Jitter suppression method, device, equipment and storage medium based on real-time road perception

Abstract

The present invention discloses a vibration suppression method, device, equipment and storage medium based on real-time road perception, which belongs to the field of vehicle control technology. The method first tests the vibration performance of vehicles of the same specifications passing through a test section at a preset speed, obtains the anti-shake motor torque threshold and torque rise rate threshold at the speed through multiple scanning experiments, and then constructs an anti-shake vehicle power control relationship table. In actual application, the vehicle perception system determines the road type characteristics through the collected road data, such as point cloud and reflection intensity distribution, and obtains the road adhesion coefficient distribution results based on this. When the road meets the anti-shake conditions, combined with the real-time vehicle speed and motor working mode, the system can determine the appropriate anti-shake vehicle control plan to pass through the area. This method can effectively suppress the vibration generated by the vehicle when passing through roads with different adhesion coefficients.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a jitter suppression method, device, equipment and storage medium based on real-time road perception. Background Art

[0002] With the continuous advancement of technology, Intelligent Transportation Systems (ITS) are gradually becoming a reality. These systems utilize advanced sensor, communication, and data analysis technologies to improve road safety and traffic efficiency. Autonomous vehicles, as a core component of ITS, integrate multiple sensors and algorithms to achieve autonomous vehicle control, including environmental perception, decision-making, and vehicle control.

[0003] Autonomous vehicles face numerous challenges under actual road conditions, including complex and ever-changing road environments, extreme weather conditions, and rapidly changing road adhesion coefficients. The road adhesion coefficient refers to the friction coefficient between the tires and the road surface, which directly affects the vehicle's braking distance, handling stability, and driving safety. When a vehicle rapidly passes over roads with different adhesion coefficients, such as suddenly switching from a dry asphalt road to a slippery one, it may cause vehicle vibration, affecting ride comfort and even leading to safety accidents.

[0004] Therefore, how to effectively identify the rapid changes in the road adhesion coefficient and adopt corresponding control strategies to suppress driving vibration is a technical problem that needs to be solved urgently in this field. Summary of the Invention

[0005] The main purpose of the present invention is to provide a jitter suppression method, device, equipment and storage medium based on real-time road perception, aiming to solve the technical problem of how to effectively identify the rapid changes in the road adhesion coefficient and adopt corresponding control strategies to suppress driving jitter.

[0006] To achieve the above objectives, the present invention provides a jitter suppression method based on real-time road perception, the jitter suppression method based on real-time road perception comprising:

[0007] Obtain the road adhesion coefficient distribution results within the target road section;

[0008] When the road adhesion coefficient distribution result meets the vibration suppression start condition, determining the anti-shake vehicle control plan based on the vehicle driving data;

[0009] Pass the target road section according to the anti-shake vehicle control solution to achieve driving shake suppression.

[0010] Optionally, before obtaining the road adhesion coefficient distribution result in the target road section, the method further includes:

[0011] Obtain a test vehicle with the same specifications as this vehicle;

[0012] Controlling the test vehicle to pass through a test section according to preset driving parameters, and obtaining an anti-shake motor torque threshold and an anti-shake motor torque rising rate threshold of the test vehicle under the preset driving parameters;

[0013] An anti-shake vehicle power control relationship table is obtained according to the preset driving parameters, the anti-shake motor torque threshold and the anti-shake motor torque rising rate threshold.

[0014] Optionally, controlling the test vehicle to pass through a test section according to preset driving parameters to obtain an anti-shake motor torque threshold of the test vehicle under the preset driving parameters includes:

[0015] Controlling the test vehicle to start at a preset speed, accelerating at full throttle through a test section, and recording the vibration acceleration peak value during the process of passing through the section;

[0016] The peak torque of the test vehicle is adjusted according to the preset torque step size, and the above test process is repeated. When the vibration acceleration peak value is less than or equal to the jitter suppression target value, the peak torque in this round of testing is used as the anti-shake motor torque threshold at the target vehicle speed.

[0017] Optionally, after adjusting the peak torque of the test vehicle according to the preset torque step, repeating the above test process, the method further includes:

[0018] If the vibration acceleration peak value is greater than the vibration suppression target value when the peak torque is reduced to the minimum allowable torque, adjusting the torque increase peak rate of the test vehicle according to the torque change step size;

[0019] When the vibration acceleration peak value is less than or equal to the vibration suppression target value, the torque rise peak rate in this round of testing is used as the anti-shake motor torque rise rate threshold at the target vehicle speed.

