Automobile steering wheel vibration optimization method, device and equipment

Abstract

The invention discloses an automobile steering wheel vibration optimization method, device and equipment, and relates to the technical field of vehicle control, and the method comprises the steps: detecting a vibration acceleration value of a steering wheel, and comparing the vibration acceleration value with a preset vibration acceleration threshold value; if the vibration acceleration value is larger than a vibration acceleration threshold value, a target strategy is executed until the vibration acceleration value is smaller than or equal to the vibration acceleration threshold value, and execution of the target strategy at least comprises execution of a tire unbalance amount and uniformity adjustment strategy; executing a damper damping adjustment strategy; a lower swing arm hydraulic bushing damping adjusting strategy is executed; a lower swing arm hydraulic bushing rigidity adjusting strategy is executed; and executing the damping adjustment strategy of the electric power steering system. Corresponding adjustment is carried out through multiple target strategies to optimize the vibration problem of the steering wheel, and the universality of the automobile steering wheel vibration optimization method is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device and equipment for optimizing the vibration of an automobile steering wheel. Background Art

[0002] When the vehicle is driving at high speed, the steering wheel will vibrate from time to time, which will not only affect the driver's comfort, but also may affect driving safety. The mechanism of steering wheel vibration is complex, involving the coupling of multiple systems such as tires, suspension, and steering. It is often difficult to completely avoid it through theoretical analysis, and it is even more difficult to improve it in the later stages of vehicle project development.

[0003] At present, the optimization methods for automobile steering wheel vibration are not considered comprehensively, which leads to the problem that the steering wheel optimization effect is not obvious. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device and equipment for optimizing the vibration of a vehicle steering wheel, aiming to solve the technical problem that the prior art does not fully consider the method for optimizing the vibration of a vehicle steering wheel, resulting in an unobvious steering wheel optimization effect.

[0005] To achieve the above objectives, the present application proposes a method for optimizing the vibration of a vehicle steering wheel, the method comprising:

[0006] Detecting a vibration acceleration value of the steering wheel, and comparing the vibration acceleration value with a preset vibration acceleration threshold;

[0007] If the vibration acceleration value is greater than the vibration acceleration threshold, executing the target strategy until the vibration acceleration value is less than or equal to the vibration acceleration threshold, wherein executing the target strategy at least includes:

[0008] Execute tire imbalance and uniformity adjustment strategies;

[0009] Execute shock absorber damping adjustment strategy;

[0010] Implement the damping adjustment strategy of the hydraulic bushing of the lower control arm;

[0011] Implement the lower arm hydraulic bushing stiffness adjustment strategy;

[0012] Execute the electric power steering system damping adjustment strategy.

[0013] In one embodiment, the step of executing the damping adjustment strategy of the electric power steering system includes:

[0014] Based on different vehicle driving conditions, by adjusting the damping compensation current of the booster motor, a booster motor damping compensation table is generated, wherein the booster motor damping compensation table includes a relationship between a target booster motor damping compensation current and a vehicle speed, a vehicle body vibration acceleration, and a booster motor torque;

[0015] Acquire the actual vehicle speed, actual power-assist motor torque and actual vehicle body vibration acceleration according to the vehicle status;

[0016] Based on the actual vehicle driving condition, the power-assisted motor damping compensation table is queried according to the actual vehicle speed, the actual power-assisted motor torque and the actual vehicle body vibration acceleration to obtain a target damping compensation current value;

[0017] The damping compensation current value is adjusted to the target damping compensation current value.

[0018] In one embodiment, the step of generating a booster motor damping compensation table by adjusting the damping compensation current of the booster motor based on different vehicle driving conditions includes:

[0019] The vibration acceleration value of the steering wheel is adjusted by adjusting the damping compensation current of the power-assist motor;

[0020] When the vibration acceleration value of the steering wheel is equal to the vibration acceleration threshold, the relationship between the target power-assist motor damping compensation current and the vehicle speed, the vehicle body vibration acceleration, and the power-assist motor torque is recorded;

[0021] Control the vehicle to run under different working conditions;

[0022] The relationship between the target power-assisted motor damping compensation current and the vehicle speed, vehicle body vibration acceleration, and power-assisted motor torque corresponding to each driving condition is recorded, and a power-assisted motor damping compensation table is generated.

[0023] In one embodiment, the step of executing the lower arm hydraulic bushing stiffness adjustment strategy includes:

[0024] Get the stiffness of the hydraulic bushing of the lower arm;

[0025] If the stiffness of the lower swing arm hydraulic bushing is not equal to the preset stiffness value, the stiffness of the lower swing arm hydraulic bushing is adjusted by replacing the lower swing arm hydraulic bushing with a different hardness;

[0026] Until the stiffness of the lower swing arm hydraulic bushing is equal to the preset stiffness value.

[0027] In one embodiment, the step of executing the damping adjustment strategy of the lower swing arm hydraulic bushing includes:

[0028] Obtain the damping peak frequency and damping angle of the hydraulic bushing of the lower swing arm;

[0029] If the damping peak frequency of the hydraulic bushing of the lower swing arm is not equal to the preset frequency value, or the damping angle is not equal to the preset damping angle, the damping peak frequency and the damping angle of the hydraulic bushing of the lower swing arm are adjusted by adjusting the hydraulic chamber structural parameters or hydraulic oil characteristics of the hydraulic bushing of the lower swing arm;

[0030] Until the damping peak frequency of the lower swing arm hydraulic bushing is equal to the preset frequency value, and the damping angle is equal to the preset damping angle.

[0031] In one embodiment, the step of executing the shock absorber damping adjustment strategy includes:

[0032] Get the damping force of the shock absorber;

[0033] If the damping force of the shock absorber is not equal to the preset damping value, adjusting the damping current of the shock absorber to adjust the damping force of the shock absorber;

[0034] Until the damping force of the shock absorber is equal to the preset damping value.

[0035] In one embodiment, the step of executing the tire imbalance and uniformity adjustment strategy includes:

[0036] Obtaining tire imbalance and tire uniformity parameters, wherein the tire uniformity parameters include at least radial force deviation, radial force first harmonic, lateral force deviation, radial dimension deviation and lateral dimension deviation;

[0037] If the radial force deviation is greater than a first preset value, reducing the radial force deviation to the first preset value;

[0038] If the first harmonic of the radial force is greater than the second preset value, reducing the first harmonic of the radial force to the second preset value;

[0039] If the lateral force deviation is greater than a third preset value, reducing the lateral force deviation to the third preset value;

[0040] If the radial dimension deviation is greater than a fourth preset value, reducing the radial dimension deviation to the fourth preset value;

[0041] If the lateral dimension deviation is greater than the fifth preset value, reducing the lateral dimension deviation to the fifth preset value;

[0042] If the tire imbalance is greater than a sixth preset value, the tire imbalance is reduced to the sixth preset value.

