheel slip rate.

[0086] This embodiment determines a corresponding jitter optimization strategy according to the power drive mode; obtains the current wheel slip rate of the vehicle; and performs jitter optimization on the vehicle according to the jitter optimization strategy and the current wheel slip rate. Different jitter optimization strategies can be flexibly selected according to the power drive mode of the vehicle to achieve jitter optimization of the vehicle under different power drive modes and improve the jitter control effect.

[0087] refer to Figure 5 , Figure 5 2 is a flow chart of the third embodiment of the vehicle vibration optimization method of the present invention.

[0088] Based on the above first and second embodiments, step S301 of the vehicle jitter optimization method of this embodiment specifically includes:

[0089] Step S3011: When the power drive mode is the engine direct drive mode, determining that the vibration optimization strategy of the vehicle is the engine torque limiting strategy.

[0090] It should be noted that when the vehicle's power drive mode is the engine direct drive mode, the engine active torque limiting strategy can be executed, and the vehicle's vibration optimization strategy is the engine torque limiting strategy.

[0091] Step S3012: When the power drive mode is a series mode or a pure electric mode, determining that the vibration optimization strategy of the vehicle is a motor torque limiting strategy.

[0092] It should be understood that when the vehicle's power drive mode is a series mode or a pure electric mode, the motor active torque limiting strategy can be executed, and the vehicle's vibration optimization strategy is a motor torque limiting strategy.

[0093] Step S3013: When the power drive mode is the parallel mode, determining that the vibration optimization strategy of the vehicle is the engine torque limiting strategy and the motor torque limiting strategy.

[0094] In a specific implementation, when the vehicle's power drive mode is the parallel mode, the engine active torque limiting strategy and the motor active torque limiting strategy can be executed, and the vehicle's vibration optimization strategy is the engine torque limiting strategy and the motor torque limiting strategy.

[0095] In this embodiment, when the power drive mode is the engine direct drive mode, the vehicle's vibration optimization strategy is determined to be the engine torque limiting strategy; when the power drive mode is the series mode or the pure electric mode, the vehicle's vibration optimization strategy is determined to be the motor torque limiting strategy; when the power drive mode is the parallel mode, the vehicle's vibration optimization strategy is determined to be the engine torque limiting strategy and the motor torque limiting strategy. The corresponding vibration optimization strategy can be determined according to different power drive modes to improve the optimization effect and flexibility.

[0096] refer to Figure 6 , Figure 6 2 is a flow chart of the fourth embodiment of the vehicle vibration optimization method of the present invention.

[0097] Based on the second and third embodiments above, step S303 of the vehicle jitter optimization method of this embodiment specifically includes:

[0098] Step S3031: When the vibration optimization strategy is the engine torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, the engine torque of the vehicle is reduced to obtain an engine reduction torque.

[0099] It should be understood that when the vehicle's vibration optimization strategy is the engine strategy and the TCS detects that the current wheel slip rate is greater than or equal to the preset slip rate threshold, the TCS can request the engine to quickly reduce the torque to an appropriate torque. The specific torque can be calibrated according to the actual working conditions. After reducing the vehicle's engine torque, the engine reduction torque is obtained.

[0100] Step S3032: Acquire a first updated vibration acceleration value of the vehicle operating under the engine reduced torque.

[0101] In a specific implementation, a vibration acceleration value of the vehicle running under the engine torque reduction condition may be obtained as the first updated vibration acceleration value.

[0102] Step S3033: When the first updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed.

[0103] When the first updated vibration acceleration value is greater than the preset vibration acceleration target value, the engine torque reduction rate may be increased, thereby rapidly reducing the engine torque until the first updated vibration acceleration value corresponding to the reduced engine torque is less than or equal to the preset vibration acceleration target value. When the first updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, vehicle vibration optimization is complete.

[0104] It should be understood that in order to increase the engine torque reduction rate, the generator can be used to generate electricity to offset part of the engine torque to achieve torque reduction.

[0105] In this embodiment, when the vibration optimization strategy is the engine torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, the engine torque of the vehicle is reduced to obtain an engine reduction torque; a first updated vibration acceleration value of the vehicle operating under the engine reduction torque is obtained; when the first updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed, thereby improving the efficiency of the vehicle vibration optimization.

[0106] refer to Figure 7 , Figure 7 2 is a flow chart of the fifth embodiment of the vehicle vibration optimization method of the present invention.

