Vehicle yaw analysis method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle yaw analysis method and device, electronic equipment and a storage medium, and relates to the technical field of intelligent analysis. Then, a first vibration data graph in the yawing direction is obtained, the first vibration data graph is used for representing the relation among a first parameter of the vehicle, the vibration frequency collected by a vibration sensor installed on the vehicle and the vibration acceleration in the yawing direction in the variable-speed motion process of the vehicle, and the first parameter is a parameter reflecting the rotating speed of a driving shaft; and then, based on the yaw order and the first vibration data graph, an analysis result of the vehicle yaw is determined, and the analysis result is used for reflecting the relevance between the vehicle yaw and the driving shaft, so that the analysis efficiency of the vehicle yaw can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent analysis technology, and more specifically, to a vehicle yaw analysis method, device, electronic device, and storage medium. Background Art

[0002] Vehicle yaw during acceleration is a crucial parameter influencing the user's driving experience, significantly impacting vehicle ride comfort, drivability, and ride quality. Combining the user's subjective perception of vehicle yaw with objective vehicle vibration data, and quickly identifying the correlation between vehicle yaw and the drive axis, is crucial for improving problem identification efficiency and reducing vehicle development cycles.

[0003] Customers experience low-frequency vibration when the vehicle accelerates and rolls sideways. When encountering low-frequency vibration issues in the vehicle, the industry currently mainly investigates and analyzes the powertrain and related transmission paths to identify the main causes. However, this analysis method has a long investigation cycle. Summary of the Invention

[0004] The embodiments of the present application provide a vehicle yaw analysis method, device, electronic device, and storage medium, which can improve the efficiency of vehicle yaw analysis.

[0005] In a first aspect, an embodiment of the present application provides a vehicle yaw analysis method, comprising:

[0006] Determine a yaw order corresponding to a drive shaft of the vehicle, where the yaw order is used to represent the proportional relationship between the vibration frequency of the drive shaft and the rotational speed of the drive shaft; obtain a first vibration data graph in the yaw direction, where the first vibration data graph is used to represent the relationship between a first parameter of the vehicle, the vibration frequency collected by a vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction during the vehicle's speed change process, where the first parameter is a parameter reflecting the rotational speed of the drive shaft; and determine an analysis result of the vehicle's yaw based on the yaw order and the first vibration data graph, where the analysis result is used to reflect the correlation between the vehicle's yaw and the drive shaft.

[0007] In an embodiment of the present application, a yaw order corresponding to a drive shaft of the vehicle is determined, and the yaw order is used to represent the proportional relationship between the vibration frequency of the drive shaft and the rotational speed of the drive shaft. Then, a first vibration data graph in the yaw direction is obtained, and the first vibration data graph is used to represent the relationship between a first parameter of the vehicle, a vibration frequency collected by a vibration sensor installed on the vehicle, and a vibration acceleration in the yaw direction during the vehicle's speed change movement, wherein the first parameter is a parameter reflecting the rotational speed of the drive shaft. Then, based on the yaw order and the first vibration data graph, an analysis result of the vehicle's yaw is determined, and the analysis result is used to reflect the correlation between the vehicle's yaw and the drive shaft. In this way, the correlation between the vehicle's yaw and the drive shaft can be determined using the yaw order corresponding to the drive shaft and the first vibration data graph representing the relationship between the first parameter of the vehicle, the vibration frequency collected by the vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction. Therefore, it is possible to quickly analyze whether the vehicle's yaw is caused by the drive shaft, thereby improving the efficiency of vehicle yaw analysis.

[0008] In one possible implementation, determining the yaw order corresponding to the drive shaft of the vehicle includes:

[0009] Determine the relationship between the axial force of the vehicle's drive shaft and the rotation angle of the drive shaft; based on the change relationship, determine the number of periodic changes in the axial force when the drive shaft rotates one circle as the yaw order corresponding to the drive shaft.

[0010] In this embodiment, the relationship between the change of the axial force of the vehicle's drive shaft and the rotation angle of the drive shaft is determined; based on the change relationship, the number of periodic changes of the axial force when the drive shaft rotates one circle is determined as the yaw order corresponding to the drive shaft. In this way, the corresponding yaw order can be determined for different types of drive shafts, thereby improving the adaptability of determining the yaw order corresponding to the drive shaft, and further improving the adaptability of vehicle yaw analysis.

[0011] In one possible implementation, the drive shaft includes a main shaft and a plurality of ball rings connected to the main shaft. Determining a relationship between an axial force of the drive shaft of the vehicle and a rotation angle of the drive shaft includes:

[0012] Determine the axial force of the drive shaft at each rotation angle, wherein the axial force of the drive shaft is determined based on the sliding friction between each ball ring in the plurality of ball rings and the main shaft; based on the axial force of the drive shaft at each rotation angle, determine the relationship between the axial force of the vehicle's drive shaft and the rotation angle of the drive shaft.

[0013] In this embodiment, the axial force of the drive shaft at each rotation angle is determined, wherein the axial force of the drive shaft is determined based on the sliding friction between each ball ring in the plurality of ball rings and the main shaft; based on the axial force of the drive shaft at each rotation angle, the relationship between the axial force of the drive shaft of the vehicle and the rotation angle of the drive shaft is determined. In this way, the axial force of the drive shaft can be determined in combination with the sliding friction of each ball ring. In this way, the accuracy of the determined axial force of the drive shaft can be improved, and then the accuracy of the determined relationship between the axial force of the drive shaft and the rotation angle of the drive shaft can be improved, which is conducive to improving the accuracy of the analysis of vehicle yaw.

