Vehicle low-speed vibration noise suppression method and device based on correlation factors, vehicle and storage medium

Abstract

The invention discloses a vehicle low-speed vibration noise suppression method and device based on correlation factors, a vehicle and a storage medium, and relates to the technical field of vehicle control. Performing data processing on the noise signal and the vibration signal to obtain vehicle low-speed jitter information; based on the vehicle low-speed jitter information, the torque of a driving motor is determined according to vehicle parameter information; and if the torque of the driving motor is larger than a preset torque threshold value, a vehicle control strategy is adjusted by adjusting related factors. The reason and the associated factors of the low-speed vibration noise of the vehicle are determined by judging the torque of the driving motor, and the corresponding vehicle control strategy is formulated through the associated factors, so that the low-speed vibration noise of the vehicle is inhibited.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, vehicle and storage medium for suppressing low-speed vibration noise of a vehicle based on correlation factors. Background Art

[0002] When a hybrid vehicle is in series power generation mode, the driving motor torque is large at low speeds with high throttle, the powertrain suspension enters the nonlinear region, and the suspension vibration isolation deteriorates, causing the engine vibration excitation to be transmitted to the entire vehicle, causing low-speed jitter and loud noise.

[0003] Currently, the low-speed jitter problem in pure electric conditions is usually improved by controlling the torque of the drive motor, but no consideration has been given to how to solve the low-speed jitter problem caused by engine vibration in the hybrid series power generation mode. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, vehicle and storage medium for suppressing low-speed vibration and noise of a vehicle based on correlation factors, aiming to solve the technical problem that in the existing hybrid series power generation mode, the large torque of the driving motor at low speed with large throttle causes low-speed jitter and high noise.

[0005] To achieve the above purpose, the present application proposes a method for suppressing low-speed vibration and noise of a vehicle based on correlation factors, and the method for suppressing low-speed vibration and noise of a vehicle based on correlation factors includes:

[0006] Acquire noise signals and vibration signals;

[0007] By performing data processing on the noise signal and the vibration signal, low-speed jitter information of the vehicle is obtained;

[0008] Based on the low-speed vibration information of the vehicle, determining the drive motor torque according to the vehicle parameter information;

[0009] If the driving motor torque is greater than a preset torque threshold, the vehicle control strategy is adjusted by adjusting associated factors.

[0010] In one embodiment, before the step of adjusting the vehicle control strategy by adjusting the associated factors if the drive motor torque is greater than the preset torque threshold, the step further includes:

[0011] Test the vibration acceleration under different drive motor torques;

[0012] If the vibration acceleration is equal to the preset acceleration threshold, the drive motor torque corresponding to the vibration acceleration is recorded as the maximum torque of the drive motor;

[0013] Determining the upper speed limit of the vehicle according to the low-speed jitter information of the vehicle;

[0014] Determine the power balance point based on power balance and demand scenarios.

[0015] In one embodiment, the associated factors include at least: drive motor torque, vehicle speed, engine operating conditions and power;

[0016] The step of adjusting the vehicle control strategy by adjusting the associated factors comprises:

[0017] When the actual vehicle speed is greater than the upper speed limit, the engine is used to supplement power according to the first required power, and the vehicle is controlled to maintain the series power generation mode unchanged;

[0018] When the actual vehicle speed is less than or equal to the upper speed limit, and the actual power is greater than or equal to the power balance point, starting the engine is prohibited, and the vehicle is controlled to enter the pure electric mode;

[0019] When the actual vehicle speed is less than or equal to the upper speed limit, and the actual power is less than the power balance point, the engine is used to supplement power according to the second required power, and outputs power according to the required torque of the drive motor and the maximum torque of the drive motor, and controls the vehicle to maintain the series power generation mode unchanged.

[0020] In one embodiment, the step of outputting according to the required torque of the driving motor and the maximum torque of the driving motor comprises:

[0021] If the required torque of the driving motor is less than the maximum torque of the driving motor, controlling the vehicle to output at the required torque of the driving motor;

[0022] If the required torque of the driving motor is greater than or equal to the maximum torque of the driving motor, the vehicle is controlled to output at the maximum torque of the driving motor.

[0023] In one embodiment, the step of determining the driving motor torque according to the vehicle parameter information based on the vehicle low-speed jitter information includes:

[0024] Collect vibration signals from the active and passive ends of the suspension;

[0025] Based on the low-speed vibration information of the vehicle and the vibration signals of the active and passive ends of the suspension, the second-order vibration frequencies of the active and passive ends of the suspension are obtained according to the vehicle parameter information;

[0026] Obtaining a suspension vibration isolation rate according to the second-order vibration frequencies of the active end and the passive end of the suspension;

[0027] The driving motor torque is determined according to the suspension vibration isolation rate.