[0020] Optionally, obtaining a road surface adhesion coefficient distribution result within the target road section includes:

[0021] Acquire road perception data within the target road section;

[0022] Obtaining a road type feature of the target road section according to the road perception data;

[0023] According to the road type characteristics and the adhesion coefficient, a database is searched to obtain a distribution result of the road surface adhesion coefficient of the marked road section.

[0024] Optionally, obtaining the road type feature of the target road section according to the road perception data includes:

[0025] Obtaining point cloud distribution data of the target road section according to the road perception data;

[0026] Obtaining a reflection intensity distribution result according to the point cloud distribution data;

[0027] The road type characteristics of the target road section are obtained according to the reflection intensity distribution result.

[0028] Optionally, determining an anti-shake vehicle control solution based on vehicle driving data includes:

[0029] According to the vehicle driving data, a real-time vehicle speed and a vehicle speed change trend are obtained;

[0030] determining a motor operating mode for passing through the target road section according to the vehicle speed change trend, the motor operating mode including a driving mode and a power recovery mode;

[0031] Determining an anti-shake motor torque threshold and an anti-shake motor torque rising rate threshold according to the real-time vehicle speed and the motor operating mode;

[0032] The anti-shake vehicle control solution is determined according to the anti-shake motor torque threshold and the anti-shake motor torque rising rate threshold.

[0033] Furthermore, to achieve the above-mentioned objectives, the present invention provides a jitter suppression device based on real-time road perception, the jitter suppression device based on real-time road perception comprising:

[0034] Road perception module, used to obtain the road adhesion coefficient distribution results within the target road section;

[0035] a data analysis module, configured to determine an anti-shake vehicle control scheme based on vehicle driving data when the road adhesion coefficient distribution result satisfies a shake suppression activation condition;

[0036] The vehicle control module is used to pass the target road section according to the anti-shake vehicle control solution to achieve driving shake suppression.

[0037] In addition, to achieve the above-mentioned purpose, the present invention provides a jitter suppression device based on real-time road perception, and the jitter suppression device based on real-time road perception includes: a memory, a processor, and a jitter suppression program based on real-time road perception stored in the memory and executable on the processor, and the jitter suppression program based on real-time road perception is configured to implement the steps of the jitter suppression method based on real-time road perception.

[0038] In addition, to achieve the above-mentioned purpose, the present invention provides a storage medium, on which a jitter suppression program based on real-time road perception is stored. When the jitter suppression program based on real-time road perception is executed by a processor, the steps of the jitter suppression method based on real-time road perception are implemented.

[0039] The present invention tests the vibration performance of vehicles of the same specifications passing through a test section at a preset speed, obtains the anti-shake motor torque threshold and torque rise rate threshold at the speed through multiple scanning experiments, and then constructs an anti-shake vehicle power control relationship table. In actual applications, the vehicle perception system determines the road type characteristics through road data, such as point cloud and reflection intensity distribution, and obtains the road adhesion coefficient distribution results based on this. When the road meets the anti-shake conditions, combined with the real-time vehicle speed and motor working mode, the system can determine the appropriate anti-shake vehicle control plan for passing through the area. This method can effectively suppress the vehicle's vibration when passing through roads with different adhesion coefficients. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 This is a flow chart of the first embodiment of the jitter suppression method based on real-time road perception of the present application;

[0043] Figure 2 This is a flow chart of a second embodiment of the jitter suppression method based on real-time road perception of the present application;

[0044] Figure 3 This is a functional module diagram of the vibration suppression device based on real-time road perception in this application;

[0045] Figure 4 It is a structural diagram of the terminal device of the hardware operating environment involved in the embodiment of the present application.

[0046] 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

[0047] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0048] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0049] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of implementing the above functions, a jitter suppression device based on real-time road perception, etc. The following describes this embodiment and the following embodiments using a jitter suppression device based on real-time road perception as an example.

[0050] The embodiment of the present application provides a jitter suppression method based on real-time road perception, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the present application.