[0014] In one possible implementation, a vibration sensor is installed at a seat of a vehicle to obtain a first vibration data graph in a yaw direction, including:

[0015] Acquire a first parameter of the vehicle, the vibration frequency of the seat collected by a vibration sensor at the seat, and the vibration acceleration of the seat in the yaw direction during the vehicle's speed shifting movement; generate a first vibration data graph in the yaw direction based on the first parameter, the vibration frequency of the seat, and the vibration acceleration of the seat in the yaw direction. The first vibration data graph is used to represent the relationship between the first parameter of the vehicle, the vibration frequency of the seat, and the vibration acceleration of the seat in the yaw direction during the vehicle's speed shifting movement.

[0016] In this embodiment, the vibration of the seat is highly correlated with the vibration caused by the drive shaft. Therefore, placing the vibration sensor at the seat can reduce interference from the vibration of components other than the drive shaft, thereby improving the accuracy of vehicle yaw analysis.

[0017] In one possible implementation, determining a vehicle yaw analysis result based on the yaw order and the first vibration data graph includes:

[0018] Based on the yaw order and the first vibration data graph, a first mapping relationship between a second parameter and vibration acceleration is determined, where the second parameter is a parameter reflecting the rotational speed of the drive shaft; and the first mapping relationship is displayed as an analysis result of the vehicle yaw.

[0019] In this embodiment, based on the yaw order and the first vibration data graph, a first mapping relationship between the second parameter and the vibration acceleration is determined, and then the first mapping relationship is displayed as an analysis result of the vehicle yaw. In this way, an intuitive relationship between the vibration acceleration and any second parameter can be determined as needed, such as determining an intuitive relationship between the vibration acceleration and the vehicle speed, an intuitive relationship between the vibration acceleration and the rotational speed of the drive shaft, or an intuitive relationship between the vibration acceleration and the rotational speed of the power source, which is beneficial to the analysis of the vehicle yaw problem.

[0020] In one possible implementation, the first parameter and the second parameter are different parameters, and determining a first mapping relationship between the second parameter and the vibration acceleration based on the yaw order and the first vibration data graph includes:

[0021] Based on a second mapping relationship between the first parameter and the second parameter and the first vibration data graph, a second vibration data graph is obtained, where the second vibration data graph is used to represent the relationship between the second parameter of the vehicle, the vibration frequency collected by a vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction during the speed change movement of the vehicle; the second vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the second vibration data graph; based on the slice graph corresponding to the yaw order in the second vibration data graph, a first mapping relationship between the second parameter and the vibration acceleration is determined; or, the first parameter and the second parameter are the same parameter, and based on the yaw order and the first vibration data graph, the first mapping relationship between the second parameter and the vibration acceleration is determined, including: segmenting the first vibration data graph based on the yaw order to obtain a slice graph corresponding to the yaw order in the first vibration data graph; and determining the first mapping relationship between the second parameter and the vibration acceleration based on the slice graph corresponding to the yaw order in the first vibration data graph.

[0022] In this embodiment, since the yaw order is the yaw order corresponding to the drive shaft, the vibration data graph (the first vibration data graph or the second vibration data graph) is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the vibration data graph. This can be understood as obtaining a slice graph with a high degree of correlation with the drive shaft from the vibration data graph, that is, obtaining a local area graph with a high degree of correlation with the drive shaft, and then using the slice graph to determine the first mapping relationship between the second parameter and the vibration acceleration. Since the first mapping relationship is determined by obtaining the slice graph corresponding to the yaw order from the first vibration data graph and then determining the analysis result, the efficiency of the yaw analysis can be improved.

[0023] In this embodiment, a second vibration data graph can be obtained based on a second mapping relationship between the first parameter and the second parameter and the first vibration data graph. The second vibration data graph is used to represent the relationship between the second parameter of the vehicle, the vibration frequency collected by the vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction during the speed change movement of the vehicle; based on the yaw order and the second vibration data graph, the first mapping relationship between the second parameter and the vibration acceleration is determined. In this way, an intuitive relationship between the vibration acceleration and any second parameter can be determined as needed, such as determining an intuitive relationship between the vibration acceleration and the vehicle speed, an intuitive relationship between the vibration acceleration and the rotational speed of the drive shaft, or an intuitive relationship between the vibration acceleration and the rotational speed of the power source, which is conducive to the analysis of the vehicle yaw problem.

[0024] In one possible implementation, the first parameter and the second parameter are the same parameter, and determining a first mapping relationship between the second parameter and the vibration acceleration based on the yaw order and the first vibration data graph includes:

[0025] The first vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the first vibration data graph; and a first mapping relationship between the second parameter and the vibration acceleration is determined based on the slice graph corresponding to the yaw order in the first vibration data graph.

[0026] In this embodiment, since the yaw order is the yaw order corresponding to the drive shaft, the first vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the first vibration data graph. This can be understood as obtaining a slice graph with a high degree of correlation with the drive shaft from the first vibration data graph, and then using the slice graph to determine the first mapping relationship between the second parameter and the vibration acceleration. Since the slice graph corresponding to the yaw order is obtained from the first vibration data graph, the efficiency of the yaw analysis can be improved.

[0027] In one possible implementation, the method further includes:

[0028] Based on the first mapping relationship, the maximum vibration acceleration corresponding to the second parameter is determined; based on the maximum vibration acceleration, a subjective evaluation parameter of the vehicle yaw is determined, and the subjective evaluation parameter is used to represent the acceptability of the amplitude of the vehicle yaw.

[0029] In this embodiment, through the correspondence between subjective and objective factors, the user's subjective feelings are associated with objective data, which helps to quickly identify the source of the problem, optimize the yaw problem, and save the project development cycle.

