Vehicle dithering suppression method, device, apparatus and storage medium

Abstract

This invention relates to the field of intelligent vehicle technology, providing a vehicle vibration suppression method, device, equipment, and storage medium. The method includes: acquiring the rotational speed of a first motor at least once in the vehicle; for the rotational speed of the first motor at any one of the at least one moments, determining a first value of a first target parameter corresponding to the rotational speed of the first motor at that moment based on the rotational speed of the first motor at that moment and a preset first mapping table; the first mapping table includes a second motor rotational speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor rotational speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter; determining a first compensation torque corresponding to that moment based on the value of the first target parameter, a preset number of inertial elements included in the dynamic damping module, and the rotational speed of the first motor at that moment; and performing torque compensation on the vehicle based on the original requested torque from the vehicle controller and the first compensation torque corresponding to that moment. In this invention, based on the rotational speed of the first motor at least once in the vehicle, the first value of the first target parameter is determined using a preset first mapping table. Then, the first value of the first target parameter and the dynamic damping module perform real-time torque compensation for the rotational speed of the first motor at different moments, resulting in a smaller compensation error and improved accuracy in suppressing vehicle vibration.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle technology, and in particular to a vehicle vibration suppression method, device, equipment, and storage medium. Background Technology

[0002] The transmission system of an electric vehicle is a rigid system consisting of a motor, gearbox, driveshaft, and rear axle, rigidly connected together. It lacks a damping module, resulting in an underdamped transmission. When external disturbances or excitations occur, the system is prone to vibration and shaking. Torque compensation is an effective means of suppressing vehicle vibration and plays a crucial role in vehicle drivability and fuel economy. A good torque suppression strategy can effectively protect the vehicle's transmission system, reduce rigid impacts, protect hardware, and lower energy consumption.

[0003] In existing technologies, the first step is to obtain the fluctuation frequency of the motor speed. A filtering algorithm is then used to filter and reduce high-frequency speed disturbances to obtain a suitable speed fluctuation error. Finally, a compensation speed is calculated based on the motor speed fluctuation error using a lookup table to suppress vehicle vibration. However, existing technologies compensate based on a pre-set fluctuation deviation, resulting in low compensation accuracy. Summary of the Invention

[0004] This invention provides a vehicle vibration suppression method, apparatus, device, and storage medium to address the shortcomings of low compensation accuracy in the prior art, thereby reducing torque compensation error in suppressing vehicle vibration and improving compensation accuracy.

[0005] In a first aspect, the present invention provides a vehicle vibration suppression method, the method comprising:

[0006] Obtain the first motor speed of the vehicle at at least one moment;

[0007] For the first motor speed at any one of the at least one moments, a first value of a first target parameter corresponding to the first motor speed at that moment is determined according to the first motor speed at that moment and a preset first mapping table; the first mapping table includes a second motor speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter;

[0008] Based on the value of the first target parameter, the preset number of inertial elements included in the dynamic damping module, and the first motor speed at the specified moment, the first compensation torque corresponding to the specified moment is determined.

[0009] Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the first compensation torque corresponding to the stated moment.

[0010] Optionally, determining the first compensation torque based on the value of the first target parameter, the preset number of inertial elements included in the dynamic damping module, and the first motor speed at the specified moment includes:

[0011] Based on the value of the first target parameter and the preset number of inertial elements contained in the dynamic damping module, the element transfer function corresponding to the first motor speed at the specified moment is determined.

[0012] The first compensation torque is determined based on the transfer function of the aforementioned component and the first motor speed at the aforementioned moment.

[0013] Optionally, determining the first compensation torque based on the transfer function of the link and the first motor speed at the time includes:

[0014] Multiply the first motor speed at the specified moment by the transfer function of the circuit to obtain the first compensation torque corresponding to the first motor speed at the specified moment.

[0015] Optionally, the method further includes:

[0016] Based on the third motor speed at the stated time, the original requested torque of the vehicle controller, and a preset second mapping table, a first value of the second target parameter corresponding to the third motor speed at the stated time is determined. The second mapping table includes the fourth motor speed, the second value of the second target parameter, the gearbox gear, the mapping relationship between the fourth motor speed and the second value of the second target parameter, and the mapping relationship between the gearbox gear and the second value of the second target parameter. The third motor speed at the stated time is obtained by compensating the first motor speed at the stated time based on the first compensation torque. The second target parameter is used to characterize the proportional coefficient of the anti-shake compensation.