[0051] In this embodiment, the jitter suppression method based on real-time road perception includes:

[0052] Step S10: Obtaining the road adhesion coefficient distribution result within the target road section.

[0053] It is understandable that the application scenario of the present invention needs to be explained here. Since urban elevated roads, township roads and some old roads are generally spliced ​​in blocks during the construction process, two adjacent asphalt roads are connected by steel plates, forming a "high adhesion-low adhesion-high adhesion" road condition. The adhesion of the driving wheels will drop sharply and rise sharply when passing through these areas. During this process, the car will produce abnormal shaking, affecting the driving experience. In addition, with the current development of new energy vehicles, some vehicles with kinetic energy recovery will also produce abnormal shaking if they pass through these sections during the energy recovery process. This not only affects the driving comfort and safety, but may also cause additional wear and tear on the vehicle's mechanical components.

[0054] It should be noted that in this embodiment, the vehicle obtains road information in real time through a road perception system composed of environmental perception elements such as cameras, lidar, millimeter-wave radar, and ultrasonic sensors. These sensors and systems work together to provide the vehicle with all-round line of sight perception, precise positioning, navigation, obstacle detection, road condition monitoring, and analysis of the inside and outside vehicle environment to support the vehicle's automatic driving, safety assistance, and information interaction functions. The target road section here refers to the road area within a certain range directly in front of the vehicle. The vehicle-computer system obtains the road adhesion coefficient distribution of the road section by identifying and analyzing the road features in the area, so as to identify whether a "high adhesion-low adhesion-high adhesion" road condition occurs.

[0055] In one embodiment, obtaining the road adhesion coefficient distribution result within the target road section includes: obtaining road perception data within the target road section; obtaining the road type characteristics of the target road section based on the road perception data; and obtaining the road adhesion coefficient distribution result of the target road section based on the road type characteristics and the adhesion coefficient search database.

[0056] It can be understood that road perception data refers to the relevant information that needs to be collected on the target road section, which usually includes data directly captured by sensors such as cameras, lidar, millimeter-wave radar, etc. These sensors can capture visual images, distance information, speed information, etc. of the road surface, and provide raw data for subsequent analysis. In this embodiment, the point cloud information of the target road section obtained by lidar is preferably obtained.

[0057] It's important to note that after collecting road perception data, the system uses this data to identify and analyze road characteristics. For example, through image processing technology, images captured by cameras can be analyzed to identify road surface features such as texture, color, and shape; lidar can provide three-dimensional road surface information, such as undulations and potholes. These features help the system determine the road type, such as asphalt, cement, or gravel. Once the system identifies the road type characteristics, it can match them with a pre-built database of adhesion coefficients, which contains adhesion coefficient information for different road types under different conditions. The adhesion coefficient here is a key parameter that describes the friction relationship between tires and the road surface. It affects the vehicle's braking, acceleration, and handling performance. By matching road type characteristics with records in the database, the adhesion coefficient distribution of the target road section is predicted, providing the vehicle with important information about road conditions.

[0058] In one embodiment, obtaining the road type characteristics of the target road section based on the road perception data includes: obtaining point cloud distribution data of the target road section based on the road perception data; obtaining a reflection intensity distribution result based on the point cloud distribution data; and obtaining the road type characteristics of the target road section based on the reflection intensity distribution result.

[0059] It should be understood that the road perception system uses sensors such as lidar carried by the vehicle to collect three-dimensional spatial data of the target road section. The lidar emits laser pulses and receives the reflected light, measures the flight time of the light pulses, and thus calculates the distance between the laser emission point and the target object. These distance data constitute the so-called "point cloud", which is a series of points in three-dimensional space. The shape of the point cloud formed represents the precise position and shape of the road surface, roadside objects, etc., providing the vehicle with a detailed, digital road environment model.

[0060] It is understandable that after obtaining the point cloud data, the system will analyze the reflection intensity information of each point cloud. The reflection intensity is related to the reflective characteristics of the object surface. For example, a smooth road surface may reflect back a stronger laser signal, while a rough road surface may reflect back a weaker signal. By analyzing the reflection intensity, the system can identify different parts of the road surface, such as different types of road surface materials, water or oil stains on the road surface, etc. Finally, the system compares the results of the reflection intensity distribution with a pre-defined road feature database to identify the road type characteristics of the target section. This database contains reflection intensity patterns of different types of roads, such as asphalt, concrete, masonry, etc. By matching the actual reflection intensity distribution with the patterns in the database, the system can determine the road material type, road condition (such as whether it is worn or damaged), and other characteristics of the target section, thereby accurately evaluating the road adhesion coefficient and further formulating corresponding vehicle control strategies.