[0028] In one embodiment, the step of obtaining the low-speed jitter information of the vehicle by performing data processing on the noise signal and the vibration signal comprises:

[0029] Preprocessing the noise signal and the vibration signal to obtain preprocessed data, wherein the preprocessing at least includes: filtering, noise reduction and signal enhancement;

[0030] Based on the preprocessed data, identifying and extracting main order noise and vibration data of the engine;

[0031] The low-speed vibration information of the vehicle is obtained by analyzing the main-order noise and vibration data of the engine.

[0032] In one embodiment, the step of acquiring the noise signal and the vibration signal comprises:

[0033] Acquire the noise signal at the right ear of the driver through the microphone;

[0034] The vibration signal of the vehicle's driver's seat is obtained through the sensor.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a low-speed vehicle vibration and noise suppression device based on correlation factors, and the low-speed vehicle vibration and noise suppression device based on correlation factors includes:

[0036] An acquisition module, used for acquiring noise signals and vibration signals;

[0037] An analysis module, configured to obtain low-speed jitter information of the vehicle by performing data processing on the noise signal and the vibration signal;

[0038] A determination module, configured to determine the drive motor torque based on the low-speed vibration information of the vehicle and according to the vehicle parameter information;

[0039] The control module is used to adjust the vehicle control strategy by adjusting the associated factors if the driving motor torque is greater than a preset torque threshold.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle low-speed vibration and noise suppression method based on correlation factors as described above.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the vehicle low-speed vibration and noise suppression method based on correlation factors as described above are implemented.

[0042] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the vehicle low-speed vibration and noise suppression method based on correlation factors as described above.

[0043] One or more technical solutions proposed in this application obtain noise signals and vibration signals; obtain vehicle low-speed jitter information by performing data processing on the noise signals and the vibration signals; determine the drive motor torque based on the vehicle low-speed jitter information according to vehicle parameter information; if the drive motor torque is greater than a preset torque threshold, adjust the vehicle control strategy by adjusting the associated factors. The cause and associated factors of the vehicle low-speed vibration noise are determined by judging the magnitude of the drive motor torque, and the corresponding vehicle control strategy is formulated based on the associated factors, thereby suppressing the vehicle low-speed vibration noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1 A flow chart of a first embodiment of a method for suppressing low-speed vibration noise of a vehicle based on correlation factors of the present application;

[0047] Figure 2 This is a brief schematic diagram of low-speed vehicle vibration information according to an embodiment of a method for suppressing low-speed vehicle vibration noise based on correlation factors of the present application;

[0048] Figure 3 This is a schematic diagram of low-speed vibration and noise working conditions of an embodiment of a method for suppressing low-speed vibration and noise of a vehicle based on correlation factors of the present application;

[0049] Figure 4 A flow chart of a second embodiment of a method for suppressing low-speed vibration noise of a vehicle based on correlation factors provided in this application;

[0050] Figure 5 A brief flow chart of the vehicle low-speed vibration noise suppression method based on correlation factors provided in this application;

[0051] Figure 6 This is a schematic diagram of the module structure of a low-speed vehicle vibration and noise suppression device based on correlation factors according to an embodiment of the present application;

[0052] Figure 7 A schematic diagram of the vehicle structure of the hardware operating environment involved in the vehicle low-speed vibration and noise suppression method based on correlation factors in an embodiment of the present application.

[0053] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0055] 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.

[0056] The main solutions of the embodiments of this application are:

[0057] Because hybrid vehicles are in series power generation mode, the driving motor torque is large at low speeds with high throttle, the powertrain suspension enters the nonlinear region, and the suspension vibration isolation deteriorates, causing the engine vibration excitation to be transmitted to the entire vehicle, causing low-speed jitter and high noise problems.

[0058] The present application provides a solution, which determines the causes and related factors of the low-speed vibration noise of the vehicle by judging the size of the driving motor torque, and formulates a corresponding vehicle control strategy based on the related factors, thereby suppressing the low-speed vibration noise of the vehicle.

[0059] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a vehicle, etc. capable of realizing the above functions. The following takes a vehicle as an example to illustrate this embodiment and the following embodiments.

[0060] Based on this, the embodiment of the present application provides a method for suppressing low-speed vibration noise of a vehicle based on correlation factors, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for suppressing low-speed vehicle vibration and noise based on correlation factors of the present application.

[0061] In this embodiment, the method for suppressing low-speed vehicle vibration noise based on correlation factors includes steps S10 to S40:

[0062] Step S10: Acquire noise signal and vibration signal.