[0017] The second compensation torque is obtained by multiplying the speed of the third motor at the specified time with the first value of the second target parameter.

[0018] Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the second compensation torque corresponding to the stated moment.

[0019] Optionally, before determining the first value of the first target parameter corresponding to the first motor speed at any of the at least one time moments, based on the first motor speed at that time moment and a preset first mapping table, the method further includes:

[0020] For any given moment, determine whether torque compensation is required based on the first motor speed, gearbox gear position, and preset conditions at that moment.

[0021] Optionally, the method further includes:

[0022] For any given moment, the signal of the first motor speed at that moment is filtered to obtain the filtered signal of the first motor speed at that moment.

[0023] Secondly, the present invention also provides a vehicle vibration suppression device, the device comprising:

[0024] The acquisition module is used to acquire the first motor speed of the vehicle at at least one moment;

[0025] The shake suppression module is used to determine, for any one of the first motor speeds at the at least one time moment, a first value of a first target parameter corresponding to the first motor speed at that time moment, based on the first motor speed at that time moment and a preset first mapping table; the first mapping table includes a second motor speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter;

[0026] Based on the value of the first target parameter, the preset number of inertial elements included in the dynamic damping module, and the first motor speed at the specified moment, the first compensation torque corresponding to the specified moment is determined.

[0027] Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the first compensation torque corresponding to the stated moment.

[0028] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the vehicle vibration suppression methods described above.

[0029] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle vibration suppression method as described above.

[0030] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the vehicle vibration suppression methods described above.

[0031] The vehicle vibration suppression method, apparatus, device, and storage medium provided by the present invention acquire the first motor speed of the vehicle at at least one moment; then, for the first motor speed at any moment within the at least one moment, determine a first value of a first target parameter corresponding to the first motor speed at that moment based on the first motor speed at that moment and a preset first mapping table, wherein the first mapping table includes a second motor speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter; determine a first compensation torque corresponding to that moment based on the value of the first target parameter, a preset number of inertial elements included in the dynamic damping module, and the first motor speed at that moment; and then, perform torque compensation on the vehicle based on the original requested torque of the vehicle controller and the first compensation torque corresponding to that moment.

[0032] In this invention, the first value of the first target parameter is determined by using a preset first mapping table based on the first motor speed at at least one moment. Then, the first value of the first target parameter and the dynamic damping module are used to perform real-time torque compensation for the first motor speed at different moments. The real-time torque compensation based on the method provided in this embodiment has a small compensation error, which improves the torque compensation accuracy for suppressing vehicle vibration. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is one of the flowcharts of the vehicle vibration suppression method provided by the present invention;

[0035] Figure 2 This is the second flowchart of the vehicle vibration suppression method provided by the present invention;

[0036] Figure 3 This is the third flowchart of the vehicle vibration suppression method provided by the present invention;

[0037] Figure 4 This is a schematic diagram of the vehicle vibration suppression device provided by the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0040] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, a first node can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0041] To facilitate a clearer understanding of the various embodiments provided by this invention, some relevant background information is introduced below.

[0042] Vehicle Control Unit (VCU): As the central control unit of an electric vehicle, the vehicle control unit is the core electronic control unit that realizes the vehicle control decision. It is responsible for receiving and processing information from various subsystems and coordinating the work between various subsystems to ensure the normal operation of the entire electric vehicle.

[0043] Motor Control Unit (MCU): This is a core power electronic unit unique to new energy vehicles. It receives vehicle driving control commands from the Vehicle Control Unit (VCU) and controls the electric motor to output specified torque and speed, driving the vehicle. It converts the DC power from the battery into the required high-voltage AC power to drive the motor and output mechanical energy. Simultaneously, the MCU has fault diagnosis, protection, and storage functions for the electronic control system.

[0044] CAN bus: As one of the most important communication interfaces in electric vehicles, the vehicle control unit (VCU) communicates with various subsystems of the electric vehicle through the CAN bus to achieve real-time monitoring and control.

[0045] An inertial element is a combination of an energy storage element (such as an inductor, capacitor, or spring) and an energy dissipation element (such as a resistor or damper).

[0046] The following is combined with Figures 1-5The present invention describes a vehicle vibration suppression method, apparatus, device, and storage medium.