[0030] In a second aspect, an embodiment of the present application provides a vehicle yaw analysis device, comprising:

[0031] A yaw order determination module is used to determine the yaw order corresponding to the vehicle's drive shaft, where the yaw order is used to represent the proportional relationship between the vibration frequency of the drive shaft and the rotational speed of the drive shaft; a data graph acquisition module is used to acquire a first vibration data graph in the yaw direction, where the first vibration data graph is used to represent the relationship between a first parameter of the vehicle, the vibration frequency collected by a vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction during the vehicle's speed change process, where the first parameter is a parameter reflecting the rotational speed of the drive shaft; and a yaw analysis module is used to determine an analysis result of the vehicle's yaw based on the yaw order and the first vibration data graph, where the analysis result is used to reflect the correlation between the vehicle's yaw and the drive shaft.

[0032] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory, wherein: the memory is used to store computer programs; and the processor is used to execute the programs stored in the memory to implement the above method.

[0033] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the above method is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the troubleshooting process for analyzing vehicle yaw problems in related technologies;

[0035] Figure 2 A schematic flow chart of a vehicle yaw analysis method provided in an embodiment of the present application;

[0036] Figure 3 A vibration data graph showing the relationship between vehicle speed, vibration frequency collected by a vibration sensor, and vibration acceleration in the yaw direction, provided in an embodiment of the present application;

[0037] Figure 4 A vibration data graph showing the relationship between the rotational speed of a drive shaft, the vibration frequency collected by a vibration sensor, and the vibration acceleration in the yaw direction, provided in an embodiment of the present application;

[0038] Figure 5 A vibration data graph showing the relationship between the rotational speed of a motor, the vibration frequency collected by a vibration sensor, and the vibration acceleration in the yaw direction, provided in an embodiment of the present application;

[0039] Figure 6 A schematic diagram of an analysis result provided in an embodiment of the present application;

[0040] Figure 7 A schematic diagram showing the relationship between the axial force and the rotation angle of the drive shaft provided in an embodiment of the present application;

[0041] Figure 8 A schematic structural diagram of a tripod-type drive shaft provided in an embodiment of the present application;

[0042] Figure 9 This is a schematic diagram of angles related to force analysis of a tripod-type drive shaft according to an embodiment of the present application;

[0043] Figure 10 A schematic diagram of a ball ring force analysis provided in an embodiment of the present application;

[0044] Figure 11 A schematic diagram of a vibration sensor provided in an embodiment of the present application installed on a seat of a vehicle;

[0045] Figure 12 A schematic diagram of power transmission provided in an embodiment of the present application;

[0046] Figure 13 A schematic structural diagram of a vehicle yaw analysis device provided in an embodiment of the present application;

[0047] Figure 14 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the technical problems, technical solutions and beneficial effects solved by this application more clearly understood, this application is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0049] The current solution to the vehicle yaw problem is mainly based on the investigation of the relevant transmission paths of the powertrain 110 and suspension 140 systems. Through the full process investigation, such as Figure 1 As shown, Figure 1 This is a schematic diagram of the troubleshooting process for analyzing vehicle yaw problems in related technologies.

[0050] Figure 1This article demonstrates the inspection sequence and interrelationships of various components and systems when troubleshooting vehicle yaw problems. When troubleshooting vehicle yaw problems, start with the excitation source, which can be external or internal factors that may cause the problem. The excitation source first affects the powertrain 110, the vehicle's power source, including key components such as the engine and transmission. The condition of the powertrain 110 directly affects the vehicle's driving stability. From the powertrain 110, yaw problems can propagate to other components via the transmission path. This transmission path may include the drive shaft, suspension system, and other components. The driveshaft 120 is one component in the transmission path, responsible for transmitting power from the powertrain 110 to the wheels. The condition of the driveshaft 120 directly affects wheel rotation and vehicle stability. Another component is the suspension 130, which connects the wheels to the vehicle body 150 and absorbs impact from road irregularities. The condition of the suspension 130 directly affects the vehicle's handling and stability. Yaw problems can further propagate to the vehicle body 150, affecting its posture and stability. Factors such as the rigidity and weight distribution of the vehicle body 150 will affect the yaw characteristics of the vehicle. Then, the yaw problem may affect the seat rails 160. Although the seat rails 160 themselves do not directly affect the yaw of the vehicle, they are important components for passengers in the vehicle to perceive the vehicle status. If there is a problem with the seat rails 160, it may affect the riding comfort and safety of the passengers. In the entire process, the suspension 140 is located between the powertrain 110 and the vehicle body 150 to reduce the impact of the vibration of the powertrain 110 on the vehicle body 150. If there is a problem with the suspension 140, it may cause vibration to be transmitted to the vehicle body 150, thereby affecting the driving stability of the vehicle. In the flowchart, the suspension 140 is connected to multiple components, indicating that it may be a potential problem point.

[0051] The entire flowchart uses arrows to indicate the direction of the problem's transmission, starting from the excitation source, passing through the powertrain 110, the transmission path, the drive shaft 120, the suspension 130, the vehicle body 150, and ultimately potentially affecting the seat rail 160. The suspension 140, as a key component, plays an important role in connecting and buffering the process. This flowchart allows for systematic troubleshooting of possible causes of vehicle yaw problems and the implementation of appropriate remedial measures.

[0052] However, the cause is determined by checking and analyzing the powertrain 110 and related transmission paths, but this analysis method has a long checking cycle.

[0053] In view of this, embodiments of the present application provide a vehicle yaw analysis method, device, electronic device, and storage medium, which can improve the efficiency of vehicle yaw analysis.

[0054] See also Figure 2 , Figure 2The method of this embodiment can be executed by an electronic device, such as Figure 2 The method shown may include:

[0055] S210 : Determine a yaw order corresponding to a drive shaft of the vehicle, where the yaw order is used to represent a proportional relationship between a vibration frequency of the drive shaft and a rotational speed of the drive shaft.