[0107] Based on the second and third embodiments above, step S303 of the vehicle jitter optimization method of this embodiment specifically includes:

[0108] Step S3031 ′: when the vibration optimization strategy is the motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, obtaining the motor speed change rate of the vehicle.

[0109] It should be noted that when the jitter optimization strategy is the motor torque limit strategy and the TCS detects that the current wheel slip rate is greater than or equal to the preset slip rate threshold, the MCU (Motor Control Unit) detects the vehicle's motor speed change rate. The motor speed change rate refers to the speed of change of the motor speed, usually expressed as the speed change per unit time.

[0110] Step S3032': when the motor speed change rate is greater than or equal to a preset speed change rate threshold, reducing the motor torque of the vehicle to obtain a motor down torque.

[0111] In a specific implementation, the motor speed change rate is compared with a preset speed change rate threshold. When the motor speed change rate is greater than or equal to the preset speed change rate threshold, the MCU issues a command to actively reduce the drive motor torque. The preset speed change rate threshold, the motor torque after torque reduction, and the motor torque reduction rate are calibrated according to actual operating conditions. The preset speed change rate threshold is ≥ the motor speed change rate corresponding to the vehicle slip rate threshold.

[0112] After reducing the motor torque of the vehicle, the motor down torque is obtained.

[0113] Step S3033 ′: obtaining a second updated vibration acceleration value of the vehicle running under the reduced torque of the motor.

[0114] In a specific implementation, a vibration acceleration value of the vehicle running under the reduced torque of the motor may be obtained, that is, a second updated vibration acceleration value.

[0115] Optionally, after obtaining the second updated vibration acceleration value, the method further includes:

[0116] When the second updated vibration acceleration value is greater than the preset vibration acceleration target value, obtaining a motor speed fluctuation amount;

[0117] When the motor speed fluctuation amount is greater than or equal to a preset motor speed fluctuation amount target value, obtaining a current motor anti-shake coefficient;

[0118] Adjusting the current motor anti-shake coefficient to obtain an adjusted motor anti-shake coefficient;

[0119] Obtaining a third updated vibration acceleration value of the vehicle under the adjustment of the motor anti-shake coefficient;

[0120] When the third updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed.

[0121] It should be understood that when the second updated vibration acceleration value is greater than the preset vibration acceleration target value, the motor anti-shake function needs to be executed, and the motor speed fluctuation amount is obtained. When the MCU detects that the motor speed fluctuation amount is greater than or equal to the preset motor speed fluctuation amount target value, the MCU turns on the motor anti-shake function and the motor anti-shake coefficient needs to be adjusted, and the current motor anti-shake coefficient is obtained.

[0122] In a specific implementation, the current motor anti-shake coefficient is adjusted to obtain the adjusted motor anti-shake coefficient, and the third updated vibration acceleration value of the vehicle vibration under the adjusted motor anti-shake coefficient is obtained. By comparing the third updated vibration acceleration value with the preset vibration acceleration target value, when the third updated vibration acceleration value is less than or equal to the preset vibration acceleration target value or the third updated vibration acceleration value is the smallest, the optimization is completed, and the vehicle vibration optimization is completed.

[0123] Step S3034': when the second updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed.

[0124] In a specific implementation, if the second updated vibration acceleration value is less than or equal to the preset vibration acceleration target value or the second updated vibration acceleration value is the smallest, the vehicle vibration optimization is completed.

[0125] This embodiment obtains the motor speed change rate of the vehicle when the vibration optimization strategy is the motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold; reduces the motor torque of the vehicle to obtain a motor reduction torque when the motor speed change rate is greater than or equal to the preset speed change rate threshold; obtains a second updated vibration acceleration value of the vehicle operating under the motor reduction torque; and completes the vehicle vibration optimization when the second updated vibration acceleration value is less than or equal to the preset vibration acceleration target value. The motor torque limiting strategy can be used to perform anti-shake control and optimization on the vehicle, thereby improving the anti-shake optimization effect.

[0126] refer to Figure 8 , Figure 8 2 is a flow chart of the sixth embodiment of the vehicle vibration optimization method of the present invention.

[0127] Based on the second and third embodiments above, step S303 of the vehicle jitter optimization method of this embodiment specifically includes:

[0128] Step S3031″: when the vibration optimization strategy is the engine torque limiting strategy and the motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, reducing the engine torque of the vehicle to obtain an engine down torque.