[0063] It should be noted that noise signals usually refer to sound signals generated during the operation of the vehicle. These signals may cause discomfort to the driver and passengers, affect riding comfort, and may even cause harm to human health.

[0064] Vibration signals usually refer to signals exhibited by physical quantities that change periodically over time. They can be collected, analyzed, and applied through various sensors and measuring devices.

[0065] In a specific embodiment, a noise signal at the right ear of the vehicle driver may be acquired through a microphone; and a vibration signal at the vehicle driver's seat may be acquired through a sensor.

[0066] Specifically, a microphone is a device that converts sound waves into electrical signals or mechanical effects, and is widely used in the transmission and detection of sound. According to different principles, microphones can be divided into magnetoelectric microphones, piezoelectric microphones, and electrodynamic microphones. Magnetoelectric microphones are built on the basis of magnetoelectric effect, converting sound wave signals into electrical signals and outputting them. Piezoelectric microphones are devices that use the piezoelectric effect to convert sound wave signals into electrical signals. Electrodynamic microphones include electrodynamic speakers and electronic microphones, which use motor design to achieve sound emission or reception. The types of microphones here are compatible with the currently used magnetoelectric microphones, piezoelectric microphones, and electrodynamic microphones.

[0067] Among them, a sensor is usually a device that detects and responds to certain types of input from the external environment, and it converts the detected information into electrical signals or other desired forms of output for subsequent data processing and analysis.

[0068] It is understandable that from an ergonomic point of view, the position of the driver's right ear is relatively fixed, and has a specific spatial relationship with the noise sources inside and outside the vehicle, which facilitates the unified standard noise collection under different vehicle models and driving conditions, and the resulting data is comparable and of reference value.

[0069] The driver's right ear directly receives noise signals from inside and outside the vehicle. The noise collected here can accurately reflect the noise intensity and frequency characteristics that the driver is actually exposed to, and then understand the direct impact of noise on the driver's auditory system and assess the potential risk of auditory fatigue and damage. The driver's sense of comfort in the driving environment is greatly affected by noise, and the noise level at the driver's right ear can directly reflect the driver's subjective feelings. By collecting noise signals at this position, the impact of the vehicle's noise control level on driving comfort can be evaluated, providing a basis for improving vehicle design and improving ride comfort.

[0070] In addition, the right ear position of the main driver is relatively open, which is convenient for installing the microphone without causing too much interference to the driver's normal operation and vision. At the same time, the microphone installed here can collect noise signals more stably and reduce data errors caused by equipment shaking or displacement.

[0071] In addition, the seat is one of the main parts of contact between the driver and the vehicle. The vibration at the driver's seat will be directly transmitted to the driver, affecting his driving comfort. By obtaining the vibration signal at the driver's seat of the vehicle, the impact of this vibration on driving comfort can be quantitatively evaluated so that measures can be taken to improve it.

[0072] Step S20: obtaining low-speed vibration information of the vehicle by performing data processing on the noise signal and the vibration signal.

[0073] It should be noted that data processing of vibration signals and noise signals is to extract valuable information from the original signals, which can better understand and analyze the vehicle's operating conditions, driving comfort and other issues.

[0074] In addition, vehicle low-speed jitter usually refers to the obvious vibration of the vehicle body, steering wheel or seat when the vehicle is driving at a low speed (usually around 20-60 km / h). And the low-speed jitter of the vehicle is usually accompanied by noise problems, which may be related to factors such as the powertrain, tire cavity modal resonance, the dynamic characteristics of the electric drive system, and the pressure pulsation of the brake system. Solving these problems requires comprehensive analysis and optimization of the vehicle's noise, vibration and harshness (NVH) performance.

[0075] Therefore, after obtaining the vehicle's low-speed jitter information, the causes and associated factors of the vehicle's low-speed vibration noise can be analyzed based on the vehicle's low-speed jitter information.

[0076] In a specific embodiment, the noise signal and the vibration signal can be preprocessed to obtain preprocessed data, wherein the preprocessing at least includes: filtering, noise reduction and signal enhancement; based on the preprocessed data, identifying and extracting the engine main-order noise and vibration data; and obtaining the vehicle low-speed jitter information by performing data analysis on the engine main-order noise and vibration data.

[0077] Specifically, by designing various filters, such as low-pass filters, high-pass filters, band-pass filters, etc., unnecessary frequency components in the noise signal are filtered out and the frequency components of the useful signal are retained; various noise reduction algorithms are used to process the noisy signal, such as wavelet noise reduction, adaptive filtering, etc., and the noise components are suppressed and the useful signal is enhanced by decomposing and reconstructing the signal; some signal enhancement technologies, such as signal averaging and correlation detection, are used to increase the strength of the useful signal relative to the noise signal and improve the signal quality; the extracted engine main-order noise and vibration data are analyzed, especially focusing on the data performance under the low-speed running state of the vehicle, and the low-speed jitter information is determined according to the analysis results, including but not limited to the jitter intensity, frequency distribution and its change law over time.