[0047] Figure 1 This is one of the flowcharts illustrating the vehicle vibration suppression method provided by the present invention, such as... Figure 1 As shown, the method includes:

[0048] Step 101: Obtain the first motor speed of the vehicle at at least one moment;

[0049] Specifically, in this embodiment, the executing entity is an electronic device, such as a computer, mobile phone, tablet computer, etc., used to perform torque compensation to suppress vehicle vibration.

[0050] First, the vehicle's motor speed at at least one moment is obtained, for example, the motor speed is collected in real time, and then real-time torque compensation is performed based on the motor speed.

[0051] It is understandable that when the motor speed is stable, the compensation torque is 0 Nm, meaning that no torque compensation is required.

[0052] Step 102: For the first motor speed at any time within at least one time, determine the first value of the first target parameter corresponding to the first motor speed at that time based on the first motor speed at that time and a preset first mapping table; the first mapping table includes the second motor speed, the second value of the first target parameter, the gearbox gear, the mapping relationship between the second motor speed and the second value of the first target parameter, and the mapping relationship between the gearbox gear and the second value of the first target parameter;

[0053] Specifically, when it is determined that the motor speed fluctuates, torque compensation can be performed on the motor based on the first motor speed at each moment.

[0054] First, a first mapping table can be preset. The first mapping table contains the second motor speed, the second value of the first target parameter, the gearbox gear, the mapping relationship between the second motor speed and the second value of the first target parameter, and the mapping relationship between the gearbox gear and the second value of the first target parameter.

[0055] For example, based on the time correlation between motor speed and torque fluctuations, a two-dimensional MAP table of motor speed and gearbox gear position is pre-established according to the motor fluctuation frequency. This two-dimensional MAP table stores the correspondence between gearbox gear position, second motor speed, and first target parameter T. in The coefficients are calibrated empirically based on the preset number of first-order inertial elements connected in series in the dynamic damping module. A combination of an energy storage element (such as an inductor, capacitor, and spring) and an energy dissipation element (such as a resistive damper) can constitute an inertial element.

[0056] Then, for any given moment, based on the acquired first motor speed at that moment, a match is made in the first mapping table to determine the first-order inertial integral T corresponding to the first motor speed at that moment. in The coefficient is the second value of the first target parameter corresponding to that moment.

[0057] Step 103: Determine the first compensation torque corresponding to the time based on the value of the first target parameter, the preset number of inertial elements contained in the dynamic damping module, and the first motor speed at the time.

[0058] Specifically, after determining the second value of the first target parameter corresponding to each moment, for any given moment, the first compensation torque corresponding to that moment can be determined based on the value of the first target parameter, the preset number of inertial elements contained in the dynamic damping module, and the first motor speed at that moment. For example, the compensation torque, i.e., the first compensation torque, is obtained by multiplying the first motor speed at each moment with the link transfer function corresponding to the preset number of inertial elements contained in the dynamic damping module. The link transfer function corresponding to the preset number of inertial elements is obtained based on the value of the first target parameter and the number of inertial elements.

[0059] By analogy, the first compensation torque corresponding to each moment can be calculated sequentially.

[0060] Step 104: Perform torque compensation on the vehicle based on the original requested torque from the vehicle controller and the first compensation torque corresponding to the time.

[0061] Specifically, after obtaining the first compensation torque corresponding to each moment, the vehicle can be compensated for torque in real time based on the original requested torque of the vehicle controller and the first compensation torque corresponding to each moment, thereby suppressing vehicle vibration.

[0062] For example, the first compensation torque corresponding to that moment can be superimposed on the original requested torque of the vehicle controller, or the original requested torque of the vehicle controller can be subtracted from the first compensation torque to obtain the target requested torque. It can be understood that the target requested torque is the final torque (final motor requested torque) requested by the vehicle controller from the motor controller MCU. Based on this target requested torque (final motor requested torque), torque compensation is performed to suppress vehicle vibration. Specifically, the requested torque issued by the VCU is sent to the motor controller MCU via a CAN signal. The motor controller, based on this torque request, looks up a table of torque-to-current (pre-calibrated) to determine the corresponding current for each torque value, and outputs this value to the motor, allowing the motor to provide torque to the reducer, which then transmits it to the wheel ends. The amount of torque output by the motor controller (estimated by the MCU) is sent to the VCU for control using a specific strategy. It is understood that this embodiment does not limit the process by which the motor controller performs strategy control based on this torque request (such as the target requested torque).