[0129] It should be noted that when the vibration optimization strategy is the engine torque limiting strategy and the motor torque limiting strategy and the TCS detects that the current wheel slip rate is greater than or equal to the preset slip rate threshold, the TCS requests the engine to quickly reduce the torque to the appropriate torque to obtain the engine torque reduction. The engine torque after torque reduction and the engine torque reduction rate are calibrated according to the actual working conditions. In order to increase the engine torque reduction rate, the generator can be used to generate electricity to offset part of the engine torque to achieve torque reduction.

[0130] Step S3032 ”: Obtain the rate of change of the motor speed of the vehicle.

[0131] At the same time, the MCU detects the motor speed change rate and compares the motor speed change rate with a preset speed change rate threshold.

[0132] Step S3033": When the motor speed change rate is greater than or equal to a preset speed change rate threshold, reducing the motor torque of the vehicle to obtain a motor down torque.

[0133] In a specific implementation, when the motor speed change rate is greater than or equal to the preset speed change rate threshold, the MCU issues an instruction to actively reduce the motor torque, thereby obtaining the motor torque reduction. The preset speed change rate threshold of the motor, the motor torque after the motor torque reduction, and the motor torque reduction rate are calibrated according to the actual working conditions, where the motor speed change rate threshold is ≥ the motor speed change rate corresponding to the vehicle slip rate threshold.

[0134] Step S3034″: Acquire a fourth updated vibration acceleration value of the vehicle operating under the engine reduced torque and the motor reduced torque.

[0135] In a specific implementation, a fourth updated vibration acceleration value of the vehicle operating under the engine reduced torque and the motor reduced torque may be obtained, thereby comparing the fourth updated vibration acceleration value with a preset vibration acceleration target value.

[0136] Step S3035": When the fourth updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed.

[0137] It should be understood that if the fourth updated vibration acceleration value is less than or equal to the preset vibration acceleration target value or the fourth updated vibration acceleration value is the minimum, the optimization is completed. If the fourth updated vibration acceleration value is greater than the preset vibration acceleration target value, the motor anti-shake strategy is executed by obtaining the motor speed fluctuation amount. When the MCU detects that the motor speed fluctuation amount is greater than or equal to the preset motor speed fluctuation amount target value, the MCU enables the motor anti-shake function and needs to adjust the motor anti-shake coefficient, thereby obtaining the current motor anti-shake coefficient.

[0138] In the specific implementation, the current motor anti-shake coefficient is adjusted to obtain the adjusted motor anti-shake coefficient, and the vibration acceleration value of the vehicle shaking under the adjusted motor anti-shake coefficient is obtained. By comparing the vibration acceleration value of the vehicle shaking under the adjusted motor anti-shake coefficient with the preset vibration acceleration target value, if the vibration acceleration value of the vehicle shaking under the adjusted motor anti-shake coefficient is less than or equal to the preset vibration acceleration target value or the vibration acceleration value of the vehicle shaking under the adjusted motor anti-shake coefficient is the smallest, the optimization is completed, and the vehicle shaking optimization is completed.