[0043] In one embodiment, the step of detecting the vibration acceleration value of the steering wheel and comparing the vibration acceleration value with a preset vibration acceleration threshold value comprises:

[0044] Acquire vehicle vibration signal;

[0045] Obtaining a steering wheel vibration frequency and a steering system torsion frequency according to the vehicle vibration signal;

[0046] If the difference between the steering wheel vibration frequency and the steering system torsion frequency is less than a preset difference threshold, obtaining a vibration acceleration value of the steering wheel according to the steering wheel vibration frequency;

[0047] The vibration acceleration value is compared with a preset vibration acceleration threshold.

[0048] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle steering wheel vibration optimization device, the vehicle steering wheel vibration optimization device comprising:

[0049] A comparison module, used for detecting a vibration acceleration value of the steering wheel, and comparing the vibration acceleration value with a preset vibration acceleration threshold;

[0050] An execution module, configured to execute a target strategy if the vibration acceleration value is greater than a vibration acceleration threshold until the vibration acceleration value is less than or equal to the vibration acceleration threshold, wherein executing the target strategy at least includes:

[0051] Execute tire imbalance and uniformity adjustment strategies;

[0052] Execute shock absorber damping adjustment strategy;

[0053] Implement the damping adjustment strategy of the hydraulic bushing of the lower control arm;

[0054] Implement the lower arm hydraulic bushing stiffness adjustment strategy;

[0055] Execute the electric power steering system damping adjustment strategy.

[0056] In addition, to achieve the above-mentioned objectives, the present application also proposes a vehicle steering wheel vibration optimization device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle steering wheel vibration optimization method as described above.

[0057] 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 a processor, the steps of the vehicle steering wheel vibration optimization method described above are implemented.

[0058] 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, the steps of the vehicle steering wheel vibration optimization method described above are implemented.

[0059] One or more technical solutions proposed in this application detect the vibration acceleration value of the steering wheel and compare the vibration acceleration value with a preset vibration acceleration threshold; if the vibration acceleration value is greater than the vibration acceleration threshold, the target strategy is executed until the vibration acceleration value is less than or equal to the vibration acceleration threshold, wherein the execution of the target strategy at least includes: executing the tire imbalance and uniformity adjustment strategy; executing the shock absorber damping adjustment strategy; executing the lower arm hydraulic bushing damping adjustment strategy; executing the lower arm hydraulic bushing stiffness adjustment strategy; executing the electric power steering system damping adjustment strategy. Corresponding adjustments are made through a variety of target strategies to optimize the steering wheel vibration problem, thereby improving the universality of the vehicle steering wheel vibration optimization method. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] 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.

[0061] 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.

[0062] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the vehicle steering wheel vibration optimization method of the present application;

[0063] Figure 2 A schematic diagram of a flow chart provided for the second embodiment of the vehicle steering wheel vibration optimization method of the present application;

[0064] Figure 3 This is a schematic diagram of the vibration acceleration of the steering wheel when the vehicle is traveling in a state of steering wheel vibration in Embodiment 2 of the automobile steering wheel vibration optimization method of the present application;

[0065] Figure 4 This is a schematic diagram of the steering wheel vibration acceleration after the tire imbalance and uniformity adjustment strategy is implemented in an embodiment of the automobile steering wheel vibration optimization method of the present application;

[0066] Figure 5 This is a schematic diagram of the steering wheel vibration acceleration after the shock absorber damping adjustment strategy is executed in the first embodiment of the automobile steering wheel vibration optimization method of the present application;

[0067] Figure 6 This is a schematic diagram of the steering wheel vibration acceleration after the lower arm hydraulic bushing damping adjustment strategy is implemented in the first embodiment of the automobile steering wheel vibration optimization method of the present application;

[0068] Figure 7 This is a schematic diagram of the steering wheel vibration acceleration after the electric power steering system damping adjustment strategy is executed in the first embodiment of the automobile steering wheel vibration optimization method of the present application;

[0069] Figure 8 This is a schematic diagram of the module structure of the vehicle steering wheel vibration optimization device according to an embodiment of the present application;

[0070] Fig. 9 This is a schematic diagram of the device structure of the hardware operating environment involved in the automobile steering wheel vibration optimization method in the embodiment of the present application.

[0071] 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

[0072] 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.

[0073] 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.

[0074] The main solutions of the embodiments of this application are:

[0075] When the vehicle is driving at high speed, the steering wheel will vibrate from time to time, which will not only affect the driver's comfort, but also may affect driving safety. The mechanism of steering wheel vibration is complex, involving the coupling of multiple systems such as tires, suspension, and steering. It is often difficult to completely avoid it through theoretical analysis. In the later stages of vehicle project development, it is even more difficult to improve. The existing technology does not fully consider the optimization method of automobile steering wheel vibration, which will lead to the problem that the steering wheel optimization effect is not obvious.

[0076] The present application provides a solution to optimize the steering wheel vibration problem by making corresponding adjustments through multiple target strategies, thereby improving the universality of the automobile steering wheel vibration optimization method.

[0077] It should be noted that the execution subject of this embodiment can 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 capable of realizing the above functions, a car steering wheel vibration optimization device, etc. The following takes the car steering wheel vibration optimization device as an example to illustrate this embodiment and the following embodiments.

[0078] Based on this, the embodiment of the present application provides a method for optimizing the vibration of a vehicle steering wheel, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle steering wheel vibration optimization method of the present application.

[0079] In this embodiment, the vehicle steering wheel vibration optimization method includes steps S10 to S20:

[0080] Step S10: Detecting the vibration acceleration value of the steering wheel, and comparing the vibration acceleration value with a preset vibration acceleration threshold.

[0081] It should be noted that the vibration acceleration value of the steering wheel is a physical quantity that describes the intensity of the steering wheel vibration. Acceleration is the ratio of the change in speed to the time taken for this change to occur. In the case of steering wheel vibration, it indicates the change in the steering wheel vibration speed per unit time. The larger the vibration acceleration value, the faster the steering wheel speed changes during the vibration process, and the more intense the vibration.