[0061] Step S20: When the road adhesion coefficient distribution result meets the vibration suppression start condition, an anti-shake vehicle control solution is determined according to the vehicle driving data.

[0062] It should be noted that when a vehicle is traveling on an asphalt road, its adhesion coefficient will be relatively high. When a vehicle is traveling on an icy road or a steel plate on a construction section, its adhesion coefficient will be relatively low. This "high adhesion-low adhesion-high adhesion" road condition is only a road condition that facilitates understanding of the application scenario of the present invention. In actual processes, road conditions that require vibration suppression refer, in a broad sense, to the situation where the adhesion coefficient of the road fluctuates significantly multiple times within a relatively short range, which can be regarded as meeting the vibration suppression start-up conditions. For example, assuming that a vehicle is traveling on a section of road where snow removal has been completed, it is in a high adhesion state on the road where snow removal has been completed, and in a low adhesion state on the section where snow removal has not been completed. The degree of snow removal is uneven on a longer road surface. Therefore, the vehicle may monitor the sharp changes in the adhesion coefficient for a long time and trigger the vibration suppression strategy. This still falls within the scope of the problem solved by this patent.

[0063] It is understandable that after the shake suppression is triggered, the vehicle's own motion state is directly related to the anti-shake suppression when passing through the road section. The anti-shake vehicle control scheme is different under different vehicle speeds, motor torques, and vehicle accelerations.

[0064] It should be understood that the most important parameters affecting the vibration caused by the vehicle passing through the road section are the vehicle speed, driving torque and the rate of change of the torque.

[0065] It's important to note that at high speeds, a vehicle's inertia is greater, making it more susceptible to changes in road adhesion. The vehicle responds more quickly to changes in the road surface, and any sudden change in the road adhesion coefficient can result in greater jitter. Conversely, at lower speeds, the vehicle has more time to adapt to road surface changes, thus reducing jitter. Drive torque determines the vehicle's traction. On roads with large variations in adhesion, excessive drive torque can easily lead to loss of traction, slippage, or jitter, causing instability. Appropriately reducing drive torque can mitigate this instability. On roads with large variations in adhesion, slowly changing torque helps maintain dynamic balance and reduces jitter caused by sudden changes in power output. Limiting the rate of torque change allows the vehicle to navigate sections of varying adhesion more smoothly.

[0066] Step S30: Passing the target road section according to the anti-shake vehicle control solution to achieve driving shake suppression.

[0067] It should be noted that the motor torque output is adjusted in real time based on the previously determined anti-shake control scheme. If the vehicle is accelerating, the motor torque and its rate of increase are limited to within a preset threshold. If the vehicle is decelerating, the motor regenerative torque is limited to avoid jerkiness caused by excessive regeneration.

[0068] In one embodiment, determining the anti-shake vehicle control scheme based on vehicle driving data includes: obtaining the real-time vehicle speed and the vehicle speed change trend based on the vehicle driving data; determining the motor operating mode passing the target road section based on the vehicle speed change trend, the motor operating mode including the driving mode and the power recovery mode; determining the anti-shake motor torque threshold and the anti-shake motor torque rising rate threshold based on the real-time vehicle speed and the motor operating mode; determining the anti-shake vehicle control scheme based on the anti-shake motor torque threshold and the anti-shake motor torque rising rate threshold.

[0069] It can be understood that the vehicle driving data includes the current real-time status information of the vehicle, such as vehicle speed, acceleration, motor torque, etc. The speed change trend is whether the vehicle is accelerating, decelerating or maintaining a constant speed. Combined with the speed change trend, it is determined whether the motor should be in driving mode or power recovery mode, and the vehicle control plan is further refined. Assuming that the current speed of the vehicle is 80 km / h and it is in driving mode, the system will find the corresponding anti-shake motor torque threshold (for example, 200 N·m) and anti-shake motor torque rise rate threshold (for example, 20 N·m / s per second) from the pre-calibrated data table based on the speed of 80 km / h and driving mode. The control strategy formulated according to these two thresholds ensures that the vehicle will not shake when passing through a section with a changing adhesion coefficient.