[0139] like Figure 9 As shown, Figure 9The figure is a flow chart of the optimization strategies corresponding to different power drive modes. Step S2 can be specifically divided into steps S21 to S23. Step S21 is the optimization strategy corresponding to the engine direct drive mode. By executing active engine torque limiting, that is, the wheel slip rate is greater than or equal to the preset slip rate threshold, the TCS requests the engine to quickly reduce the torque to an appropriate torque. The engine torque and torque reduction rate after torque reduction are calibrated according to the actual working conditions until the vibration acceleration value corresponding to the torque after the engine is reduced is less than or equal to the preset vibration acceleration target value. At this time, the optimization is completed. If step S22 is a series power generation mode or a pure electric mode, the motor active torque limitation is executed, that is, when the wheel slip rate is greater than or equal to the preset slip rate threshold, and the motor speed change rate is greater than or equal to the preset speed change rate threshold, the MCU sends a command to actively reduce the motor output torque. The preset speed change rate threshold, the motor torque after the motor torque reduction, and the motor torque reduction rate are calibrated according to the actual working conditions. If the vibration acceleration value under the torque after the motor is reduced is less than or equal to the preset vibration acceleration target value, the optimization is completed. If the vibration acceleration value under the torque after the motor is reduced is greater than the preset vibration acceleration target value, the motor anti-shake strategy is executed, that is, when the motor speed fluctuation amount is greater than or equal to the preset motor speed fluctuation amount target value, the MCU turns on the motor anti-shake function and adjusts the motor anti-shake coefficient until the vibration acceleration value is less than or equal to the preset vibration acceleration target value, and the optimization is completed. Step S23 is a parallel mode, which executes active torque limiting of the engine and the drive motor, that is, when the wheel slip rate is greater than or equal to the preset slip rate threshold, the TCS requests the engine to quickly reduce the torque to an appropriate torque, and the engine torque and torque reduction rate after torque reduction are calibrated according to the actual working conditions; when the motor speed change rate is greater than or equal to the preset speed change rate threshold, the MCU actively reduces the motor output torque, and the preset speed change rate threshold, the motor torque after the motor torque reduction and the motor torque reduction rate are calibrated according to the actual working conditions, until the torque after the engine is reduced and the vibration acceleration value corresponding to the torque after the motor is reduced are less than or equal to the preset vibration acceleration target value, then the optimization is completed; if the torque after the engine is reduced and the vibration acceleration value corresponding to the torque after the motor is reduced are greater than the preset vibration acceleration target value, the motor anti-shake strategy is executed, that is, when the motor speed fluctuation amount is greater than or equal to the preset motor speed fluctuation amount target value, the MCU turns on the motor anti-shake function and adjusts the motor anti-shake coefficient until the vibration acceleration value under the adjusted motor anti-shake coefficient is less than or equal to the preset vibration acceleration target value, then the optimization is completed.

[0140] like Figure 10 As shown, Figure 10 This is a schematic diagram of the combined optimization effect of the motor's active torque limiting and anti-shake, and a comparison of the effects before and after optimization. It can solve the vibration problem caused by tire slip and adhesion switching in hybrid vehicles.

[0141] In this embodiment, when the vibration optimization strategy is the engine torque limiting strategy and the motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, the engine torque of the vehicle is reduced to obtain the engine reduced torque; the motor speed change rate of the vehicle is obtained; when the motor speed change rate is greater than or equal to the preset speed change rate threshold, the motor torque of the vehicle is reduced to obtain the motor reduced torque; the fourth updated vibration acceleration value of the vehicle operating under the engine reduced torque and the motor reduced torque is obtained; when the fourth updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed, and the vehicle can be simultaneously anti-shake controlled and optimized through the engine torque limiting strategy and the motor torque limiting strategy, thereby improving the anti-shake optimization effect.

[0142] Reference Figure 11 , Figure 11 This is a structural block diagram of the first embodiment of the vehicle vibration optimization device of the present invention.

[0143] like Figure 11 As shown, the vehicle vibration optimization device proposed in the embodiment of the present invention includes:

[0144] The acquisition module 10 is used to acquire the vibration acceleration value and vibration frequency of the vehicle when the vehicle performs tire slip adhesion switching.

[0145] The acquisition module 10 is further configured to acquire the power drive mode of the vehicle when the vibration acceleration value is greater than a preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency.

[0146] The optimization module 20 is configured to optimize the vibration of the vehicle according to the power driving mode.

[0147] This embodiment obtains a vibration acceleration value and a vibration frequency of the vehicle when the vehicle performs tire slip-adhesion switching; obtains a power drive mode of the vehicle when the vibration acceleration value is greater than a preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency; and performs vibration optimization on the vehicle according to the power drive mode. This not only solves the vibration problem caused by tire slip-adhesion switching of hybrid vehicles, but also has the advantage of high optimization efficiency, greatly shortens the research and development cycle, and reduces development costs.

[0148] In one embodiment, the optimization module 20 is further used to determine a corresponding jitter optimization strategy according to the power drive mode; obtain a current wheel slip rate of the vehicle; and perform jitter optimization on the vehicle using the jitter optimization strategy and the current wheel slip rate.

[0149] In one embodiment, the optimization module 20 is further used to determine that the vehicle's vibration optimization strategy is an engine torque limiting strategy when the power drive mode is an engine direct drive mode; to determine that the vehicle's vibration optimization strategy is an electric motor torque limiting strategy when the power drive mode is a series mode or a pure electric mode; and to determine that the vehicle's vibration optimization strategy is an engine torque limiting strategy and an electric motor torque limiting strategy when the power drive mode is a parallel mode.