[0078] For easier understanding, please refer to Figure 2 , Figure 2 This is a brief schematic diagram of the low-speed vibration information of the vehicle in this embodiment, and according to Figure 2 The information obtained from the rectangular box marked with black lines in the lower left corner is that the second-order vibration frequency of the engine is more prominent in the low vehicle speed range (about 0-60 km / h).

[0079] Step S30: Based on the low-speed vibration information of the vehicle, determine the drive motor torque according to the vehicle parameter information.

[0080] It should be noted that the vehicle parameter information includes at least data such as mass, stiffness, engine speed and torque, drive motor speed, power and vehicle speed.

[0081] In a specific implementation, vibration signals of the active and passive ends of the suspension can be collected; based on the low-speed jitter information of the vehicle and the vibration signals of the active and passive ends of the suspension, the second-order vibration frequencies of the active and passive ends of the suspension are obtained according to the vehicle parameter information; the suspension vibration isolation rate is obtained according to the second-order vibration frequencies of the active and passive ends of the suspension; and the drive motor torque is determined according to the suspension vibration isolation rate.

[0082] Specifically, vibration sensors are arranged at the active end (usually the end connected to the engine or power source) and the passive end (the end connected to the frame or body) of the suspension. The sensor should be installed in a position where the vibration can be accurately measured. Generally, a rigid part near the suspension connection point is selected. According to the frequency range and amplitude of the vibration, a suitable acceleration sensor or displacement sensor is selected. When the vehicle is in a specific working condition (such as idling, constant speed driving, acceleration, etc.), the vibration signals of the active and passive sensors are synchronously collected using a data acquisition system. According to the collected vibration signals of the active and passive sensors, the second-order vibration frequency of the active and passive ends of the suspension can be obtained in combination with the vehicle parameter information; and the suspension vibration isolation rate can be obtained through the second-order vibration frequency of the active and passive ends of the suspension. The range of smaller suspension vibration isolation rate also corresponds to the range of larger drive motor torque, so the drive motor torque can also be determined.

[0083] For easier understanding, please refer to Figure 3 , Figure 3 This is a schematic diagram of low-speed vibration and noise conditions. Figure 3 is based on Figure 2 The low-speed vibration information of the vehicle is combined with the vehicle parameter information to obtain a schematic diagram, where: Figure 3 The red curve in the figure can represent the change law of the driving motor torque, the green curve can represent the change law of the engine torque, and the blue curve can represent the change law of the engine speed. The horizontal axis of the coordinate system represents the vehicle speed, the vertical axis on the left represents the torque size, and the vertical axis on the right represents the speed size.

[0084] Step S40: If the driving motor torque is greater than a preset torque threshold, the vehicle control strategy is adjusted by adjusting associated factors.

[0085] It should be noted that the preset torque threshold is a manually set value. When the drive motor torque is greater than the preset torque threshold, it can be considered that the drive motor torque is too large. For example, according to Figure 3 Based on the information, it can be determined that the cause of the NVH problem is that the torque of the drive motor is too large when the vehicle is driving at low speed, the powertrain mount works in the stiffness nonlinear area, the mount vibration isolation deteriorates, and the engine vibration excitation is transmitted to the whole vehicle, causing low-speed jitter and high noise. Therefore, the related factors can be determined to be the torque of the drive motor, vehicle speed, engine operating conditions and power.

[0086] In addition, the vehicle control strategy may be a control strategy that suppresses low-speed vibration and noise of the vehicle by adjusting related factors.

[0087] This embodiment provides a method for suppressing low-speed vibration noise of a vehicle based on correlation factors, obtaining a noise signal and a vibration signal; obtaining low-speed vibration information of the vehicle by performing data processing on the noise signal and the vibration signal; determining the drive motor torque based on the low-speed vibration information of the vehicle according to the vehicle parameter information; if the drive motor torque is greater than a preset torque threshold, adjusting the vehicle control strategy by adjusting the correlation factors. The cause and correlation factors of the low-speed vibration noise of the vehicle are determined by judging the magnitude of the drive motor torque, and a corresponding vehicle control strategy is formulated based on the correlation factors, thereby suppressing the low-speed vibration noise of the vehicle.