[0082] In a specific embodiment, a vehicle vibration signal is obtained; a steering wheel vibration frequency and a steering system torsion frequency are obtained according to the vehicle vibration signal; if a difference between the steering wheel vibration frequency and the steering system torsion frequency is less than a preset difference threshold, a vibration acceleration value of the steering wheel is obtained according to the steering wheel vibration frequency; and the vibration acceleration value is compared with a preset vibration acceleration threshold.

[0083] Specifically, a three-dimensional acceleration sensor can be arranged at the wheel center and the "12" position of the steering wheel to collect vibration signals at each measuring point, and the vehicle can be controlled to drive in a steering wheel shaking condition to reproduce the steering wheel shaking, and then the vehicle vibration signal can be tested; a spectrum analysis is performed on the vehicle vibration signal, and if the steering wheel vibration frequency is close to the steering system torsional frequency, the vibration acceleration value of the steering wheel is obtained according to the steering wheel vibration frequency; and the vibration acceleration value is compared with a preset vibration acceleration threshold.

[0084] In addition, the vehicle vibration signal is a physical signal that reflects the vibration state of each component of the vehicle during operation. The vibration signal is usually a time history record of the vibration of the vehicle components, including information such as the amplitude, frequency, and phase of the vibration. For example, when the tire of a vehicle encounters an uneven road surface during driving and vibrates, the sensor can capture the signal of this vibration changing over time.

[0085] The steering wheel vibration frequency refers to the number of times the steering wheel vibrates per unit time, and the unit is Hertz (Hz). It describes the periodic characteristics of the steering wheel vibration. For example, if the steering wheel vibrates 10 times per second, then its vibration frequency is 10Hz. This periodic vibration can be a simple single frequency vibration, or it can be a complex vibration composed of multiple different frequency components.

[0086] The torsional frequency of the steering system refers to the frequency of periodic torsional vibration generated by the steering system (including the steering wheel, steering column, steering gear and the parts connecting them, etc.) when subjected to torsional force. In simple terms, it is the number of times the steering system vibrates per second in the torsional direction, measured in Hertz (Hz). It is an important parameter for describing the dynamic characteristics of the steering system.

[0087] It can be understood that when the difference between the steering wheel vibration frequency and the steering system torsion frequency is less than the preset difference threshold, it can be understood that when the steering wheel vibration frequency is close to the steering system torsion frequency, shimmy phenomenon is likely to occur in this situation. The vibration of the car steering wheel caused by the shimmy phenomenon will not only greatly reduce driving comfort, but also interfere with the driver's precise control of the vehicle steering.

[0088] Step S20: If the vibration acceleration value is greater than the vibration acceleration threshold, the target strategy is executed until the vibration acceleration value is less than or equal to the vibration acceleration threshold, wherein the execution of the target strategy at least includes: executing the tire imbalance and uniformity adjustment strategy; executing the shock absorber damping adjustment strategy; executing the lower arm hydraulic bushing damping adjustment strategy; executing the lower arm hydraulic bushing stiffness adjustment strategy; and executing the electric power steering system damping adjustment strategy.

[0089] It should be noted that the vibration acceleration values ​​determined by the above steps include: X-direction (left and right) vibration acceleration, Y-direction (up and down) vibration acceleration and Z-direction (front and back) vibration acceleration. In this embodiment, the Y-direction vibration acceleration is mainly compared, and the obtained Y-direction vibration acceleration is compared with the preset vibration acceleration threshold. If the Y-direction vibration acceleration value is greater than the vibration acceleration threshold, and the Y-direction vibration acceleration value is also greater than the X-direction vibration acceleration and the Z-direction vibration acceleration, it can be determined that the vehicle has a steering wheel shimmy phenomenon, and then the target strategy is executed on the vehicle until the vibration acceleration value is less than or equal to the vibration acceleration threshold.

[0090] Among them, the tire imbalance and uniformity adjustment strategy is mainly to adjust the vibration acceleration of the vehicle steering wheel by adjusting the tire imbalance and uniformity parameters; the shock absorber damping adjustment strategy is mainly to adjust the vibration acceleration of the vehicle steering wheel by adjusting the damping force of the shock absorber; the lower arm hydraulic bushing damping adjustment strategy is mainly to adjust the vibration acceleration of the vehicle steering wheel by adjusting the damping peak frequency and damping angle of the lower arm hydraulic bushing; the lower arm hydraulic bushing stiffness adjustment strategy is mainly to adjust the vibration acceleration of the vehicle steering wheel by adjusting the stiffness of the lower arm hydraulic bushing; the Electric Power Steering (EPS) system damping adjustment strategy is mainly to adjust the compensation current of the power motor in the EPS system to adjust the vibration acceleration of the vehicle steering wheel.

[0091] This embodiment provides a method for optimizing the vibration of a car steering wheel, which detects the vibration acceleration value of the steering wheel and compares the vibration acceleration value with a preset vibration acceleration threshold; if the vibration acceleration value is greater than the vibration acceleration threshold, the target strategy is executed until the vibration acceleration value is less than or equal to the vibration acceleration threshold, wherein the execution of the target strategy at least includes: executing the tire imbalance and uniformity adjustment strategy; executing the shock absorber damping adjustment strategy; executing the lower arm hydraulic bushing damping adjustment strategy; executing the lower arm hydraulic bushing stiffness adjustment strategy; executing the electric power steering system damping adjustment strategy. Corresponding adjustments are made through a variety of target strategies to optimize the steering wheel vibration problem, thereby improving the universality of the car steering wheel vibration optimization method.

[0092] 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 2 , step S20 may include steps S201 to S205:

[0093] Step S201: Execute tire imbalance and uniformity adjustment strategy.

[0094] It is understandable that before this step, it is also necessary to obtain the vibration acceleration value of the steering wheel according to the vibration frequency of the steering wheel, which can be referred to Figure 3 , Figure 3 This is a schematic diagram of the steering wheel vibration acceleration when the vehicle is driving in a steering wheel vibration state. Figure 3 "V_Targ" refers to the preset acceleration threshold, "complaint" means the vehicle is driving in a state of steering wheel vibration, and the red curve represents the change of steering wheel vibration acceleration when the vehicle is driving in a state of steering wheel vibration.