[0150] In one embodiment, the optimization module 20 is further used to reduce the engine torque of the vehicle to obtain the engine reduction torque when the vibration optimization strategy is the engine torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold; obtain the first updated vibration acceleration value of the vehicle running under the engine reduction torque; and complete the vehicle vibration optimization when the first updated vibration acceleration value is less than or equal to the preset vibration acceleration target value.

[0151] In one embodiment, the optimization module 20 is further used to obtain the motor speed change rate of the vehicle when the jitter optimization strategy is the motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold; reduce the motor torque of the vehicle to obtain a motor reduction torque when the motor speed change rate is greater than or equal to the preset speed change rate threshold; obtain a second updated vibration acceleration value of the vehicle operating under the motor reduction torque; and complete the vehicle jitter optimization when the second updated vibration acceleration value is less than or equal to the preset vibration acceleration target value.

[0152] In one embodiment, the optimization module 20 is further used to obtain the motor speed fluctuation when the second updated vibration acceleration value is greater than the preset vibration acceleration target value; obtain the current motor anti-shake coefficient when the motor speed fluctuation is greater than or equal to the preset motor speed fluctuation target value; adjust the current motor anti-shake coefficient to obtain the adjusted motor anti-shake coefficient; obtain the third updated vibration acceleration value of the vehicle under the adjusted motor anti-shake coefficient; and complete the vehicle vibration optimization when the third updated vibration acceleration value is less than or equal to the preset vibration acceleration target value.

[0153] In one embodiment, the optimization module 20 is further used to reduce the engine torque of the vehicle to obtain the engine reduction torque when the vibration optimization strategy is the engine torque limiting strategy and the motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold; obtain the motor speed change rate of the vehicle; reduce the motor torque of the vehicle to obtain the motor reduction torque when the motor speed change rate is greater than or equal to the preset speed change rate threshold; obtain the fourth updated vibration acceleration value of the vehicle operating under the engine reduction torque and the motor reduction torque; and complete the vehicle vibration optimization when the fourth updated vibration acceleration value is less than or equal to the preset vibration acceleration target value.

[0154] In addition, an embodiment of the present invention further proposes a storage medium, on which a vehicle jitter optimization program is stored. When the vehicle jitter optimization program is executed by a processor, the steps of the vehicle jitter optimization method described above are implemented.

[0155] 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.

[0156] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any limitation on this.

[0157] 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 it according to actual needs to achieve the purpose of the embodiment scheme, and no limitation is made here.

[0158] In addition, for technical details not fully described in this embodiment, please refer to the vehicle vibration optimization method provided in any embodiment of the present invention, and will not be repeated here.

[0159] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0160] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0161] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this 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. The computer software product 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 enabling 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.

[0162] 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 description 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 vehicle jitter optimization method, characterized in that: The vehicle jitter optimization method comprises: When the vehicle performs tire slip adhesion switching, obtaining a vibration acceleration value and a vibration frequency of the vehicle; When the vibration acceleration value is greater than a preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency, acquiring a power drive mode of the vehicle; When the power drive mode is an engine direct drive mode, determining that the vibration optimization strategy of the vehicle is an engine torque limiting strategy; When the power driving mode is a series mode or a pure electric mode, determining that the vibration optimization strategy of the vehicle is a motor torque limiting strategy; When the power drive mode is the parallel mode, determining the vibration optimization strategy of the vehicle to be an engine torque limiting strategy and a motor torque limiting strategy; Obtaining a current wheel slip rate of the vehicle; Performing jitter optimization on the vehicle by using the jitter optimization strategy and the current wheel slip rate; The performing jitter optimization on the vehicle by using the jitter optimization strategy and the current wheel slip rate includes: When the jitter optimization strategy is an engine torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, reducing the engine torque of the vehicle to obtain an engine reduction torque; acquiring a first updated vibration acceleration value of the vehicle operating under the engine reduced torque; When the first updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, completing the vehicle vibration optimization; The performing jitter optimization on the vehicle by using the jitter optimization strategy and the current wheel slip rate includes: When the jitter optimization strategy is a motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, obtaining a motor speed change rate of the vehicle; When the motor speed change rate is greater than or equal to a preset speed change rate threshold, reducing the motor torque of the vehicle to obtain a motor reduction torque; acquiring a second updated vibration acceleration value of the vehicle operating under the reduced torque of the motor; When the second updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, completing the vehicle vibration optimization; The performing jitter optimization on the vehicle by using the jitter optimization strategy and the current wheel slip rate includes: When the jitter optimization strategy is an engine torque limiting strategy and a motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold, reducing the engine torque of the vehicle to obtain an engine reduction torque; Obtaining a rate of change of motor speed of the vehicle; When the motor speed change rate is greater than or equal to a preset speed change rate threshold, reducing the motor torque of the vehicle to obtain a motor reduction torque; acquiring a fourth updated vibration acceleration value of the vehicle operating under the engine reduced torque and the motor reduced torque; When the fourth updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed.