[0070] This embodiment provides a method for jitter suppression based on real-time road perception. This embodiment obtains a road adhesion coefficient distribution result within a target road section; when the road adhesion coefficient distribution result meets the jitter suppression activation condition, an anti-shake vehicle control scheme is determined based on vehicle driving data; and the target road section is passed according to the anti-shake vehicle control scheme to complete driving jitter suppression.

[0071] In summary, this embodiment determines the road type characteristics through the collected road data, such as point cloud and reflection intensity distribution, and obtains the road adhesion coefficient distribution results based on this. When the road meets the anti-shake conditions, combined with the real-time vehicle speed and motor operating mode, the system can determine the appropriate anti-shake vehicle control plan for passing through the area. This method can effectively suppress the vibration caused by the vehicle when passing through roads with different adhesion coefficients.

[0072] Reference Figure 2 , Figure 2 This is a flow chart of the second embodiment of the jitter suppression method based on real-time road perception of the present application. Based on the above-mentioned first embodiment, the second embodiment of the jitter suppression method based on real-time road perception of the present application is proposed.

[0073] In this embodiment, before step S10, the jitter suppression method based on real-time road perception further includes:

[0074] Step S001: Control the test vehicle to start at a preset speed, accelerate through a test section at full throttle, and record the vibration acceleration peak value during the process of passing through the section.

[0075] It should be noted that the test vehicle refers to a vehicle of the same specifications as the vehicle using the vibration suppression method in this application. The test results of the test vehicle on the experimental road can indirectly determine the performance of the actual vehicle under similar conditions.

[0076] It can be understood that the general idea of ​​the experiment is as follows: set up a "high adhesion-low adhesion-high adhesion" test section for the experiment, in which the difference in adhesion coefficient from high adhesion to low adhesion is as large as possible, and then fix the speed of the vehicle entering the section. Each test is carried out at the maximum throttle to pass through the section. Since the maximum throttle corresponds to the maximum driving torque, which is the peak torque, the vibration acceleration peak value during the process of passing through the section is monitored to determine the vibration situation under the same conditions, and the vibration suppression effect is negatively feedback adjusted in combination with the vehicle parameter adjustment process.

[0077] Step S002: adjusting the peak torque of the test vehicle according to a preset torque step, and repeating the above test process.

[0078] It should be understood that in each round of testing, the vehicle speed, peak torque, and vibration acceleration peak value form a set of test data. The peak torque during vehicle driving is reduced according to a certain torque step until the vibration acceleration peak value is lower than the preset vibration suppression target value. Then, a corresponding relationship can be established between the peak torque and the vehicle speed. That is, when the actual vehicle passes through a specific section of road at this speed, as long as its peak torque is lower than the peak torque adjusted down in the test, the abnormal vibration of the vehicle can be suppressed.

[0079] Step S003: When the vibration acceleration peak value is less than or equal to the vibration suppression target value, the peak torque in the test round is used as the anti-shake motor torque threshold at the target vehicle speed.

[0080] It's important to note that when the test results show that the peak vibration acceleration reaches the preset vibration suppression target value or lower, the current peak torque is safe and will not cause excessive vibration. The system then records and stores this peak torque value as the anti-shake motor torque threshold for that specific vehicle speed. This means that in future driving situations, when the vehicle approaches similar road conditions at that speed, the control system will refer to this threshold to adjust the motor torque to ensure smooth driving.

[0081] Step S004: If the vibration acceleration peak value is greater than the vibration suppression target value when the peak torque is reduced to the minimum allowable torque, the torque increase peak rate of the test vehicle is adjusted according to the torque change step size.

[0082] It should be noted that at some higher speeds, the vehicle may still experience excessive jitter even when the peak torque is reduced to the minimum allowable torque. In this case, simply adjusting the peak torque to suppress jitter may not be effective, so the impact of the torque rise rate on vehicle jitter also needs to be considered. Based on the aforementioned test, if the jitter suppression target value cannot be achieved even when the peak torque is reduced to the minimum allowable torque, the peak torque rise rate at these speeds and peak torques is further limited. By limiting the rate of torque change, the power changes through this section are smoother, and further exploration of parameter configurations that may meet the jitter suppression target value is conducted.