[0095] In a specific embodiment, the tire imbalance and tire uniformity parameters are obtained, and the tire uniformity parameters at least include radial force deviation, radial force first harmonic, lateral force deviation, radial size deviation and lateral size deviation; if the radial force deviation is greater than a first preset value, the radial force deviation is reduced to the first preset value; if the radial force first harmonic is greater than a second preset value, the radial force first harmonic is reduced to the second preset value; if the lateral force deviation is greater than a third preset value, the lateral force deviation is reduced to the third preset value; if the radial size deviation is greater than a fourth preset value, the radial size deviation is reduced to the fourth preset value; if the lateral size deviation is greater than a fifth preset value, the lateral size deviation is reduced to the fifth preset value; if the tire imbalance is greater than a sixth preset value, the tire imbalance is reduced to the sixth preset value.

[0096] It should be noted that tire imbalance usually refers to the imbalance of centrifugal force generated by uneven mass distribution when the tire rotates. This imbalance will cause the tire to vibrate when rotating at high speed, affecting the vehicle's handling and comfort, and may accelerate the wear of the tire and suspension system. Tire uniformity parameters refer to the inconsistency of the tire's geometry and mechanical properties. These parameters usually include radial force variation (RFV), radial force first harmonic (H1RFV), lateral force variation (LFV), radial run-out (RRO) and lateral run-out (LRO). These parameters are important indicators of tire uniformity and balance, and are crucial for evaluating tire performance and quality.

[0097] In addition, the value range of the first preset value, the second preset value, the third preset value, the fourth preset value, the fifth preset value and the sixth preset value may be a specific value or less.

[0098] It should be explained that the greater the tire imbalance and tire uniformity parameters, the more obvious the steering wheel shake, and as the vehicle speed increases, the steering wheel shake becomes more obvious. Therefore, it is necessary to reduce the tire imbalance and tire uniformity parameters as much as possible. In this embodiment, the tire imbalance can be reduced to 10g or less. In addition, refer to Table 1, which is the reference preset values ​​of each tire uniformity parameter in this embodiment.

[0099] Table 1:

[0100]

[0101] In addition, please refer to Figure 4 , Figure 4 Schematic diagram of steering wheel vibration acceleration after executing tire imbalance and uniformity adjustment strategy in this embodiment. The green curve represents the change of steering wheel vibration acceleration after executing tire imbalance and uniformity adjustment strategy.

[0102] Step S202: Execute the shock absorber damping adjustment strategy.

[0103] It should be noted that the damping force of the shock absorber has a great influence on the vibration of the steering wheel. The greater the damping force of the shock absorber, the faster the vibration of the vehicle body will decay, and at the same time, the greater road impact will be transmitted to the vehicle body. If the damping force of the shock absorber is too small, the comfort of the whole vehicle on general roads will be preferred, but the vibration attenuation will be insufficient under certain working conditions. Therefore, the damping force of the shock absorber should have a suitable preset damping value. In addition, the shock absorber in this embodiment can be a damping adjustable shock absorber.

[0104] In addition, the shock absorber is a device used to reduce mechanical vibrations, and is widely used in vehicles such as automobiles, trains, ships, and buildings. The damping force of the shock absorber usually refers to the ability of the shock absorber to suppress vibrations through liquid or gas damping during operation.

[0105] In a specific implementation, the damping force of the shock absorber is obtained; if the damping force of the shock absorber is not equal to the preset damping value, the damping current of the shock absorber is adjusted to adjust the damping force of the shock absorber; until the damping force of the shock absorber is equal to the preset damping value.

[0106] In addition, please refer to Figure 5 , Figure 5 It is a schematic diagram of the steering wheel vibration acceleration after the shock absorber damping adjustment strategy is executed in this embodiment. The dark blue curve represents the change of the steering wheel vibration acceleration after the tire imbalance and uniformity adjustment strategy and the shock absorber damping adjustment strategy are successively executed.

[0107] Step S203: Execute the lower arm hydraulic bushing damping adjustment strategy.

[0108] It should be noted that the hydraulic bushing of the lower arm is an important component in the automobile suspension system. It is located at the connection between the lower arm and the vehicle body or subframe. Structurally, it is mainly composed of an inner sleeve, an outer sleeve, a rubber main spring and an internal hydraulic chamber. The inner sleeve is used to connect the lower arm, and the outer sleeve is connected to the vehicle body or subframe. The rubber main spring surrounds the inner and outer sleeves to play a preliminary role in buffering and isolating vibrations. The hydraulic chamber is filled with special hydraulic oil.

[0109] In a specific implementation, the damping peak frequency and damping angle of the lower arm hydraulic bushing are obtained; if the damping peak frequency of the lower arm hydraulic bushing is not equal to the preset frequency value, or the damping angle is not equal to the preset damping angle, the damping peak frequency and damping angle of the lower arm hydraulic bushing are adjusted by adjusting the hydraulic chamber structural parameters or hydraulic oil characteristics of the lower arm hydraulic bushing; until the damping peak frequency of the lower arm hydraulic bushing is equal to the preset frequency value, and the damping angle is equal to the preset damping angle.

[0110] Among them, the transmission path of the steering wheel vibration can be from tire vibration to steering knuckle to lower control arm to front subframe to body to steering wheel, so the vibration acceleration of the steering wheel can be reduced by adjusting the damping peak frequency and damping angle of the lower control arm hydraulic bushing; adjusting the hydraulic chamber structural parameters of the lower control arm hydraulic bushing mainly includes adjusting the throttle hole and the hydraulic chamber volume, and adjusting the hydraulic chamber structural parameters or hydraulic oil characteristics of the lower control arm hydraulic bushing can adjust the damping peak frequency and damping angle; the preset frequency value can be the steering wheel vibration frequency, or it can be an autonomously set preset frequency value, and the preset damping angle is an autonomously set preset damping angle.

[0111] In addition, the damping peak frequency refers to the frequency corresponding to the maximum value of the damping force in the damping system (such as a mechanical vibration system, an electrical oscillation system, etc.) when the damping force changes with frequency. The damping angle is a parameter used to describe the phase difference between the damping force and the elastic force in the damping system. In a vibration cycle, there is a time difference between the changes in the elastic force and the damping force. This difference is expressed by the phase difference, which is the damping angle.

[0112] Specifically, the damping characteristics can be adjusted by changing the size, number and shape of the throttle holes. For example, reducing the diameter of the throttle hole will increase the resistance to liquid flow. For the damping peak frequency, in general, when the flow resistance increases, the damping peak frequency will move toward the high frequency direction. At the same time, the damping angle will also increase because the proportion of the damping force in the overall force composition increases. In some high-end vehicles, there may be an adjustable throttle hole design, and the opening and closing degree of the throttle hole is controlled by the electronic control unit to achieve dynamic adjustment of the damping peak frequency and the damping angle.