[0056] In this embodiment, the yaw order can be the ratio between the vibration frequency of the drive shaft and the speed of the drive shaft. For example, if the yaw order is 3, then the ratio between the vibration frequency of the drive shaft and the speed of the drive shaft is 3, that is, the vibration frequency of the drive shaft: the speed of the drive shaft = 3:1. For another example, if the yaw order is 6, then the ratio between the vibration frequency of the drive shaft and the speed of the drive shaft is 6, that is, the vibration frequency of the drive shaft: the speed of the drive shaft = 6:1.

[0057] It should be noted that, in this embodiment, the yaw order may be a yaw order calculated based on the power transmission result of the vehicle, or a yaw order determined according to the information of the drive shaft, and there is no limitation here.

[0058] S220. Obtain a first vibration data graph in the yaw direction. The first vibration data graph is used to represent the relationship between a first parameter of the vehicle, a vibration frequency collected by a vibration sensor installed on the vehicle, and a vibration acceleration in the yaw direction during the vehicle's speed change process. The first parameter is a parameter reflecting the rotational speed of the drive shaft.

[0059] Among them, vibration frequency refers to the number of vibrations per unit time, usually in Hertz (Hz). It indicates the speed of the vibration. Vibration acceleration refers to the speed of the change in the speed of the vibrating body during the vibration process, that is, the derivative of the speed with respect to time. It reflects the change in the magnitude and direction of the force exerted on the vibrating body. The unit of vibration acceleration is usually meter per second squared (m / s2). The parameter reflecting the rotational speed of the drive shaft may be a parameter affected by the rotational speed of the drive shaft. In this embodiment, the first parameter may include but is not limited to the vehicle speed, the rotational speed of the drive shaft, or the rotational speed of the power source connected to the drive shaft. The power source in this embodiment is a component that provides power to the vehicle, such as power to the tires of the vehicle. Optionally, the power source may be, for example, a motor or an engine, etc., which is not limited here.

[0060] In this embodiment, a first vibration data graph can be constructed by obtaining the first parameter of the vehicle, the vibration frequency and the vibration acceleration in the yaw direction collected by a vibration sensor installed on the vehicle during the vehicle's speed change process, such as during the vehicle's acceleration or deceleration process, and then based on the first parameter, the vibration frequency and the vibration acceleration in the yaw direction collected by the vibration sensor at each moment.

[0061] For ease of understanding, the following embodiments are exemplified by first vibration data graphs in which the first parameter includes vehicle speed, drive shaft speed, or power source speed. For ease of understanding, the power source is a motor as an example.

[0062] See also Figure 3 , Figure 3 A vibration data diagram is provided in an embodiment of the present application, which shows the relationship between vehicle speed, vibration frequency collected by a vibration sensor, and vibration acceleration in the yaw direction.

[0063] like Figure 3 The vibration data graph shown here shows frequency on the horizontal axis in Hertz (Hz). The vertical axis shows vehicle speed in kilometers per hour (km / h). Colors are used to represent the vibration acceleration at a given speed and frequency. The unit of vibration acceleration is typically meters per second squared (m / s²). The vibration acceleration gradient goes from dark blue (low acceleration) to red (high acceleration).

[0064] See also Figure 4 , Figure 4 A vibration data diagram is provided in an embodiment of the present application, which shows the relationship between the rotational speed of the drive shaft, the vibration frequency collected by the vibration sensor, and the vibration acceleration in the yaw direction.

[0065] like Figure 4 The vibration data graph shows frequency on the horizontal axis in Hertz (Hz). The vertical axis shows the drive shaft speed in revolutions per minute (r / min). The color represents the vibration acceleration at a specific vehicle speed and frequency. The vibration acceleration gradient goes from dark blue (low acceleration) to red (high acceleration).

[0066] See also Figure 5 , Figure 5 A vibration data diagram is provided in an embodiment of the present application, which shows the relationship between the rotational speed of a motor, the vibration frequency collected by a vibration sensor, and the vibration acceleration in the yaw direction.

[0067] like Figure 5The vibration data graph shows frequency on the horizontal axis in Hertz (Hz). The vertical axis shows motor speed in revolutions per minute (r / min). The color represents the vibration acceleration at a specific vehicle speed and frequency. The vibration acceleration gradient goes from dark blue (low acceleration) to red (high acceleration).

[0068] It should be noted that in determining Figure 3 、 Figure 4 and Figure 5 After selecting any of the graphs in Figure 3 、 Figure 4 and Figure 5 Specifically, it can be realized based on the conversion relationship between the vehicle speed and the rotation speed of the drive shaft and the conversion relationship between the rotation speed of the drive shaft and the rotation speed of the motor. For example, in determining Figure 3 After that, based on the conversion relationship between vehicle speed and drive shaft speed, Figure 3 The vertical axis of is replaced by the speed of the drive shaft, so that Figure 4 For example, in determining Figure 3 After that, based on the conversion relationship between the vehicle speed and the rotation speed of the drive shaft and the conversion relationship between the rotation speed of the drive shaft and the rotation speed of the motor, Figure 3 The vertical axis is replaced by the motor speed, so we get Figure 5 For example, in determining Figure 4 After that, based on the conversion relationship between the speed of the drive shaft and the speed of the motor, Figure 4 The vertical axis is replaced by the motor speed, so we get Figure 5 , no restriction is made here.

[0069] It should be understood that Figure 3-Figure 5 It can be understood as a vibration magnitude diagram in the yaw direction.

[0070] S230 : Determine an analysis result of the vehicle yaw based on the yaw order and the first vibration data graph, where the analysis result is used to reflect the correlation between the vehicle yaw and the drive shaft.

[0071] In this embodiment, the analysis result may represent the size of the parameter value corresponding to the maximum vibration acceleration, or the average size of the vibration acceleration, or the trend or process of the change trend of the vibration acceleration with the size of the parameter value, which is not limited here.