2. The vehicle vibration optimization method according to claim 1, characterized in that: After obtaining the second updated vibration acceleration value of the vehicle running under the reduced torque of the motor, the method further includes: When the second updated vibration acceleration value is greater than the preset vibration acceleration target value, obtaining a motor speed fluctuation amount; When the motor speed fluctuation amount is greater than or equal to a preset motor speed fluctuation amount target value, obtaining a current motor anti-shake coefficient; Adjusting the current motor anti-shake coefficient to obtain an adjusted motor anti-shake coefficient; Acquire a third updated vibration acceleration value of the vehicle under the adjustment of the motor anti-shake coefficient; When the third updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, the vehicle vibration optimization is completed.

3. A vehicle vibration optimization device, characterized in that: The vehicle vibration optimization device comprises: An acquisition module, used for acquiring a vibration acceleration value and a vibration frequency of the vehicle when the vehicle performs tire slip adhesion switching; The acquisition module is further used to acquire the power drive mode of the vehicle when the vibration acceleration value is greater than a preset vibration acceleration target value and the vibration frequency is equal to the wheel speed fluctuation frequency; The optimization module is used to determine that the jitter optimization strategy of the vehicle is the engine torque limiting strategy when the power drive mode is the engine direct drive mode; determine that the jitter optimization strategy of the vehicle is the motor torque limiting strategy when the power drive mode is the series mode or the pure electric mode; determine that the jitter optimization strategy of the vehicle is the engine torque limiting strategy and the motor torque limiting strategy when the power drive mode is the parallel mode; obtain the current wheel slip rate of the vehicle; and perform jitter optimization on the vehicle through the jitter optimization strategy and the current wheel slip rate; The optimization module is further configured to reduce the engine torque of the vehicle to obtain the engine reduction torque when the jitter optimization strategy is the engine torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold; obtain a first updated vibration acceleration value of the vehicle running under the engine reduction torque; and complete the jitter optimization of the vehicle when the first updated vibration acceleration value is less than or equal to the preset vibration acceleration target value; The optimization module is further used to obtain the motor speed change rate of the vehicle when the jitter optimization strategy is the motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold; reduce the motor torque of the vehicle to obtain the motor reduction torque when the motor speed change rate is greater than or equal to the preset speed change rate threshold; obtain the second updated vibration acceleration value of the vehicle running under the motor reduction torque; and complete the vehicle jitter optimization when the second updated vibration acceleration value is less than or equal to the preset vibration acceleration target value; The optimization module is also used to reduce the engine torque of the vehicle to obtain the engine reduced torque when the jitter optimization strategy is the engine torque limiting strategy and the motor torque limiting strategy and the current wheel slip rate is greater than or equal to a preset slip rate threshold; obtain the motor speed change rate of the vehicle; when the motor speed change rate is greater than or equal to a preset speed change rate threshold, reduce the motor torque of the vehicle to obtain the motor reduced torque; obtain the fourth updated vibration acceleration value of the vehicle operating under the engine reduced torque and the motor reduced torque; when the fourth updated vibration acceleration value is less than or equal to the preset vibration acceleration target value, complete the vehicle jitter optimization.

4. A vehicle vibration optimization device, characterized in that: The vehicle jitter optimization device includes: a memory, a processor, and a vehicle jitter optimization program stored in the memory and executable on the processor, wherein the vehicle jitter optimization program is configured to implement the vehicle jitter optimization method as described in claim 1 or 2.

5. A storage medium, characterized in that: The storage medium stores a vehicle jitter optimization program, and when the vehicle jitter optimization program is executed by the processor, the vehicle jitter optimization method as claimed in claim 1 or 2 is implemented.

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