[0063] In the method provided in this embodiment, the first motor speed of the vehicle at least at one time is obtained; then, for the first motor speed at any time within the at least one time, a first value of a first target parameter corresponding to the first motor speed at that time is determined according to the first motor speed at that time and a preset first mapping table, wherein the first mapping table includes a second motor speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter; based on the value of the first target parameter, a preset number of inertial elements included in the dynamic damping module, and the first motor speed at that time, a first compensation torque corresponding to that time is determined; furthermore, torque compensation is performed on the vehicle according to the original requested torque of the vehicle controller and the first compensation torque corresponding to that time.

[0064] The method provided in this embodiment is based on the first motor speed at at least one moment. A first value of the first target parameter is determined using a preset first mapping table. Then, the first value of the first target parameter and the dynamic damping module perform real-time torque compensation on the first motor speed at different moments. The real-time torque compensation based on the method provided in this embodiment has a small compensation error, which improves the torque compensation accuracy for suppressing vehicle vibration.

[0065] Optionally, the first compensation torque is determined based on the value of the first target parameter, the preset number of inertial elements included in the dynamic damping module, and the first motor speed at a given time, including:

[0066] Based on the value of the first target parameter and the preset number of inertial elements contained in the dynamic damping module, determine the element transfer function corresponding to the first motor speed at a given time.

[0067] The first compensation torque is determined based on the link transfer function and the first motor speed at the given time.

[0068] Specifically, in some embodiments, step 103 can be implemented in the following manner:

[0069] First, based on the value of the first target parameter and the preset number of inertial links included in the dynamic damping module, the link transfer function corresponding to the first motor speed at a given time is determined. The preset number of inertial links included in the dynamic damping module is obtained by combining empirical values ​​with the underdamped state of the vehicle transmission system. The dynamic damping module is constructed by connecting the preset number of inertial links in series. The first target parameter is, for example, T corresponding to the dynamic damping module. in parameter.

[0070] After determining the T corresponding to the dynamic damping module in After the parameters, it can be based on Tin Using parameters and a preset number of inertial elements, the transfer function corresponding to the rotational speed of the first motor at the specified moment is determined. An example of the process for determining the transfer function is as follows:

[0071]

[0072] Where f represents the stage transfer function, T in T represents the dynamic damping module. in The parameter s represents the Laplacian operator, which can be preset according to actual needs.

[0073] Furthermore, after determining the link transfer function of the dynamic damping module, the first compensation torque can be determined based on the link transfer function and the first motor speed at each time point. For example, for the first motor speed at any given time, the first compensation torque is obtained by multiplying the first motor speed at that time by the link function.

[0074] In the method provided in this embodiment, firstly, based on the value of the first target parameter and the preset number of inertial elements included in the dynamic damping module, the element transfer function corresponding to the first motor speed at a given time is determined; then, based on the element transfer function and the first motor speed at that time, the first compensation torque is determined. This embodiment considers the time correlation between motor speed and torque jitter during torque compensation, resulting in high compensation accuracy and a high effect on suppressing vehicle vibration.

[0075] Optionally, the first compensation torque is determined based on the link transfer function and the first motor speed at a given time, including:

[0076] Multiply the first motor speed at time t by the link transfer function to obtain the first compensation torque corresponding to the first motor speed at time t.

[0077] Specifically, in some embodiments, the process of determining the first compensation torque based on the link transfer function and the first motor speed at a given time is exemplified as follows:

[0078] Multiply the first motor speed at each time step by the component transfer function to obtain the first compensation torque corresponding to the first motor speed at each time step; for example, the first compensation torque can be calculated using the following formula:

[0079]

[0080] Where B1 represents the first compensation torque, in Newton-meters (N*m), and Z1 represents the first motor speed at that moment, in revolutions per minute (rpm). Let T represent the element transfer function corresponding to n first-order inertial elements, where T inThis represents the first target parameter corresponding to the dynamic damping module consisting of n first-order inertial elements, and s represents the Laplace operator, which can be preset according to actual needs.

[0081] In the method provided in this embodiment, the first motor speed at each time moment is multiplied by the link transfer function of the first inertial link to obtain the first compensation torque corresponding to the first motor speed at each time moment. The time correlation between motor speed and torque jitter is considered in the torque compensation process, resulting in high compensation accuracy and high effect of suppressing vehicle jitter.