[0072] See also Figure 6 , Figure 6 A schematic diagram of an analysis result provided in an embodiment of the present application. Figure 6 It can be understood as a vibration magnitude diagram of a specific yaw order in the yaw direction, and the vibration magnitude is used to indicate the magnitude of the vibration acceleration.

[0073] pass Figure 6 It can be seen that the horizontal axis represents the vehicle speed in km / h, ranging from 0 to km / h. The vertical axis represents the vibration acceleration in m / s2. The broken line in the figure shows the change of vibration acceleration at different vehicle speeds. It can be observed that as the vehicle speed increases, the vibration acceleration shows a fluctuating upward trend, and the vibration acceleration reaches a peak at certain vehicle speeds. Figure 6 This allows for an intuitive understanding of how vibration levels change with vehicle speed. Vehicle speed, in turn, is affected by the drive shaft's rotational speed. Understanding the relationship between vehicle speed and vibration acceleration allows us to determine the relationship between drive shaft rotational speed and vibration acceleration. This helps identify the vibration characteristics of the seat rail at different vehicle speeds, specifically those speeds with the highest vibration acceleration levels that may warrant attention and optimization.

[0074] In an embodiment of the present application, a yaw order corresponding to a drive shaft of the vehicle is determined, and the yaw order is used to represent the proportional relationship between the vibration frequency of the drive shaft and the rotational speed of the drive shaft. Then, a first vibration data graph in the yaw direction is obtained, and the first vibration data graph is used to represent the relationship between a first parameter of the vehicle, a vibration frequency collected by a vibration sensor installed on the vehicle, and a vibration acceleration in the yaw direction during the vehicle's speed change movement, wherein the first parameter is a parameter reflecting the rotational speed of the drive shaft. Then, based on the yaw order and the first vibration data graph, an analysis result of the vehicle's yaw is determined, and the analysis result is used to reflect the correlation between the vehicle's yaw and the drive shaft. In this way, the correlation between the vehicle's yaw and the drive shaft can be determined using the yaw order corresponding to the drive shaft and the first vibration data graph representing the relationship between the first parameter of the vehicle, the vibration frequency collected by the vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction. Therefore, it is possible to quickly analyze whether the vehicle's yaw is caused by the drive shaft, thereby improving the efficiency of vehicle yaw analysis.

[0075] In another possible implementation, Figure 6 The horizontal axis can also be replaced by the speed of the drive shaft or the speed of the motor, which will not be elaborated here.

[0076] Next, how to determine the yaw order corresponding to the drive shaft of the vehicle is described. In this embodiment, the yaw order can be calculated based on the power transmission result of the vehicle.

[0077] In one possible implementation, determining the yaw order corresponding to the drive shaft of the vehicle includes:

[0078] Determine the relationship between the axial force of the vehicle's drive shaft and the rotation angle of the drive shaft; based on the change relationship, determine the number of periodic changes in the axial force when the drive shaft rotates one circle as the yaw order corresponding to the drive shaft.

[0079] See also Figure 7 , Figure 7 A schematic diagram of the relationship between the axial force and the rotation angle of the drive shaft provided in an embodiment of the present application. This embodiment is illustrated by taking a tripod-type drive shaft as an example. The pin-type drive shaft includes a plurality of ball rings, such as ball ring 1, ball ring 2, and ball ring 3. The horizontal axis represents the angle of rotation, in degrees (°), ranging from 0 to 360°. The vertical axis represents the axial force, in Newtons (N), ranging from -80 to 80N. The figure shows the changes of ball ring 1, ball ring 2, ball ring 3 and the total axial force at different angles through four curves. It can be observed that as the angle of rotation increases, the axial force of each ball ring shows a periodic fluctuation, and the fluctuation amplitude and phase are different. The total axial force curve is the comprehensive result of the axial forces of each ball ring, and also shows similar periodic fluctuations. Through the diagram, you can intuitively understand the changes in the axial force of the tripod at different angles.

[0080] exist Figure 7 As shown, the number of periodic changes in the axial force when the drive shaft rotates one circle is 3, which means that the drive shaft will vibrate three times when it rotates one circle. In other words, the ratio between the vibration frequency of the drive shaft and the speed of the drive shaft is 3:1. In this way, it can be determined that the yaw order is 3.

[0081] Similarly, for a six-ball pin drive shaft, the corresponding roll order is 6.

[0082] In this embodiment, the relationship between the change of the axial force of the vehicle's drive shaft and the rotation angle of the drive shaft is determined; based on the change relationship, the number of periodic changes of the axial force when the drive shaft rotates one circle is determined as the yaw order corresponding to the drive shaft. In this way, the corresponding yaw order can be determined for different types of drive shafts, thereby improving the adaptability of determining the yaw order corresponding to the drive shaft, and further improving the adaptability of vehicle yaw analysis.

[0083] In another possible implementation, the yaw order can be determined by recording the correspondence between driveshaft information and yaw order. For example, a tripod-type driveshaft corresponds to a yaw order of 3, while a hexagon-type driveshaft corresponds to a yaw order of 6. The yaw order can then be determined based on driveshaft information, such as the driveshaft type (three-ball or six-ball). This improves the efficiency of yaw order determination and, consequently, vehicle yaw analysis.

[0084] Next, how to determine the relationship between the axial force of the drive shaft of the vehicle and the rotation angle of the drive shaft will be described.

[0085] In one possible implementation, the drive shaft includes a main shaft and a plurality of ball rings connected to the main shaft. Determining a relationship between an axial force of the drive shaft of the vehicle and a rotation angle of the drive shaft includes:

[0086] Determine the axial force of the drive shaft at each rotation angle, wherein the axial force of the drive shaft is determined based on the sliding friction between each ball ring in the plurality of ball rings and the main shaft; based on the axial force of the drive shaft at each rotation angle, determine the relationship between the axial force of the vehicle's drive shaft and the rotation angle of the drive shaft.