[0088] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , step S40 includes steps S401 to S403:

[0089] Step S401: When the actual vehicle speed is greater than the upper speed limit, the engine is used to supplement power according to the first required power, and the vehicle is controlled to maintain the series power generation mode unchanged.

[0090] It should be noted that before step S40, it is necessary to test the vibration acceleration under different drive motor torques; if the vibration acceleration is equal to the preset acceleration threshold, the drive motor torque corresponding to the vibration acceleration is recorded as the maximum torque of the drive motor; the vehicle speed upper limit is determined according to the vehicle low-speed jitter information; and the power balance point is determined according to the power balance and demand scenario.

[0091] In a specific embodiment, the vibration acceleration under different drive motor torques is tested, and the vibration acceleration of the vehicle in a non-shaking state evaluated by subjective evaluation is used as a preset acceleration threshold. If the vibration acceleration is equal to the preset acceleration threshold, the drive motor torque corresponding to the preset acceleration is recorded as the maximum torque of the drive motor (T1). The upper speed limit of the vehicle shaking can be determined from the vehicle low-speed shaking information above, which is recorded as H1. For example, according to Figure 2 or Figure 3 It can be determined that the upper speed limit of the vehicle shaking is 60 km / h; according to the electric balance and user demand scenarios, the electric balance point under different driving modes can be determined, recorded as soc1, and this electric balance point can be used to start the engine.

[0092] Specifically, when the actual vehicle speed is greater than H1, the engine is used to supplement power according to the first required power, and the vehicle is controlled to maintain the series power generation mode unchanged.

[0093] It is understandable that the initial state of the hybrid vehicle in this embodiment is the series power generation mode. In the series power generation mode, the engine does not directly drive the vehicle, but drives the generator to operate. Part of the electric energy generated by the generator is used to directly drive the motor to drive the vehicle, and the other part is used to charge the battery pack. In this mode, the vehicle is driven entirely by the drive motor, and the engine only plays the role of generating electricity, just like a mobile power station.

[0094] In addition, demand power usually refers to the electric power required by the vehicle under various driving conditions to meet various needs such as power output, maintaining normal operation of the vehicle, and powering on-board equipment.

[0095] Step S402: When the actual vehicle speed is less than or equal to the upper speed limit, and the actual power is greater than or equal to the power balance point, starting the engine is prohibited, and the vehicle is controlled to enter the pure electric mode.

[0096] It should be noted that in pure electric mode, hybrid vehicles rely entirely on the electricity stored in the battery pack to drive the vehicle. The vehicle's power system cuts off the power output of the engine, and the drive motor directly drives the wheels. The drive motor obtains electrical energy from the battery and converts it into mechanical energy to propel the vehicle. In addition, the drive motor makes less noise when running, which can create a quieter and more comfortable driving environment in the car than the engine.

[0097] In a specific implementation, when the actual vehicle speed is ≤H1 and the actual power is ≥soc1, in order to avoid jitter and noise problems, starting the engine is prohibited and the vehicle is controlled to enter pure electric mode.

[0098] Step S403: When the actual vehicle speed is less than or equal to the upper speed limit, and the actual power is less than the power balance point, the engine is used to supplement power according to the second required power, and outputs power according to the required torque of the drive motor and the maximum torque of the drive motor, and the vehicle is controlled to maintain the series power generation mode unchanged.

[0099] In specific implementation, when the actual vehicle speed is ≤ H1 and the actual power is less than soc1, in order to avoid vehicle power feeding, the battery needs to be supplemented by the engine, that is, the engine is supplemented according to the second required power; at the same time, in order to avoid jitter and noise and avoid power shortage, the maximum torque of the drive motor needs to be limited. The first required power and the second required power are usually different.

[0100] Therefore, if the required torque of the drive motor is less than the maximum torque of the drive motor (T1), the vehicle is controlled to output with the required torque of the drive motor; if the required torque of the drive motor is greater than or equal to the maximum torque of the drive motor (T1), the vehicle is controlled to output with the maximum torque of the drive motor (T1).

[0101] It should be noted that power feeding usually refers to the phenomenon that the battery cannot be normally charged and replenished due to charging system failure or other reasons during the driving process of the vehicle, causing the battery power to gradually decrease. For example, generator failure, charging line disconnection, etc. will cause the battery to be unable to obtain power replenishment in time while the vehicle is running, resulting in a power feeding state.

[0102] Low power generally refers to the state where the battery power of a vehicle is excessively consumed due to various reasons while it is stationary or in use, and is lower than the normal usage level. This may be caused by the fact that the vehicle has not been used for a long time but some devices on the vehicle are still consuming power, or the vehicle uses high-power electrical equipment, which exceeds the battery's power supply capacity and the charging system's replenishment capacity.