[0082] Optionally, the method further includes:

[0083] Based on the third motor speed at time 1, the original requested torque of the vehicle controller, and a preset second mapping table, the first value of the second target parameter corresponding to the third motor speed at time 1 is determined. The second mapping table includes the fourth motor speed, the second value of the second target parameter, the gearbox gear, the mapping relationship between the fourth motor speed and the second value of the second target parameter, and the mapping relationship between the gearbox gear and the second value of the second target parameter. The third motor speed at time 1 is obtained by compensating the first motor speed at time 1 based on the first compensation torque. The second target parameter is used to characterize the proportional coefficient of the anti-shake compensation.

[0084] The second compensation torque is obtained by multiplying the speed of the third motor at time t with the first value of the second target parameter.

[0085] Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the corresponding second compensation torque at that moment.

[0086] Specifically, in some embodiments, the method further includes: after obtaining the first compensation torque, further correcting the first compensation torque according to a first value of a second target parameter, such as the image stabilization compensation ratio coefficient kpn, to obtain a second compensation torque. For example, the process of correcting the first compensation torque to obtain the second compensation torque is as follows:

[0087] First, for any given moment, based on the third motor speed at that moment, the original requested torque of the vehicle controller, and a preset second mapping table, the first value of the second target parameter corresponding to the third motor speed at that moment is determined. The third motor speed at that moment is obtained by compensating the first motor speed at that moment based on the first compensation torque. The second mapping table includes the fourth motor speed, the second value of the second target parameter, the gearbox gear, the mapping relationship between the fourth motor speed and the second value of the second target parameter, and the mapping relationship between the gearbox gear and the second value of the second target parameter, such as a MAP table of motor speed, gearbox gear, and proportional coefficient. The second target parameter is used to characterize the proportional coefficient of the anti-shake compensation. For example, based on the third motor speed at that moment and the original requested torque of the vehicle controller, matching is performed in the preset second mapping table to obtain the first value of the corresponding second target parameter, such as the anti-shake compensation proportional coefficient Kpn.

[0088] Furthermore, after determining the first value of the second target parameter corresponding to the speed of the third motor, the speed of the third motor at a given time is multiplied by the first value of the second target parameter to obtain the second compensation torque. That is, the first compensation torque is corrected based on the second target parameter to obtain the final compensation torque.

[0089] Furthermore, after obtaining the corrected compensation torque, i.e., the second compensation torque, torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the corresponding second compensation torque at that moment. For example, the second compensation torque at that moment is superimposed on the original requested torque from the vehicle controller, or the original requested torque from the vehicle controller is subtracted from the second compensation torque to obtain the target requested torque. It can be understood that the target requested torque is the final torque (final motor requested torque) requested by the vehicle controller from the motor controller MCU. Torque compensation is performed based on this target requested torque (final motor requested torque) to suppress vehicle vibration. Specifically, the requested torque from the VCU is sent to the motor controller MCU via a CAN signal. The motor controller, based on this torque request, looks up a table of torque-to-current (pre-calibrated) to determine the corresponding current for each torque value, and outputs this value to the motor, allowing the motor to provide torque to the reducer, which then transmits it to the wheel ends. The motor controller outputs a torque value (estimated by the MCU) and sends it to the VCU for strategic control. It is understood that this embodiment does not limit the process by which the motor controller performs strategic control based on this torque request (such as the target requested torque).

[0090] In the method provided in this embodiment, based on the third motor speed at a given time, the original requested torque of the vehicle controller, and a preset second mapping table, a first value of the second target parameter corresponding to the third motor speed at that time is determined. The second mapping table includes the fourth motor speed, the second value of the second target parameter, the gearbox gear, the mapping relationship between the fourth motor speed and the second value of the second target parameter, and the mapping relationship between the gearbox gear and the second value of the second target parameter. The third motor speed at each time is obtained by compensating the first motor speed at each time based on the first compensation torque. The second target parameter is used to characterize the anti-shake compensation proportional coefficient. Then, the third motor speed at each time is multiplied by the first value of the second target parameter to obtain the second compensation torque. Torque compensation is performed on the vehicle based on the original requested torque of the vehicle controller and the second compensation torque corresponding to the time. This embodiment fully considers the dynamic correlation between motor speed and torque jitter, obtains the anti-shake compensation proportional coefficient Kpn, and establishes a MAP table of motor speed, gearbox gear, and proportional coefficient to correct the first compensation torque, thus obtaining the second compensation torque, which is the final torque compensation, achieving high compensation accuracy.