[0087] The rotation angle can be divided into two parts as needed, for example, each interval of 1° is a rotation angle, and each interval of 10° is a rotation angle.

[0088] It is understood that the smaller the interval of the rotation angle, the higher the degree of refinement; the smaller the interval of the rotation angle, the less computing power resources are required.

[0089] In this embodiment, the axial force of the drive shaft at each rotation angle is determined, wherein the axial force of the drive shaft is determined based on the sliding friction between each ball ring in the plurality of ball rings and the main shaft; based on the axial force of the drive shaft at each rotation angle, the relationship between the axial force of the drive shaft of the vehicle and the rotation angle of the drive shaft is determined. In this way, the axial force of the drive shaft can be determined in combination with the sliding friction of each ball ring. In this way, the accuracy of the determined axial force of the drive shaft can be improved, and then the accuracy of the determined relationship between the axial force of the drive shaft and the rotation angle of the drive shaft can be improved, which is conducive to improving the accuracy of the analysis of vehicle yaw.

[0090] It should be noted that in this embodiment, the sliding friction force corresponding to the ball ring can be used as the axial force contributed by the ball ring to the drive shaft. This improves the efficiency of axial force determination and, in turn, facilitates improved efficiency in vehicle yaw analysis. Furthermore, the axial force can be determined based on the sliding friction and rolling friction between each of the multiple ball rings and the main shaft, which can improve the accuracy of the determined axial force of the drive shaft.

[0091] For ease of understanding, the following embodiment provides an exemplary description of how to determine the axial force of the drive shaft in conjunction with a structural diagram of the drive shaft and a force analysis process.

[0092] See also Figure 8 , Figure 8 This is a schematic diagram of the structure of a tripod-type drive shaft 810 provided in an embodiment of the present application. Figure 8The tripod-type drive shaft shown includes a drive shaft 810, a ball ring 820, a tripod 830, a driving shaft 840, needle rollers 850, and a tripod housing 860. Drive shaft 810 is the component that transmits power and is typically connected to the transmission system, transferring power from the engine to the wheels. Ball ring 820 is one of the components of a tripod-type constant velocity universal joint. They allow drive shaft 810 to oscillate within a certain angle while maintaining constant velocity transmission. Tripod 830 supports and positions ball ring 820, ensuring they operate in the correct position. Driving shaft 840 is connected to drive shaft 810 and transmits power to the driven shaft (not explicitly shown in the figure, but typically connected to the wheels) through ball ring 820 and tripod 830. Needle rollers 850 are typically used to reduce friction and wear, thereby increasing the efficiency and lifespan of the universal joint. They may be located on the contact surface between ball ring 820 and tripod 830 or other components. The tripod housing 860 is the outer shell of the tripod constant velocity joint, which provides structural support and protects the internal components from the external environment. Refers to the angle between the drive shaft 810 and the active shaft 840. The tripod constant velocity joint can allow this angle to be within a certain range. changes while maintaining constant velocity transmission.

[0093] See also Figure 9 , Figure 9 This is a schematic diagram of the angles related to the force analysis of a tripod-type drive shaft according to an embodiment of the present application. Figure 9 As shown, βy is the sliding friction parameter, which is primarily related to the rotation of ball ring 820 and is the angle between the centerline of ball ring 820 and the perpendicular to the raceway. Yy is the rolling friction parameter, which is primarily related to the revolution of ball ring 820 and is the angle between the line parallel to the ball ring and the shaft of drive shaft 810.

[0094] See also Figure 10 , Figure 10 A schematic diagram of a ball ring force analysis provided in an embodiment of the present application. GA It is the additional axial force generated by the angle change during the operation of the universal joint. It acts on the ball ring in the axial direction (Z direction in the figure). r It is the friction force generated by relative rolling between the ball ring and the tripod or other contact surface. It acts on the contact surface of the ball ring and is perpendicular to the tangent direction of the contact surface. Sliding friction force F sIn some cases, there may be slight slippage between the ball ring and the contact surface, resulting in sliding friction. Sliding friction can include sliding friction on different contact surfaces, directed along the tangent direction of the contact surface. The figure establishes a coordinate system, where the X direction is along the half-shaft centerline, the Y direction is perpendicular to the half-shaft centerline and points to the slideway, and the Z direction is axial. The half-shaft centerline refers to the central axis of the universal joint half-shaft, around which the ball ring moves. The slideway is the track on which the ball ring moves, which limits the range and direction of its movement.

[0095] From this we can determine that the sliding friction force is:

[0096] F s =u s Tsinβ y sign(cosγ y sinφ);

[0097] The rolling friction force is:

[0098] F r =u r Tcosγ y sign(sinφ);

[0099] Among them, u s is the sliding friction coefficient between the ball ring and the slide, u r is the rolling friction coefficient between the ball ring and the half shaft.

[0100] Because the rolling friction of the ball ring is very small compared to the sliding friction and can be ignored, the axial force of the ball ring is approximately equal to the sliding friction of the ball ring.

[0101] Assume F1, F2, F3 are the axial forces of the ball ring. According to the axial force formula, we can get:

[0102] F GA =F1+F2+F3=3F s =3u s Tsinβ y sign(cosγ y sinφ).