[0083] Step S005: When the vibration acceleration peak value is less than or equal to the vibration suppression target value, the torque rise peak rate in the round of testing is used as the anti-shake motor torque rise rate threshold at the target vehicle speed.

[0084] It should be noted that when the test results show that the vibration acceleration peak reaches or is lower than the preset jitter suppression target value, it means that the current torque rise rate control is effective and can be used as a reference value for anti-shake control at that vehicle speed. At this point, within all possible vehicle speed ranges, when passing through these special road sections, global jitter suppression can be achieved as long as the torque and torque rise rate are limited to the threshold range obtained by the test.

[0085] Step S006: Obtaining an anti-shake vehicle power control relationship table according to the preset driving parameters, the anti-shake motor torque threshold, and the anti-shake motor torque rising rate threshold.

[0086] It's clear that the anti-shake vehicle power control relationship table, formed by comprehensively analyzing preset driving parameters, anti-shake motor torque thresholds, and torque rise rate thresholds, provides a detailed set of power output adjustment guidelines for the vehicle. This guideline intelligently adjusts motor torque and torque rise rate under different driving conditions to achieve effective vibration suppression, ensuring driving smoothness and passenger comfort.

[0087] This embodiment provides a vibration suppression method based on real-time road perception. This embodiment controls a test vehicle to pass through a test section according to preset driving parameters, thereby obtaining an anti-shake motor torque threshold and an anti-shake motor torque rise rate threshold for the test vehicle under the preset driving parameters; and based on the preset driving parameters, the anti-shake motor torque threshold and the anti-shake motor torque rise rate threshold, obtains an anti-shake vehicle power control relationship table.

[0088] In summary, this embodiment provides the vehicle with the ability to adapt to a wider range of road conditions, including varying weather and road surface conditions. By precisely controlling motor torque and the torque ramp-up rate, the risk of vehicle loss of control due to sudden changes in road adhesion is reduced, improving driving safety and ride comfort under variable road conditions while also enhancing the vehicle's adaptability to diverse road environments. Precise control of motor torque and the torque ramp-up rate effectively reduces vehicle vibration, improves energy efficiency, and extends the service life of vehicle components, providing strong technical support for the development and application of autonomous driving technology.

[0089] Reference Figure 3 The present application further provides a jitter suppression device based on real-time road perception, the jitter suppression device based on real-time road perception comprising:

[0090] The road perception module 10 is used to obtain the road adhesion coefficient distribution result within the target road section;

[0091] A data analysis module 20 is configured to determine an anti-shake vehicle control scheme based on vehicle driving data when the road adhesion coefficient distribution result meets the shake suppression start condition;

[0092] The vehicle control module 30 is configured to pass through the target road section according to the anti-shake vehicle control solution to achieve driving shake suppression.

[0093] In one embodiment, the data analysis module 20 is also used to obtain a test vehicle of the same specifications as the current vehicle; control the test vehicle to pass through a test section according to preset driving parameters, and obtain the anti-shake motor torque threshold and the anti-shake motor torque rising rate threshold of the test vehicle under the preset driving parameters; and obtain an anti-shake vehicle power control relationship table based on the preset driving parameters, the anti-shake motor torque threshold and the anti-shake motor torque rising rate threshold.

[0094] In one embodiment, the data analysis module 20 is further used to control the test vehicle to start at a preset speed, accelerate at full throttle through a test section, and record the vibration acceleration peak value during the process of passing through the section; adjust the peak torque of the test vehicle according to a preset torque step, repeat the above test process, and when the vibration acceleration peak value is less than or equal to the vibration suppression target value, use the peak torque in this round of testing as the anti-shake motor torque threshold at the target speed.

[0095] In one embodiment, the data analysis module 20 is further configured to adjust the torque rise peak rate of the test vehicle according to the torque change step if the vibration acceleration peak value is greater than the jitter suppression target value when the peak torque is reduced to the minimum allowable torque; and to use the torque rise peak rate in this round of testing as the anti-shake motor torque rise rate threshold at the target vehicle speed when the vibration acceleration peak value is less than or equal to the jitter suppression target value.