[0091] Optionally, before determining the first value of the first target parameter corresponding to the first motor speed at any given time based on the first motor speed at that time and a preset first mapping table, the method further includes:

[0092] For any given moment, determine whether torque compensation is needed based on the first motor speed, gearbox gear position, and preset conditions.

[0093] Specifically, in some embodiments, before step 102, the method further includes: determining whether torque compensation is needed, thereby avoiding false triggering of compensation. For example, for any given moment, determining whether torque compensation is needed based on the first motor speed, gearbox gear position, and preset conditions at that moment, wherein the preset conditions are, for example, the target motor speed corresponding to a first motor speed lower than a preset vehicle speed (e.g., 3 km / h) at that moment, or the vehicle being in a gear shifting speed adjustment state.

[0094] It should be noted that, under the above preset conditions, the anti-shake algorithm may not be activated, that is, there is no compensation torque. The motor controller MCU controls the vehicle system according to the original torque request issued by the vehicle controller VCU. Correspondingly, if the above preset conditions are not met, the first value of the first target parameter corresponding to the first motor speed at each time is determined according to the first motor speed at each time and the preset first mapping table, so as to perform subsequent torque compensation to achieve the effect of suppressing vehicle vibration.

[0095] For example, Figure 2 This is the second flowchart illustrating the vehicle vibration suppression method provided by the present invention, as shown below. Figure 2 As shown, the method includes:

[0096] Step 201: Determine whether the vehicle speed is less than C km / h or whether the vehicle is in a speed adjustment state;

[0097] If the result of step 201 is negative, then proceed to step 202.

[0098] Step 202: Activate the active anti-shake algorithm;

[0099] Step 203: Compensate the requested torque of the vehicle controller according to the real-time status of the motor;

[0100] If the result of step 201 is yes, then proceed to step 204;

[0101] Step 204: No torque compensation is performed, that is, motor control is performed based on the original requested torque of the vehicle controller.

[0102] In the method provided in this embodiment, when the vehicle does not meet the preset conditions, such as being in the gear shifting and speed adjustment stage or the vehicle speed is lower than the preset vehicle speed, the subsequent torque compensation method is not activated, so that torque compensation can be performed in a targeted manner.

[0103] Optionally, the method further includes:

[0104] For any given moment, the signal of the first motor speed at that moment is filtered to obtain the filtered signal of the first motor speed at that moment.

[0105] Specifically, in some embodiments, the method further includes:

[0106] For any given moment, the signal of the first motor speed at that moment is filtered to obtain the filtered signal of the first motor speed at that moment. In this case, after the motor speed signal is acquired in real time, the acquired motor speed signal can be filtered, for example, by using a low-pass filter to filter the high-frequency noise signal in the motor speed signal, thereby eliminating the influence of high-frequency noise and random load on the motor speed.

[0107] In the method provided in this embodiment, the signal of the first motor speed at each time moment is filtered to obtain the filtered signal of the first motor speed. Then, torque compensation is performed based on the filtered signal of the first motor speed. The influence of noise is removed, the torque compensation error is small, and the compensation accuracy is high.

[0108] Figure 3 This is the third flowchart of the vehicle vibration suppression method provided by the present invention, as shown below. Figure 3 As shown, the method includes:

[0109] First, the real-time acquired motor speed signal is low-pass filtered to obtain the motor speed.

[0110] Then, the motor speed is compensated for torque using a dynamic damping system composed of n first-order inertial elements to obtain the original compensation torque n; where n represents the number of first-order inertial elements in the dynamic damping system.

[0111] Furthermore, based on the original compensation torque n and the proportional coefficient KPn, the anti-shake compensation torque is obtained;

[0112] Furthermore, the anti-shake compensation torque is superimposed on the original requested torque of the vehicle controller (VCU) to obtain the torque requested by the VCU to the motor controller (MCU), which is the final requested torque; torque compensation is then performed on the motor based on the torque requested by the VCU to the motor controller (MCU).

[0113] The vehicle vibration suppression device provided by the present invention is described below. The vehicle vibration suppression device described below can be referred to in correspondence with the vehicle vibration suppression method described above.