[0103] In this embodiment, when the actual vehicle speed is greater than the upper speed limit, the engine is used to supplement power according to the first required power, and the vehicle is controlled to maintain the series power generation mode unchanged; when the actual vehicle speed is less than or equal to the upper speed limit, and the actual power is greater than or equal to the power balance point, the engine is prohibited from starting, and the vehicle is controlled to enter the pure electric mode; when the actual vehicle speed is less than or equal to the upper speed limit, and the actual power is less than the power balance point, the engine is used to supplement power according to the second required power, and output according to the required torque of the drive motor and the maximum torque of the drive motor, and the vehicle is controlled to maintain the series power generation mode unchanged. Based on different vehicle states, by adjusting the associated factors to adjust different vehicle control strategies, the low-speed jitter and noise problems are solved with the most economical strategy without changing the hardware and affecting other performances, providing users with a quiet riding environment.

[0104] For example, in order to help understand the implementation process of the vehicle low-speed vibration noise suppression method based on correlation factors obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 5 , Figure 5A simplified flow chart of a method for suppressing low-speed vibration and noise of a vehicle based on correlation factors is provided, specifically: obtaining a noise signal and a vibration signal; performing data processing on the noise signal and the vibration signal to obtain low-speed vibration information of the vehicle; determining the torque of a driving motor based on the low-speed vibration information of the vehicle according to vehicle parameter information; if the torque of the driving motor is greater than a preset torque threshold, determining that the cause of the vibration and noise of the whole vehicle is that the driving motor is large, causing the suspension of the powertrain to enter a nonlinear region, and the vibration isolation of the suspension is deteriorated; determining the actual vehicle speed, if the actual vehicle speed is greater than the upper speed limit (H1), supplementing the power through the engine according to the first required power, and controlling the vehicle to maintain the series power generation mode unchanged; if the actual vehicle speed is less than or equal to the upper speed limit (H1), and the actual vehicle speed is less than or equal to the upper speed limit (H1), and the actual vehicle speed is greater ... If the actual power is greater than or equal to the power balance point (soc1), the engine is prohibited from starting, and the vehicle is controlled to enter the pure electric mode; if the actual vehicle speed is less than or equal to the upper speed limit (H1), and the actual power is less than the power balance point (soc1), the engine is used to supplement power according to the second required power, and output according to the required torque of the drive motor and the maximum torque of the drive motor; if the required torque of the drive motor is less than the maximum torque of the drive motor (T1), the vehicle is controlled to output with the required torque of the drive motor; if the required torque of the drive motor is greater than or equal to the maximum torque of the drive motor (T1), the vehicle is controlled to output with the maximum torque of the drive motor (T1); and the vehicle is controlled to maintain the series power generation mode unchanged. The cause and related factors of the low-speed vibration noise of the vehicle are determined by judging the size of the drive motor torque, and the corresponding vehicle control strategy is formulated according to the related factors, thereby suppressing the low-speed vibration noise of the vehicle.

[0105] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle low-speed vibration noise suppression method based on correlation factors of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0106] This application also provides a vehicle low-speed vibration noise suppression device based on correlation factors, please refer to Figure 6 , the vehicle low-speed vibration noise suppression device based on correlation factors includes:

[0107] The acquisition module 10 is used to acquire noise signals and vibration signals.

[0108] The analysis module 20 is used to obtain the low-speed vibration information of the vehicle by performing data processing on the noise signal and the vibration signal.

[0109] The determination module 30 is used to determine the driving motor torque based on the low-speed vibration information of the vehicle and according to the vehicle parameter information.

[0110] The control module 40 is configured to adjust the vehicle control strategy by adjusting the associated factors if the driving motor torque is greater than a preset torque threshold.

[0111] The low-speed vibration and noise suppression device for a vehicle based on correlation factors provided by the present application adopts the low-speed vibration and noise suppression method for a vehicle based on correlation factors in the above-mentioned embodiment, which can solve the technical problem that the large torque of the driving motor at low speed with large throttle in the existing hybrid series power generation mode leads to low-speed jitter and large noise. Compared with the prior art, the beneficial effects of the low-speed vibration and noise suppression device for a vehicle based on correlation factors provided by the present application are the same as the beneficial effects of the low-speed vibration and noise suppression method for a vehicle based on correlation factors provided by the above-mentioned embodiment, and the other technical features of the low-speed vibration and noise suppression device for a vehicle based on correlation factors are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0112] In one embodiment, the control module 40 is also used to test the vibration acceleration under different drive motor torques; if the vibration acceleration is equal to a preset acceleration threshold, the drive motor torque corresponding to the vibration acceleration is recorded as the maximum torque of the drive motor; the vehicle speed upper limit is determined according to the low-speed jitter information of the vehicle; and the power balance point is determined according to the power balance and demand scenario.