[0113] Changing the volume of the hydraulic chamber will also affect the damping characteristics. Increasing the volume of the hydraulic chamber gives the liquid more room to buffer during vibration, which generally reduces the peak damping frequency. This is because the larger volume causes the liquid to flow slower under the same vibration conditions, and the damping force will also respond more slowly. At the same time, the damping angle may be reduced because the elastic force acts longer relative to the damping force. Adjusting the volume of the hydraulic chamber may require redesigning or modifying the bushing housing, which is a more complex process that requires consideration of sealing performance and overall structural stability.

[0114] The viscosity of hydraulic oil directly affects the flow resistance of the liquid in the hydraulic cavity. If a hydraulic oil with a higher viscosity is used, the flow resistance of the liquid increases, the damping peak frequency will increase, and the damping angle will also increase. This is because the high viscosity hydraulic oil makes it more difficult for the liquid to flow between the throttle hole and the hydraulic cavity, and the effect of the damping force is more obvious. In practical applications, hydraulic oil with a suitable viscosity can be selected for replacement according to the needs of the vehicle. However, when replacing the hydraulic oil, it is necessary to pay attention to its compatibility with the internal material of the bushing, as well as the requirements for sealing performance, to avoid hydraulic oil leakage and bushing damage.

[0115] In addition, please refer to Figure 6 , Figure 6 It is a schematic diagram of the steering wheel vibration acceleration after the lower arm hydraulic bushing damping adjustment strategy is executed in this embodiment. The purple curve represents the change of the steering wheel vibration acceleration after the tire imbalance and uniformity adjustment strategy, the shock absorber damping adjustment strategy and the lower arm hydraulic bushing damping adjustment strategy are successively executed.

[0116] Step S204: Execute the lower arm hydraulic bushing stiffness adjustment strategy.

[0117] In a specific embodiment, the stiffness of the lower control arm hydraulic bushing is obtained; if the stiffness of the lower control arm hydraulic bushing is not equal to a preset stiffness value, the stiffness of the lower control arm hydraulic bushing is adjusted by replacing the lower control arm hydraulic bushing with a different hardness; until the stiffness of the lower control arm hydraulic bushing is equal to the preset stiffness value.

[0118] It should be noted that the stiffness of the lower arm hydraulic bushing refers to the ability of the bushing to resist deformation when subjected to external force. From a physical point of view, it is the magnitude of the force required to produce a unit displacement of the bushing. For example, if a force of 100N is applied to the lower arm hydraulic bushing, causing it to displace 1mm, then its stiffness is 100N / mm.

[0119] In addition, when the lower arm hydraulic bushing has a high stiffness, its ability to buffer vibration is relatively weak. Vibration from the road surface is more likely to be transmitted directly to the vehicle body through the lower arm and bushing. For example, when the vehicle is driving on a bumpy road, the high-rigidity bushing will cause the vibration to be transmitted upward in a relatively direct manner. This vibration may be transmitted along the vehicle's suspension system, steering system, and other paths, ultimately causing the steering wheel to produce more obvious vibration.

[0120] On the contrary, when the stiffness of the lower arm hydraulic bushing is low, it can better cushion and absorb vibration. Under the same bumpy road driving conditions, the low-stiffness bushing will undergo greater elastic deformation during the vibration transmission process, thereby partially converting the vibration energy into the elastic potential energy of the rubber inside the bushing and the kinetic energy of the liquid in the hydraulic chamber. In this way, the vibration transmitted to the vehicle body will be weakened, thereby reducing the vibration transmitted to the steering wheel through the steering system. However, too low stiffness may also lead to a decrease in vehicle handling performance. For example, when driving at high speed or making sharp turns, the movement of the lower arm may be too flexible, affecting the stability of the vehicle.

[0121] Therefore, the stiffness of the lower control arm hydraulic bushing needs to have a suitable preset stiffness value. In this embodiment, the stiffness of the lower control arm hydraulic bushing is taken as an example to be equal to the preset stiffness value, that is, there is no need to adjust the stiffness of the lower control arm hydraulic bushing.

[0122] Step S205: Execute the electric power steering system damping adjustment strategy.

[0123] Among them, executing the damping adjustment strategy of the electric power steering system includes: based on different vehicle driving conditions, by adjusting the damping compensation current of the power-assisted motor, generating a power-assisted motor damping compensation table, the power-assisted motor damping compensation table including the relationship between the target power-assisted motor damping compensation current and the vehicle speed, the vehicle body vibration acceleration, and the power-assisted motor torque; obtaining the actual vehicle speed, the actual power-assisted motor torque and the actual vehicle body vibration acceleration according to the vehicle state; based on the actual vehicle driving conditions, querying the power-assisted motor damping compensation table according to the actual vehicle speed, the actual power-assisted motor torque and the actual vehicle body vibration acceleration to obtain the target damping compensation current value; adjusting the damping compensation current value to the target damping compensation current value.

[0124] It should be explained that the body acceleration sensor in the Continuous Damping Control (CDC) system can be used to obtain the body vibration acceleration; and EPS mainly includes a torque sensor, an electronic control unit (ECU), a power motor, a vehicle speed sensor, etc. The torque of the power motor is obtained through the torque sensor, and the power motor torque is converted into an electrical signal and sent to the ECU; the vehicle speed is obtained through the vehicle speed sensor, and the vehicle speed is converted into an electrical signal and sent to the ECU; the ECU can adjust the damping current of the power motor according to the electrical signal corresponding to the acquired power motor torque and the electrical signal corresponding to the vehicle speed to complete real-time control of the power steering; therefore, the actual vehicle speed, actual power motor torque and actual body vibration acceleration can be obtained through the CDC system and the EPS system according to the vehicle status.

[0125] The vehicle driving condition generally refers to a comprehensive description of the various working states and operating conditions of the vehicle during driving. It includes various factors such as the vehicle's driving speed, acceleration, deceleration, steering angle, road conditions, traffic environment, and vehicle load. These factors are combined to form complex and diverse driving conditions. In this embodiment, different vehicle driving conditions can be conditions with different degrees of bumpiness on the road.

[0126] The compensation current of the power steering motor can refer to the current applied additionally to optimize the performance of the steering system in addition to the current used to provide basic steering assistance. It is a precisely controlled current designed to compensate for undesirable conditions that may occur in the system or enhance certain specific functions.