[0114] Figure 4 This is a schematic diagram of the vehicle vibration suppression device provided by the present invention, as shown below. Figure 4 As shown, the vehicle vibration damping device 400 includes:

[0115] The acquisition module 410 is used to acquire the first motor speed of the vehicle at at least one moment;

[0116] The shake suppression module 420 is used to determine, for any one of the first motor speeds at the at least one time, a first value of a first target parameter corresponding to the first motor speed at that time, based on the first motor speed at that time and a preset first mapping table; the first mapping table includes a second motor speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter;

[0117] Based on the value of the first target parameter, the preset number of inertial elements included in the dynamic damping module, and the first motor speed at the specified moment, the first compensation torque corresponding to the specified moment is determined.

[0118] Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the first compensation torque corresponding to the stated moment.

[0119] In the device provided in this embodiment, the acquisition module 410 acquires the first motor speed of the vehicle at at least one moment; then, the damping module 420, for the first motor speed at any moment in the at least one moment, determines the first value of the first target parameter corresponding to the first motor speed at that moment based on the first motor speed at that moment and a preset first mapping table, wherein the first mapping table includes the second motor speed, the second value of the first target parameter, the gearbox gear, the mapping relationship between the second motor speed and the second value of the first target parameter, and the mapping relationship between the gearbox gear and the second value of the first target parameter; based on the value of the first target parameter and a preset number of inertial elements included in the dynamic damping module, and the first motor speed at that moment, the first compensation torque corresponding to that moment is determined; then, based on the original requested torque of the vehicle controller and the first compensation torque corresponding to that moment, torque compensation is performed on the vehicle.

[0120] The device provided in this embodiment determines the first value of the first target parameter based on the first motor speed at at least one moment using a preset first mapping table. Then, the first value of the first target parameter and the dynamic damping module perform real-time torque compensation for the first motor speed at different moments. The real-time torque compensation based on the method provided in this embodiment has a small compensation error, which improves the torque compensation accuracy for suppressing vehicle vibration.

[0121] Optionally, the shake-suppression module 420 is specifically used for:

[0122] Based on the value of the first target parameter and the preset number of inertial elements contained in the dynamic damping module, the element transfer function corresponding to the first motor speed at the specified moment is determined.

[0123] The first compensation torque is determined based on the transfer function of the aforementioned component and the first motor speed at the aforementioned moment.

[0124] Optionally, the shake-suppression module 420 is further configured to:

[0125] Multiply the first motor speed at the specified moment by the transfer function of the circuit to obtain the first compensation torque corresponding to the first motor speed at the specified moment.

[0126] Optionally, the shake-suppression module 420 is further configured to:

[0127] Based on the third motor speed at the stated time, the original requested torque of the vehicle controller, and a preset second mapping table, a first value of the second target parameter corresponding to the third motor speed at the stated time is determined. The second mapping table includes the fourth motor speed, the second value of the second target parameter, the gearbox gear, the mapping relationship between the fourth motor speed and the second value of the second target parameter, and the mapping relationship between the gearbox gear and the second value of the second target parameter. The third motor speed at the stated time is obtained by compensating the first motor speed at the stated time based on the first compensation torque. The second target parameter is used to characterize the proportional coefficient of the anti-shake compensation.

[0128] The second compensation torque is obtained by multiplying the speed of the third motor at the specified time with the first value of the second target parameter.

[0129] Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the second compensation torque corresponding to the stated moment.

[0130] Optionally, the device further includes a stabilization decision module;

[0131] The anti-shake decision module is used for:

[0132] For any given moment, determine whether torque compensation is required based on the first motor speed, gearbox gear position, and preset conditions at that moment.

[0133] Optionally, the device further includes a filtering module;

[0134] The filtering module is used for:

[0135] For any given moment, the signal of the first motor speed at that moment is filtered to obtain the filtered signal of the first motor speed at that moment.

[0136] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other via the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute a vehicle vibration suppression method, which includes:

[0137] Obtain the first motor speed of the vehicle at at least one moment;

[0138] For the first motor speed at any one of the at least one moments, a first value of a first target parameter corresponding to the first motor speed at that moment is determined according to the first motor speed at that moment and a preset first mapping table; the first mapping table includes a second motor speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter;

[0139] Based on the value of the first target parameter, the preset number of inertial elements included in the dynamic damping module, and the first motor speed at the specified moment, the first compensation torque corresponding to the specified moment is determined.

[0140] Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the first compensation torque corresponding to the stated moment.