[0113] In one embodiment, the control module 40 is also used for, when the actual vehicle speed is greater than the vehicle speed upper limit, supplementing power through the engine according to the first required power, and controlling the vehicle to maintain the series power generation mode unchanged; when the actual vehicle speed is less than or equal to the vehicle speed upper limit, and the actual power is greater than or equal to the power balance point, prohibiting the engine from starting, and controlling the vehicle to enter the pure electric mode; when the actual vehicle speed is less than or equal to the vehicle speed upper limit, and the actual power is less than the power balance point, supplementing power through the engine according to the second required power, and outputting according to the drive motor required torque and the maximum torque of the drive motor, and controlling the vehicle to maintain the series power generation mode unchanged.

[0114] In one embodiment, the control module 40 is further used to control the vehicle to output with the required torque of the drive motor if the required torque of the drive motor is less than the maximum torque of the drive motor; if the required torque of the drive motor is greater than or equal to the maximum torque of the drive motor, control the vehicle to output with the maximum torque of the drive motor.

[0115] In one embodiment, the determination module 30 is also used to collect vibration signals of the active and passive ends of the suspension; based on the low-speed jitter information of the vehicle and the vibration signals of the active and passive ends of the suspension, the second-order vibration frequencies of the active and passive ends of the suspension are obtained according to the vehicle parameter information; the suspension vibration isolation rate is obtained according to the second-order vibration frequencies of the active and passive ends of the suspension; and the driving motor torque is determined according to the suspension vibration isolation rate.

[0116] In one embodiment, the analysis module 20 is also used to preprocess the noise signal and the vibration signal to obtain preprocessed data, wherein the preprocessing at least includes: filtering, noise reduction and signal enhancement; based on the preprocessed data, identifying and extracting the engine main-order noise and vibration data; and obtaining the vehicle low-speed jitter information by performing data analysis on the engine main-order noise and vibration data.

[0117] In one embodiment, the acquisition module 10 is further used to acquire a noise signal at the right ear of the vehicle driver through a microphone; and to acquire a vibration signal at the vehicle driver's seat through a sensor.

[0118] The present application provides a vehicle, 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 so that the at least one processor can execute the vehicle low-speed vibration and noise suppression method based on correlation factors in the above-mentioned embodiment one.

[0119] Reference below Figure 7 , which shows a schematic diagram of a structure of a vehicle suitable for implementing the embodiment of the present application. The vehicle 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), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The vehicle shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0120] like Figure 7As shown, the vehicle may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for vehicle operation are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0121] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a 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 through 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.

[0122] The vehicle provided by the present application adopts the low-speed vibration and noise suppression method of the vehicle based on the correlation factors in the above embodiment, which can solve the technical problem that the large torque of the driving motor at low speed with large throttle in the existing hybrid series power generation mode leads to low-speed jitter and large noise. Compared with the prior art, the beneficial effects of the vehicle provided by the present application are the same as the beneficial effects of the low-speed vibration and noise suppression method of the vehicle based on the correlation factors provided by the above embodiment, and the other technical features in the vehicle are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0123] It should be understood that the various parts disclosed in this application can be implemented by 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.

[0124] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0125] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle low-speed vibration and noise suppression method based on correlation factors in the above-mentioned embodiment.

[0126] The computer-readable storage medium provided in the present 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 of the above. More specific examples of computer-readable 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 of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable 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 of the above.

[0127] The computer-readable storage medium may be included in the vehicle, or may exist independently without being installed in the vehicle.

[0128] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle, the vehicle: obtains noise signals and vibration signals; obtains vehicle low-speed jitter information by performing data processing on the noise signals and the vibration signals; determines the drive motor torque based on the vehicle low-speed jitter information and according to vehicle parameter information; if the drive motor torque is greater than a preset torque threshold, adjusts the vehicle control strategy by adjusting related factors.

[0129] 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 separate 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 through 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).

[0130] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the 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 square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square 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 square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0131] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0132] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for suppressing low-speed vibration and noise of a vehicle based on correlation factors, and can solve the technical problem that the large torque of the driving motor at low speed with a large throttle in the existing hybrid series power generation mode leads to low-speed jitter and large noise. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the method for suppressing low-speed vibration and noise of a vehicle based on correlation factors provided by the above-mentioned embodiment, and will not be repeated here.

[0133] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the method for suppressing low-speed vibration and noise of a vehicle based on correlation factors as described above.