[0127] Vehicle speed usually refers to the speed of a vehicle while it is driving. It is a physical quantity that measures the speed of a vehicle. From a physical point of view, speed is equal to the ratio of displacement to the time it takes to achieve this displacement. In actual traffic scenarios, vehicle speed usually refers to the distance traveled per unit time when a vehicle is driving on the road. It is a scalar quantity.

[0128] Vehicle body vibration acceleration is usually a physical quantity that describes the severity of vehicle body vibration. It refers to the rate of change of the vehicle body's velocity over time during vibration. Acceleration is a vector with both magnitude and direction. In the case of vehicle body vibration, its direction depends on the direction of the vehicle body vibration, while its magnitude indicates the magnitude of the change in the vehicle body vibration velocity per unit time.

[0129] The torque of the power-assisted motor usually refers to the rotational torque output by the power-assisted motor in the EPS. Torque is a special force that causes an object to rotate. For the power-assisted motor, the magnitude of the torque determines the extent to which it can help the driver turn the steering wheel. Simply put, the greater the motor torque, the easier it is to turn the steering wheel. Its unit is Newton meter (N m).

[0130] In a specific implementation, the vibration acceleration value of the steering wheel is adjusted by adjusting the damping compensation current of the power-assisted motor; when the vibration acceleration value of the steering wheel is equal to the vibration acceleration threshold, the relationship between the target power-assisted motor damping compensation current and the vehicle speed, the vehicle body vibration acceleration, and the power-assisted motor torque is recorded; the vehicle is controlled to travel under different working conditions; the relationship between the target power-assisted motor damping compensation current and the vehicle speed, the vehicle body vibration acceleration, and the power-assisted motor torque corresponding to each driving condition is recorded, and a power-assisted motor damping compensation table is generated.

[0131] Specifically, in a certain vehicle driving condition, the vehicle can be controlled to drive in a simulated steering wheel vibration phenomenon, and the damping compensation current of the power-assisted motor can be adjusted to adjust the vibration acceleration value of the steering wheel, and the vibration acceleration of the steering wheel can be detected. When the vibration acceleration value of the steering wheel is equal to the vibration acceleration threshold, the damping compensation current of the power-assisted motor corresponding to this moment is recorded, and the damping compensation current of the power-assisted motor corresponding to the above moment is marked as the target damping compensation current of the power-assisted motor, and the relationship between the target damping compensation current of the power-assisted motor and the vehicle speed, the body vibration acceleration, and the torque of the power-assisted motor is recorded at the same time; then the vehicle is controlled to drive in a simulated steering wheel vibration phenomenon in different vehicle driving conditions, and the above steps of adjusting the damping compensation current of the power-assisted motor and recording the relationship between the target damping compensation current of the power-assisted motor and the vehicle speed, the body vibration acceleration, and the torque of the power-assisted motor are similarly performed; until the relationship between the target damping compensation current of the power-assisted motor and the vehicle speed, the body vibration acceleration, and the torque of the power-assisted motor corresponding to each driving condition is recorded; the relationship between the target damping compensation current of the power-assisted motor and the vehicle speed, the body vibration acceleration, and the torque of the power-assisted motor corresponding to each driving condition recorded is summarized and a power-assisted motor damping compensation table is generated.

[0132] After the power-assisted motor damping compensation table is generated, the power-assisted motor damping compensation table can be queried based on the actual vehicle driving conditions, according to the actual vehicle speed, actual power-assisted motor torque and actual vehicle body vibration acceleration obtained above, to obtain the target damping compensation current value, and adjust the damping compensation current value to the target damping compensation current value, and detect the vibration acceleration of the steering wheel after executing the damping adjustment strategy of the electric power steering system, which can be referred to Figure 7 , Figure 7 It is a schematic diagram of the steering wheel vibration acceleration after the electric power steering system damping adjustment strategy is executed in this embodiment. The light blue curve represents the change of the steering wheel vibration acceleration after the tire imbalance and uniformity adjustment strategy, the shock absorber damping adjustment strategy, the lower arm hydraulic bushing damping adjustment strategy and the electric power steering system damping adjustment strategy are successively executed.

[0133] This embodiment implements the tire imbalance and uniformity adjustment strategy; the shock absorber damping adjustment strategy; the lower arm hydraulic bushing damping adjustment strategy; the lower arm hydraulic bushing stiffness adjustment strategy; and the electric power steering system damping adjustment strategy. Based on multiple adjustment strategies, the vibration acceleration of the steering wheel is reduced as much as possible, thereby improving the optimization effect of the steering wheel vibration optimization method and thus improving the comfort of the passengers in the vehicle.

[0134] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the automobile steering wheel vibration optimization method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0135] This application also provides a vehicle steering wheel vibration optimization device, please refer to Figure 8 , the automobile steering wheel vibration optimization device comprises:

[0136] A comparison module 10, used for detecting a vibration acceleration value of the steering wheel, and comparing the vibration acceleration value with a preset vibration acceleration threshold;

[0137] The execution module 20 is used for executing the target strategy until the vibration acceleration value is less than or equal to the vibration acceleration threshold if the vibration acceleration value is greater than the vibration acceleration threshold, wherein executing the target strategy at least includes:

[0138] Execute tire imbalance and uniformity adjustment strategies;

[0139] Execute shock absorber damping adjustment strategy;

[0140] Implement the damping adjustment strategy of the hydraulic bushing of the lower control arm;

[0141] Implement the lower arm hydraulic bushing stiffness adjustment strategy;

[0142] Execute the electric power steering system damping adjustment strategy.

[0143] The automobile steering wheel vibration optimization device provided by the present application adopts the automobile steering wheel vibration optimization method in the above-mentioned embodiment, which can solve the technical problem that the prior art does not fully consider the automobile steering wheel vibration optimization method, and thus the steering wheel optimization effect is not obvious. Compared with the prior art, the beneficial effects of the automobile steering wheel vibration optimization device provided by the present application are the same as the beneficial effects of the automobile steering wheel vibration optimization method provided by the above-mentioned embodiment, and the other technical features in the automobile steering wheel vibration optimization device are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0144] In one embodiment, the execution module 20 is also used to generate a power-assisted motor damping compensation table based on different vehicle driving conditions by adjusting the damping compensation current of the power-assisted motor, wherein the power-assisted motor damping compensation table includes the relationship between the target power-assisted motor damping compensation current and the vehicle speed, the vehicle body vibration acceleration, and the power-assisted motor torque; the actual vehicle speed, the actual power-assisted motor torque, and the actual vehicle body vibration acceleration are obtained according to the vehicle state; based on the actual vehicle driving conditions, the power-assisted motor damping compensation table is queried according to the actual vehicle speed, the actual power-assisted motor torque, and the actual vehicle body vibration acceleration to obtain the target damping compensation current value; and the damping compensation current value is adjusted to the target damping compensation current value.