[0103] In one possible implementation, a vibration sensor is installed at a seat of a vehicle to obtain a first vibration data graph in a yaw direction, including:

[0104] Acquire a first parameter of the vehicle, the vibration frequency of the seat collected by a vibration sensor at the seat, and the vibration acceleration of the seat in the yaw direction during the vehicle's speed shifting movement; generate a first vibration data graph in the yaw direction based on the first parameter, the vibration frequency of the seat, and the vibration acceleration of the seat in the yaw direction. The first vibration data graph is used to represent the relationship between the first parameter of the vehicle, the vibration frequency of the seat, and the vibration acceleration of the seat in the yaw direction during the vehicle's speed shifting movement.

[0105] See also Figure 11 , Figure 11 This is a schematic diagram of a vibration sensor provided in an embodiment of the present application being installed on a seat of a vehicle. Figure 11 As shown, the vibration sensor 1110 is installed under the seat 1120.

[0106] Specifically, in this embodiment, the inventors have discovered through research that the vibration of the seat is strongly correlated with the vibration caused by the drive shaft. Therefore, placing a vibration sensor at the seat can reduce the interference of vibrations of components other than the drive shaft, thereby improving the accuracy of vehicle yaw analysis.

[0107] In another possible implementation, the vibration sensor may be set at other locations in the vehicle, such as at the steering wheel of the vehicle. There is no specific limitation on the location of the vibration sensor.

[0108] In one possible implementation, determining a vehicle yaw analysis result based on the yaw order and the first vibration data graph includes:

[0109] Based on the yaw order and the first vibration data graph, a first mapping relationship between a second parameter and vibration acceleration is determined, where the second parameter is a parameter reflecting the rotational speed of the drive shaft; and the first mapping relationship is displayed as an analysis result of the vehicle yaw.

[0110] In this embodiment, the second parameter may include but is not limited to the vehicle speed, the rotational speed of the drive shaft, or the rotational speed of the power source connected to the drive shaft. The first parameter and the second parameter may be the same or different parameters. In this embodiment, the first parameter and the second parameter may be the same parameter, for example, both are the vehicle speed, the rotational speed of the drive shaft, or the rotational speed of the motor. In addition, the first parameter and the second parameter may also be different parameters, for example, the first parameter is the vehicle speed, and the second parameter is the rotational speed of the drive shaft or the rotational speed of the motor; for another example, the first parameter is the rotational speed of the drive shaft, and the second parameter is the vehicle speed or the rotational speed of the motor; for another example, the first parameter is the rotational speed of the motor, and the second parameter is the vehicle speed or the rotational speed of the drive shaft, and there is no limitation here. In this embodiment, the first mapping relationship can be displayed as an analysis result of the vehicle yaw, and the correlation between the drive shaft and the yaw can be further determined manually, or an analysis result can be output based on the first mapping relationship. Exemplarily, the second parameter includes the vehicle speed, then the first mapping relationship can be as follows Figure 6 shown.

[0111] In this embodiment, based on the yaw order and the first vibration data graph, a first mapping relationship between the second parameter and the vibration acceleration is determined, and then the first mapping relationship is displayed as an analysis result of the vehicle yaw. In this way, an intuitive relationship between the vibration acceleration and any second parameter can be determined as needed, such as determining an intuitive relationship between the vibration acceleration and the vehicle speed, an intuitive relationship between the vibration acceleration and the rotational speed of the drive shaft, or an intuitive relationship between the vibration acceleration and the rotational speed of the power source, which is beneficial to the analysis of the vehicle yaw problem.

[0112] In one possible implementation, the first parameter and the second parameter are different parameters, and determining a first mapping relationship between the second parameter and the vibration acceleration based on the yaw order and the first vibration data graph includes:

[0113] Based on a second mapping relationship between the first parameter and the second parameter and the first vibration data graph, a second vibration data graph is obtained, where the second vibration data graph is used to represent the relationship between the second parameter of the vehicle, the vibration frequency collected by a vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction during the vehicle's speed change movement; the second vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the second vibration data graph; and based on the slice graph corresponding to the yaw order in the second vibration data graph, a first mapping relationship between the second parameter and the vibration acceleration is determined.

[0114] The second mapping relationship can also be understood as a transformation relationship. In this embodiment, based on the second mapping relationship between the first parameter and the second parameter and the first vibration data graph, a second vibration data graph can be obtained. The second vibration data graph is used to represent the relationship between the second parameter of the vehicle, the vibration frequency collected by a vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction during the vehicle's speed change. The second vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the second vibration data graph. Based on the slice graph corresponding to the yaw order in the second vibration data graph, the first mapping relationship between the second parameter and the vibration acceleration is determined.

[0115] In another possible implementation, the first parameter and the second parameter are the same parameter, and determining a first mapping relationship between the second parameter and the vibration acceleration based on the yaw order and the first vibration data graph includes:

[0116] The first vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the first vibration data graph; and a first mapping relationship between the second parameter and the vibration acceleration is determined based on the slice graph corresponding to the yaw order in the first vibration data graph.

[0117] The following embodiment describes how to determine the transformation relationship between the first parameter and the second parameter.

[0118] For example, let the vehicle speed be V, the drive shaft speed be ω, the tire rolling radius be R, the tire hub radius be d, the tire width be L, and the tire aspect ratio be β.

[0119] According to the definition of vehicle speed, the vehicle speed is:

[0120]

[0121] It can be simplified into the VR equation:

[0122]

[0123] In addition, if the motor / engine speed n can be directly read and the transmission ratio is known, the conversion relationship between the drive shaft speed and the motor / engine speed n can be determined by the transmission ratio. The motor / engine speed is then transmitted through the differential (transmission, clutch) and converted into the drive shaft speed ω. The transmission process is as follows: Figure 12 shown. Figure 12 A schematic diagram of power transmission provided in an embodiment of the present application. Assume that the power transmission ratio from the motor / engine to the drive shaft is i. Figure 12It can be seen that the number of teeth on the active end of the first gear is z1, the number of teeth on the passive end of the first gear is z2; the number of teeth on the intermediate gear of the second gear is z3, and the number of teeth on the final reduction gear of the second gear is z4. According to the power transmission diagram, the speed of the motor / engine is:

[0124]

[0125] At this point, the conversion relationship between any two of the vehicle speed, the rotational speed of the drive shaft, and the rotational speed of the power source can be determined.