[0096] In one embodiment, the road perception module 10 is further used to obtain road perception data within the target road section; obtain the road type characteristics of the target road section based on the road perception data; and obtain the road surface adhesion coefficient distribution result of the target road section based on the road type characteristics and the adhesion coefficient search database.

[0097] In one embodiment, the road perception module 10 is further used to obtain point cloud distribution data of the target road section based on the road perception data; obtain reflection intensity distribution results based on the point cloud distribution data; and obtain road type characteristics of the target road section based on the reflection intensity distribution results.

[0098] In one embodiment, the vehicle control module 30 is further used to obtain the real-time vehicle speed and the vehicle speed change trend based on the vehicle driving data; determine the motor working mode passing the target road section based on the vehicle speed change trend, and the motor working mode includes a driving mode and a power recovery mode; determine the anti-shake motor torque threshold and the anti-shake motor torque rising rate threshold based on the real-time vehicle speed and the motor working mode; determine the anti-shake vehicle control scheme based on the anti-shake motor torque threshold and the anti-shake motor torque rising rate threshold.

[0099] An embodiment of the present application further provides a jitter suppression device based on real-time road perception, the device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the jitter suppression method based on real-time road perception in the above-mentioned embodiment 1.

[0100] Reference below Figure 4 , which shows a schematic structural diagram of a jitter suppression device based on real-time road perception suitable for implementing an embodiment of the present application. The jitter suppression device based on real-time road perception in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 3 The illustrated jitter suppression device based on real-time road perception is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0101] like Figure 4As shown, the jitter suppression device based on real-time road perception may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the jitter suppression device based on real-time road perception. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to I / O interface 1006: input device 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output device 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003 including, for example, a magnetic tape, hard disk, etc.; and communication device 1009. Communication device 1009 may allow the real-time road perception-based jitter suppression device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a real-time road perception-based jitter suppression device with various systems, it should be understood that implementation or presence of all the illustrated systems is not required. More or fewer systems may alternatively be implemented or present.

[0102] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0103] The jitter suppression device based on real-time road perception provided in this application, which employs the jitter suppression method based on real-time road perception in the above-mentioned embodiment, can solve the technical problem of effectively identifying rapid changes in the road adhesion coefficient and adopting corresponding control strategies to suppress vehicle jitter. Compared with the prior art, the beneficial effects of the jitter suppression device based on real-time road perception provided in this application are the same as those of the jitter suppression method based on real-time road perception provided in the above-mentioned embodiment. The other technical features of the jitter suppression device based on real-time road perception are the same as those disclosed in the above-mentioned embodiment and are not further described here.

[0104] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0105] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0106] The present application also provides a storage medium, on which is stored a jitter suppression program based on real-time road perception. When the jitter suppression program based on real-time road perception is executed by a processor, the steps of the jitter suppression method based on real-time road perception as described above are implemented.

[0107] The storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0108] The above-mentioned storage medium may be included in the jitter suppression device based on real-time road perception; or may exist independently without being assembled into the jitter suppression device based on real-time road perception.

[0109] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the jitter suppression device based on real-time road perception, the jitter suppression device based on real-time road perception enables the following: to obtain the road adhesion coefficient distribution result within the target road section; when the road adhesion coefficient distribution result meets the jitter suppression start condition, determine the anti-shake vehicle control plan based on the vehicle driving data; and pass the target road section according to the anti-shake vehicle control plan to complete driving jitter suppression.

[0110] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0111] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0112] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0113] The storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned jitter suppression method based on real-time road perception. This computer-readable storage medium addresses the technical problem of effectively identifying rapid changes in the road adhesion coefficient and implementing corresponding control strategies to suppress vehicle jitter. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the jitter suppression method based on real-time road perception provided in the aforementioned embodiments, and are not further elaborated here.