[0145] In one embodiment, the execution module 20 is also used to adjust the vibration acceleration value of the steering wheel by adjusting the damping compensation current of the power-assisted motor; when the vibration acceleration value of the steering wheel is equal to the vibration acceleration threshold, record the relationship between the target power-assisted motor damping compensation current and the vehicle speed, body vibration acceleration, and power-assisted motor torque; control the vehicle to travel under different working conditions; record the relationship between the target power-assisted motor damping compensation current and the vehicle speed, body vibration acceleration, and power-assisted motor torque corresponding to each driving condition, and generate a power-assisted motor damping compensation table.

[0146] In one embodiment, the execution module 20 is also used to obtain the stiffness of the lower control arm hydraulic bushing; if the stiffness of the lower control arm hydraulic bushing is not equal to the preset stiffness value, the stiffness of the lower control arm hydraulic bushing is adjusted by replacing the lower control arm hydraulic bushing with different hardness; until the stiffness of the lower control arm hydraulic bushing is equal to the preset stiffness value.

[0147] In one embodiment, the execution module 20 is also used to obtain the damping peak frequency and damping angle of the lower arm hydraulic bushing; if the damping peak frequency of the lower arm hydraulic bushing is not equal to the preset frequency value, or the damping angle is not equal to the preset damping angle, the damping peak frequency and damping angle of the lower arm hydraulic bushing are adjusted by adjusting the hydraulic chamber structural parameters or hydraulic oil characteristics of the lower arm hydraulic bushing; until the damping peak frequency of the lower arm hydraulic bushing is equal to the preset frequency value, and the damping angle is equal to the preset damping angle.

[0148] In one embodiment, the execution module 20 is also used to obtain the damping force of the shock absorber; if the damping force of the shock absorber is not equal to the preset damping value, the damping current of the shock absorber is adjusted to adjust the damping force of the shock absorber; until the damping force of the shock absorber is equal to the preset damping value.

[0149] In one embodiment, the execution module 20 is also used to obtain tire imbalance and tire uniformity parameters, and the tire uniformity parameters at least include radial force deviation, radial force first harmonic, lateral force deviation, radial size deviation and lateral size deviation; if the radial force deviation is greater than a first preset value, the radial force deviation is reduced to the first preset value; if the radial force first harmonic is greater than a second preset value, the radial force first harmonic is reduced to the second preset value; if the lateral force deviation is greater than a third preset value, the lateral force deviation is reduced to the third preset value; if the radial size deviation is greater than a fourth preset value, the radial size deviation is reduced to the fourth preset value; if the lateral size deviation is greater than a fifth preset value, the lateral size deviation is reduced to the fifth preset value; if the tire imbalance is greater than a sixth preset value, the tire imbalance is reduced to the sixth preset value.

[0150] In one embodiment, the comparison module 10 is further used to obtain a vehicle vibration signal; obtain a steering wheel vibration frequency and a steering system torsion frequency according to the vehicle vibration signal; if the difference between the steering wheel vibration frequency and the steering system torsion frequency is less than a preset difference threshold, obtain a steering wheel vibration acceleration value according to the steering wheel vibration frequency; and compare the vibration acceleration value with a preset vibration acceleration threshold.

[0151] The present application provides a vehicle steering wheel vibration optimization device, which includes: 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 steering wheel vibration optimization method in the above-mentioned embodiment one.

[0152] Reference below Fig. 9 , which shows a schematic diagram of the structure of a vehicle steering wheel vibration optimization device suitable for implementing the embodiment of the present application. The vehicle steering wheel vibration optimization device 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. Fig. 9 The automobile steering wheel vibration optimization device 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.

[0153] like Fig. 9As shown, the vehicle steering wheel vibration optimization device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, 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 the operation of the vehicle steering wheel vibration optimization device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the automotive steering wheel vibration optimization device to communicate with other devices wirelessly or by wire to exchange data. Although the automotive steering wheel vibration optimization device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0154] 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.

[0155] The automobile steering wheel vibration optimization device provided by the present application adopts the automobile steering wheel vibration optimization method in the above embodiment, which can solve the technical problem that the prior art does not fully consider the automobile steering wheel vibration optimization method, and then the steering wheel optimization effect is not obvious. Compared with the prior art, the beneficial effects of the automobile steering wheel vibration optimization device provided by the present application are the same as the beneficial effects of the automobile steering wheel vibration optimization method provided by the above embodiment, and the other technical features in the automobile steering wheel vibration optimization device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0156] 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.

[0157] 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.

[0158] 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 steering wheel vibration optimization method in the above-mentioned embodiment.

[0159] 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.

[0160] The above-mentioned computer-readable storage medium may be included in the automobile steering wheel vibration optimization device; or it may exist independently without being assembled into the automobile steering wheel vibration optimization device.

[0161] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the automobile steering wheel vibration optimization device, the automobile steering wheel vibration optimization device: detects the vibration acceleration value of the steering wheel, and compares the vibration acceleration value with a preset vibration acceleration threshold; if the vibration acceleration value is greater than the vibration acceleration threshold, executes the target strategy until the vibration acceleration value is less than or equal to the vibration acceleration threshold, wherein executing the target strategy at least includes: executing the tire imbalance and uniformity adjustment strategy; executing the shock absorber damping adjustment strategy; executing the lower arm hydraulic bushing damping adjustment strategy; executing the lower arm hydraulic bushing stiffness adjustment strategy; executing the electric power steering system damping adjustment strategy.

[0162] 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).

[0163] 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.

[0164] 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.

[0165] 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 automobile steering wheel vibration optimization method, and can solve the technical problem that the prior art does not fully consider the automobile steering wheel vibration optimization method, and thus the steering wheel optimization effect is not obvious. 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 automobile steering wheel vibration optimization method provided by the above-mentioned embodiment, and will not be repeated here.

[0166] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the above-mentioned vehicle steering wheel vibration optimization method are implemented.