[0141] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0142] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able to execute the vehicle vibration suppression methods provided by the above methods, the method comprising:

[0143] Obtain the first motor speed of the vehicle at at least one moment;

[0144] For the first motor speed at any one of the at least one moments, a first value of a first target parameter corresponding to the first motor speed at that moment is determined according to the first motor speed at that moment and a preset first mapping table; the first mapping table includes a second motor speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter;

[0145] Based on the value of the first target parameter, the preset number of inertial elements included in the dynamic damping module, and the first motor speed at the specified moment, the first compensation torque corresponding to the specified moment is determined.

[0146] Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the first compensation torque corresponding to the stated moment.

[0147] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the vehicle sway suppression methods provided by the methods described above, the method comprising:

[0148] Obtain the first motor speed of the vehicle at at least one moment;

[0149] For the first motor speed at any one of the at least one moments, a first value of a first target parameter corresponding to the first motor speed at that moment is determined according to the first motor speed at that moment and a preset first mapping table; the first mapping table includes a second motor speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter;

[0150] Based on the value of the first target parameter, the preset number of inertial elements included in the dynamic damping module, and the first motor speed at the specified moment, the first compensation torque corresponding to the specified moment is determined.

[0151] Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the first compensation torque corresponding to the stated moment.

[0152] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0153] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for suppressing vehicle vibration, characterized in that, include: Obtain the first motor speed of the vehicle at at least one moment; For the first motor speed at any one of the at least one moments, a first value of a first target parameter corresponding to the first motor speed at that moment is determined according to the first motor speed at that moment and a preset first mapping table; the first mapping table includes a second motor speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter; Based on the value of the first target parameter and the preset number of inertial elements contained in the dynamic damping module, the element transfer function corresponding to the first motor speed at the specified moment is determined. Multiply the first motor speed at the specified moment by the transfer function of the link to obtain the first compensation torque corresponding to the first motor speed at the specified moment; Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the first compensation torque corresponding to the stated moment.

2. The vehicle vibration suppression method according to claim 1, characterized in that, The method further includes: Based on the third motor speed at the stated time, the original requested torque of the vehicle controller, and a preset second mapping table, a first value of the second target parameter corresponding to the third motor speed at the stated time is determined. The second mapping table includes the fourth motor speed, the second value of the second target parameter, the gearbox gear, the mapping relationship between the fourth motor speed and the second value of the second target parameter, and the mapping relationship between the gearbox gear and the second value of the second target parameter. The third motor speed at the stated time is obtained by compensating the first motor speed at the stated time based on the first compensation torque. The second target parameter is used to characterize the proportional coefficient of the anti-shake compensation. The second compensation torque is obtained by multiplying the speed of the third motor at the specified time with the first value of the second target parameter. Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the second compensation torque corresponding to the stated moment.

3. The vehicle vibration suppression method according to claim 1, characterized in that, Before determining the first value of the first target parameter corresponding to the first motor speed at any of the at least one time moments, based on the first motor speed at that time moment and a preset first mapping table, the method further includes: For any given moment, determine whether torque compensation is required based on the first motor speed, gearbox gear position, and preset conditions at that moment.

4. The vehicle vibration suppression method according to claim 1, characterized in that, The method further includes: For any given moment, the signal of the first motor speed at that moment is filtered to obtain the filtered signal of the first motor speed at that moment.

5. A vehicle vibration suppression device, characterized in that, include: The acquisition module is used to acquire the first motor speed of the vehicle at at least one moment; The shake suppression module is used to determine, for any one of the first motor speeds at the at least one time moment, a first value of a first target parameter corresponding to the first motor speed at that time moment, based on the first motor speed at that time moment and a preset first mapping table; the first mapping table includes a second motor speed, a second value of the first target parameter, a gearbox gear, a mapping relationship between the second motor speed and the second value of the first target parameter, and a mapping relationship between the gearbox gear and the second value of the first target parameter; Based on the value of the first target parameter and the preset number of inertial elements included in the dynamic damping module, the element transfer function corresponding to the first motor speed at the specified time is determined; the first motor speed at the specified time is multiplied by the element transfer function to obtain the first compensation torque corresponding to the first motor speed at the specified time. Torque compensation is performed on the vehicle based on the original requested torque from the vehicle controller and the first compensation torque corresponding to the stated moment.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the vehicle vibration suppression method as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle vibration suppression method as described in any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle vibration suppression method as described in any one of claims 1 to 4.

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