[0114] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A jitter suppression method based on real-time road perception, characterized in that: The jitter suppression method based on real-time road perception includes: Obtain the road adhesion coefficient distribution results within the target road section; When the road adhesion coefficient distribution result meets the vibration suppression start condition, the real-time vehicle speed and the vehicle speed change trend are obtained based on the vehicle driving data; determining a motor operating mode for passing through the target road section according to the vehicle speed change trend; Determining an anti-shake motor torque threshold and an anti-shake motor torque rising rate threshold according to the real-time vehicle speed and the motor operating mode; Determining an anti-shake vehicle control solution according to the anti-shake motor torque threshold and the anti-shake motor torque rising rate threshold; Pass the target road section according to the anti-shake vehicle control solution to achieve driving shake suppression.

2. The jitter suppression method based on real-time road perception according to claim 1, characterized in that: Before obtaining the road adhesion coefficient distribution result in the target road section, the method further includes: Obtain a test vehicle with the same specifications as this vehicle; Controlling the test vehicle to pass through a test section according to preset driving parameters, and obtaining an anti-shake motor torque threshold and an anti-shake motor torque rising rate threshold of the test vehicle under the preset driving parameters; An anti-shake vehicle power control relationship table is obtained according to the preset driving parameters, the anti-shake motor torque threshold and the anti-shake motor torque rising rate threshold.

3. The jitter suppression method based on real-time road perception according to claim 2, characterized in that: The controlling the test vehicle to pass through a test section according to preset driving parameters to obtain an anti-shake motor torque threshold of the test vehicle under the preset driving parameters includes: Controlling the test vehicle to start at a preset speed, accelerating at full throttle through a test section, and recording the vibration acceleration peak value during the process of passing through the section; The peak torque of the test vehicle is adjusted according to the preset torque step size, and the above test process is repeated. When the vibration acceleration peak value is less than or equal to the jitter suppression target value, the peak torque in this round of testing is used as the anti-shake motor torque threshold at the preset vehicle speed.

4. The jitter suppression method based on real-time road perception according to claim 3, characterized in that: After adjusting the peak torque of the test vehicle according to the preset torque step length and repeating the above test process, the method further includes: If the vibration acceleration peak value is greater than the vibration suppression target value when the peak torque is reduced to the minimum allowable torque, adjusting the torque increase peak rate of the test vehicle according to the torque change step size; When the vibration acceleration peak value is less than or equal to the vibration suppression target value, the torque rise peak rate in this round of testing is used as the anti-shake motor torque rise rate threshold at the preset vehicle speed.

5. The jitter suppression method based on real-time road perception according to claim 1, characterized in that: The obtaining of the road surface adhesion coefficient distribution result within the target road section includes: Acquire road perception data within the target road section; Obtaining a road type feature of the target road section according to the road perception data; A database is searched according to the road type characteristics and the adhesion coefficient to obtain a distribution result of the road surface adhesion coefficient of the target road section.

6. The jitter suppression method based on real-time road perception according to claim 5, characterized in that: Obtaining the road type characteristics of the target road section according to the road perception data includes: Obtaining point cloud distribution data of the target road section according to the road perception data; Obtaining a reflection intensity distribution result according to the point cloud distribution data; The road type characteristics of the target road section are obtained according to the reflection intensity distribution result.

7. A jitter suppression device based on real-time road perception, characterized in that: The jitter suppression device based on real-time road perception includes: Road perception module, used to obtain the road adhesion coefficient distribution results within the target road section; a data analysis module configured to, when the road adhesion coefficient distribution result satisfies the vibration suppression activation condition, obtain the real-time vehicle speed and the vehicle speed change trend based on the vehicle driving data; determine the motor operating mode for passing the target road section based on the vehicle speed change trend; determine the anti-shake motor torque threshold and the anti-shake motor torque increase rate threshold based on the real-time vehicle speed and the motor operating mode; and determine the anti-shake vehicle control solution based on the anti-shake motor torque threshold and the anti-shake motor torque increase rate threshold; The vehicle control module is used to pass the target road section according to the anti-shake vehicle control solution to achieve driving shake suppression.

8. A jitter suppression device based on real-time road perception, characterized in that: The jitter suppression device based on real-time road perception includes: a memory, a processor, and a jitter suppression program based on real-time road perception stored in the memory and executable on the processor. The jitter suppression program based on real-time road perception is configured to implement the steps of the jitter suppression method based on real-time road perception as described in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a jitter suppression program based on real-time road perception, which, when executed by the processor, implements the steps of the jitter suppression method based on real-time road perception according to any one of claims 1 to 6.

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