[0167] The computer program product provided by the present application can solve the technical problem that the prior art does not fully consider the vehicle steering wheel vibration optimization method, and thus the steering wheel optimization effect is not obvious. 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 steering wheel vibration optimization method provided by the above embodiment, and will not be repeated here.

[0168] 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 optimizing the vibration of a vehicle steering wheel, characterized in that: The method comprises: Detecting a vibration acceleration value of the steering wheel, and comparing the vibration acceleration value with a preset vibration acceleration threshold; If the vibration acceleration value is greater than the vibration acceleration threshold, executing the target strategy until the vibration acceleration value is less than or equal to the vibration acceleration threshold, wherein executing the target strategy at least includes: Execute tire imbalance and uniformity adjustment strategies; Execute shock absorber damping adjustment strategy; Implement the damping adjustment strategy of the hydraulic bushing of the lower control arm; Implement the lower arm hydraulic bushing stiffness adjustment strategy; Execute the electric power steering system damping adjustment strategy.

2. The method according to claim 1, characterized in that The steps of executing the damping adjustment strategy of the electric power steering system include: Based on different vehicle driving conditions, by adjusting the damping compensation current of the booster motor, a booster motor damping compensation table is generated, wherein the booster motor damping compensation table includes a relationship between a target booster motor damping compensation current and a vehicle speed, a vehicle body vibration acceleration, and a booster motor torque; Acquire the actual vehicle speed, actual power-assist motor torque and actual vehicle body vibration acceleration according to the vehicle status; Based on the actual vehicle driving condition, the power-assisted motor damping compensation table is queried according to the actual vehicle speed, the actual power-assisted motor torque and the actual vehicle body vibration acceleration to obtain a target damping compensation current value; The damping compensation current value is adjusted to the target damping compensation current value.

3. The method according to claim 2, characterized in that The step of generating a boost motor damping compensation table by adjusting the damping compensation current of the boost motor based on different vehicle driving conditions includes: The vibration acceleration value of the steering wheel is adjusted by adjusting the damping compensation current of the power-assist motor; When the vibration acceleration value of the steering wheel is equal to the vibration acceleration threshold, the relationship between the target power-assist motor damping compensation current and the vehicle speed, the vehicle body vibration acceleration, and the power-assist motor torque is recorded; Control the vehicle to run under different working conditions; The relationship between the target power-assisted motor damping compensation current and the vehicle speed, vehicle body vibration acceleration, and power-assisted motor torque corresponding to each driving condition is recorded, and a power-assisted motor damping compensation table is generated.

4. The method according to claim 1, characterized in that The steps of executing the lower arm hydraulic bushing stiffness adjustment strategy include: Get the stiffness of the hydraulic bushing of the lower arm; If the stiffness of the lower swing arm hydraulic bushing is not equal to the preset stiffness value, the stiffness of the lower swing arm hydraulic bushing is adjusted by replacing the lower swing arm hydraulic bushing with a different hardness; Until the stiffness of the lower swing arm hydraulic bushing is equal to the preset stiffness value.

5. The method according to claim 1, characterized in that The steps of executing the damping adjustment strategy of the lower swing arm hydraulic bushing include: Obtain the damping peak frequency and damping angle of the hydraulic bushing of the lower swing arm; If the damping peak frequency of the hydraulic bushing of the lower swing arm is not equal to the preset frequency value, or the damping angle is not equal to the preset damping angle, the damping peak frequency and the damping angle of the hydraulic bushing of the lower swing arm are adjusted by adjusting the hydraulic chamber structural parameters or hydraulic oil characteristics of the hydraulic bushing of the lower swing arm; Until the damping peak frequency of the lower swing arm hydraulic bushing is equal to the preset frequency value, and the damping angle is equal to the preset damping angle.

6. The method according to claim 1, characterized in that The step of executing the shock absorber damping adjustment strategy comprises: Get the damping force of the shock absorber; If the damping force of the shock absorber is not equal to the preset damping value, adjusting the damping current of the shock absorber to adjust the damping force of the shock absorber; Until the damping force of the shock absorber is equal to the preset damping value.

7. The method according to claim 1, characterized in that The steps of executing the tire imbalance and uniformity adjustment strategy include: Obtaining tire imbalance and tire uniformity parameters, wherein the tire uniformity parameters include at least radial force deviation, radial force first harmonic, lateral force deviation, radial dimension deviation and lateral dimension deviation; If the radial force deviation is greater than a first preset value, reducing the radial force deviation to the first preset value; If the first harmonic of the radial force is greater than the second preset value, reducing the first harmonic of the radial force to the second preset value; If the lateral force deviation is greater than a third preset value, reducing the lateral force deviation to the third preset value; If the radial dimension deviation is greater than a fourth preset value, reducing the radial dimension deviation to the fourth preset value; If the lateral dimension deviation is greater than the fifth preset value, reducing the lateral dimension deviation to the fifth preset value; If the tire imbalance is greater than a sixth preset value, the tire imbalance is reduced to the sixth preset value.

8. The method according to claim 1, characterized in that The step of detecting the vibration acceleration value of the steering wheel and comparing the vibration acceleration value with a preset vibration acceleration threshold value comprises: Acquire vehicle vibration signal; Obtaining a steering wheel vibration frequency and a steering system torsion frequency according to the vehicle vibration signal; If the difference between the steering wheel vibration frequency and the steering system torsion frequency is less than a preset difference threshold, obtaining a vibration acceleration value of the steering wheel according to the steering wheel vibration frequency; The vibration acceleration value is compared with a preset vibration acceleration threshold.

9. A steering wheel vibration optimization device, characterized in that: The steering wheel vibration optimization device comprises: A comparison module, used for detecting a vibration acceleration value of the steering wheel, and comparing the vibration acceleration value with a preset vibration acceleration threshold; An execution module, configured to execute a target strategy if the vibration acceleration value is greater than a vibration acceleration threshold until the vibration acceleration value is less than or equal to the vibration acceleration threshold, wherein executing the target strategy at least includes: Execute tire imbalance and uniformity adjustment strategies; Execute shock absorber damping adjustment strategy; Implement the damping adjustment strategy of the hydraulic bushing of the lower control arm; Implement the lower arm hydraulic bushing stiffness adjustment strategy; Execute the electric power steering system damping adjustment strategy.

10. A steering wheel vibration optimization device, characterized in that: The device 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 steering wheel vibration optimization method according to any one of claims 1 to 8.

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