[0134] The computer program product provided by the present application can solve the technical problem that the large torque of the driving motor at low speed with high throttle in the existing hybrid series power generation mode leads to low-speed vibration and high noise. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the vehicle low-speed vibration and noise suppression method based on correlation factors provided by the above embodiment, and will not be elaborated here.

[0135] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for suppressing low-speed vehicle vibration noise based on correlation factors, characterized in that: The method comprises: Acquire noise signals and vibration signals; By performing data processing on the noise signal and the vibration signal, low-speed jitter information of the vehicle is obtained; Based on the low-speed vibration information of the vehicle, determining the torque of the driving motor according to the vehicle parameter information; If the driving motor torque is greater than a preset torque threshold, the vehicle control strategy is adjusted by adjusting associated factors.

2. The method according to claim 1, characterized in that Before the step of adjusting the vehicle control strategy by adjusting the associated factors if the drive motor torque is greater than the preset torque threshold, the method further includes: Test the vibration acceleration under different drive motor torques; If the vibration acceleration is equal to the preset acceleration threshold, the drive motor torque corresponding to the vibration acceleration is recorded as the maximum torque of the drive motor; Determining the upper speed limit of the vehicle according to the low-speed jitter information of the vehicle; Determine the power balance point based on power balance and demand scenarios.

3. The method according to claim 1 or 2, characterized in that The associated factors include at least: drive motor torque, vehicle speed, engine operating conditions and power; The step of adjusting the vehicle control strategy by adjusting the associated factors comprises: When the actual vehicle speed is greater than the upper speed limit, the engine is used to supplement power according to the first required power, and the vehicle is controlled to maintain the series power generation mode unchanged; When the actual vehicle speed is less than or equal to the upper speed limit, and the actual power is greater than or equal to the power balance point, starting the engine is prohibited, and the vehicle is controlled to enter the pure electric mode; When the actual vehicle speed is less than or equal to the upper speed limit, and the actual power is less than the power balance point, the engine is used to supplement power according to the second required power, and outputs power according to the required torque of the drive motor and the maximum torque of the drive motor, and controls the vehicle to maintain the series power generation mode unchanged.

4. The method according to claim 3, characterized in that The step of outputting according to the required torque of the driving motor and the maximum torque of the driving motor comprises: If the required torque of the driving motor is less than the maximum torque of the driving motor, controlling the vehicle to output at the required torque of the driving motor; If the required torque of the driving motor is greater than or equal to the maximum torque of the driving motor, the vehicle is controlled to output at the maximum torque of the driving motor.

5. The method according to claim 1, characterized in that The step of determining the driving motor torque according to the vehicle parameter information based on the vehicle low-speed jitter information comprises: Collect vibration signals from the active and passive ends of the suspension; Based on the low-speed vibration information of the vehicle and the vibration signals of the active and passive ends of the suspension, the second-order vibration frequencies of the active and passive ends of the suspension are obtained according to the vehicle parameter information; Obtaining a suspension vibration isolation rate according to the second-order vibration frequencies of the active end and the passive end of the suspension; The driving motor torque is determined according to the suspension vibration isolation rate.

6. The method according to claim 1, characterized in that The step of obtaining the low-speed jitter information of the vehicle by performing data processing on the noise signal and the vibration signal comprises: Preprocessing the noise signal and the vibration signal to obtain preprocessed data, wherein the preprocessing at least includes: filtering, noise reduction and signal enhancement; Based on the preprocessed data, identifying and extracting main order noise and vibration data of the engine; The low-speed vibration information of the vehicle is obtained by analyzing the main-order noise and vibration data of the engine.

7. The method according to claim 1, characterized in that The step of obtaining the noise signal and the vibration signal comprises: Acquire the noise signal at the right ear of the driver through the microphone; The vibration signal of the vehicle's driver's seat is obtained through the sensor.

8. A low-speed vehicle vibration noise suppression device based on correlation factors, characterized in that: The vehicle low-speed vibration noise suppression device based on correlation factors includes: An acquisition module, used for acquiring noise signals and vibration signals; An analysis module, used for obtaining low-speed jitter information of the vehicle by performing data processing on the noise signal and the vibration signal; A determination module, configured to determine the drive motor torque based on the low-speed vibration information of the vehicle and according to the vehicle parameter information; The control module is used to adjust the vehicle control strategy by adjusting the associated factors if the driving motor torque is greater than a preset torque threshold.

9. A vehicle, characterized in that: The vehicle comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for suppressing low-speed vibration and noise of a vehicle based on correlation factors as claimed in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle low-speed vibration and noise suppression method based on correlation factors as described in any one of claims 1 to 7 are implemented.

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