[0126] For example, the first vibration data graph may be Figure 3 The vibration data graph shown, the second vibration data graph may be, for example, Figure 4 The vibration data diagram shown in the figure can be used to map the vehicle speed to the rotational speed of the drive shaft. Figure 3 The vertical axis in the equation is replaced by the speed of the drive shaft from the vehicle speed, which can be obtained as follows: Figure 4 The vibration data shown in the figure is then Figure 4 The vibration data diagram shown can determine the mapping relationship between the rotational speed of the drive shaft and the vibration acceleration, thereby more intuitively reflecting the correlation between the yaw of the vehicle and the drive shaft through the mapping relationship between the rotational speed of the drive shaft and the vibration acceleration.

[0127] The following describes how to segment the vibration data graph based on yaw order, obtain slices corresponding to the yaw order in the vibration data graph, and then determine the first mapping relationship using the slices. This embodiment uses the first vibration data graph as an example for description. The method for segmenting the second vibration data graph based on yaw order to obtain the first mapping relationship can be referenced to the description of the method for segmenting the first vibration data graph based on yaw order to obtain the first mapping relationship, and is not further elaborated here.

[0128] In this embodiment, since the yaw order is the yaw order corresponding to the drive shaft, the first vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the first vibration data graph. This can be understood as obtaining a slice graph with a high degree of correlation with the drive shaft from the first vibration data graph, and then using the slice graph to determine the first mapping relationship between the second parameter and the vibration acceleration. Since the first mapping relationship is determined by obtaining the slice graph corresponding to the yaw order from the first vibration data graph and then determining the analysis result, the efficiency of the yaw analysis can be improved.

[0129] Please refer to Figure 3 、 Figure 4 and Figure 5 .exist Figure 3 、 Figure 4 and Figure 5 In the figure, the slice diagrams corresponding to the order of the seat rail problem are marked respectively.

[0130] like Figure 3 As shown, Figure 3 The ordinate is the vehicle speed (km / h) and the abscissa is the frequency (Hz, in times / second). Based on the conversion relationship between the vehicle speed (km / h) and the rotational speed of the drive shaft, it can be converted into the rotational speed of the drive shaft (revolutions / second). Then, the rotational speed of the drive shaft corresponding to the vehicle speed satisfies the frequency of the yaw order and is determined as the frequency related to the vehicle speed in the vibration data diagram. Therefore, each vehicle speed value in the ordinate has its related frequency, and thus, a slice diagram corresponding to the order of the seat rail problem can be formed.

[0131] like Figure 4 As shown, Figure 4 The ordinate is the speed of the drive shaft (r / min), and the abscissa is the frequency (Hz, in times / second), which can be converted into the speed of the drive shaft (rev / second). Then, the frequency that satisfies the yaw order of the speed of the drive shaft in the vibration data diagram is determined to be the frequency related to the speed of the drive shaft. Therefore, the speed value of each drive shaft in the ordinate has its related frequency, thereby forming a slice diagram corresponding to the order of the seat guide problem.

[0132] like Figure 5 As shown, Figure 5 The ordinate is the motor speed (r / min), and the abscissa is the frequency (Hz, in times / second), which can be converted into the drive shaft speed (rev / second). Then, the drive shaft speed corresponding to the motor speed satisfies the frequency of the yaw order and is determined as the frequency related to the motor speed in the vibration data diagram. Thus, the speed value of each motor in the ordinate has its related frequency, thereby forming a slice diagram corresponding to the seat rail problem order.

[0133] Then, a first mapping relationship is determined based on the vehicle speed value corresponding to the slice image, the rotation speed value of the drive shaft, or the vibration acceleration corresponding to the rotation speed value of the motor.

[0134] In another possible implementation, when determining the first mapping relationship between the second parameter and the vibration acceleration based on the yaw order and the first vibration data graph, the mapping relationship between the first parameter and the vibration acceleration can also be determined based on the yaw order and the first vibration data graph, and then the first mapping relationship between the second parameter and the vibration acceleration is determined based on the mapping relationship between the first parameter and the vibration acceleration and the second mapping relationship between the first parameter and the second parameter. This can reduce the generation of vibration data graphs and reduce the image resources required for vehicle yaw analysis.

[0135] In one possible implementation, the method further includes:

[0136] Based on the first mapping relationship, the maximum vibration acceleration corresponding to the second parameter is determined; based on the maximum vibration acceleration, a subjective evaluation parameter of the vehicle yaw is determined, and the subjective evaluation parameter is used to represent the acceptability of the amplitude of the vehicle yaw.

[0137] For example, the table below is used to perform subjective and objective correspondence and convert it into the customer's subjective acceptability. The objective parameter may be the determined first mapping relationship.

[0138] Table 1 Subjective and objective correspondence table of vehicle acceleration and yaw

[0139]

[0140] Table 2 10-point evaluation method

[0141]

[0142] The basic definitions in Table 2 may be subjective evaluation parameters of this embodiment, such as extremely poor, very poor, very good, perfect, etc.

[0143] In this embodiment, through the correspondence between subjective and objective factors, the user's subjective feelings are associated with objective data, which helps to quickly identify the source of the problem, optimize the yaw problem, and save the project development cycle.

[0144] In another possible implementation, the vibration acceleration used to determine the subjective evaluation parameter may be determined by calculating an average value or performing a weighted summation, which is not limited here.

[0145] The following is an exemplary description of the device embodiment of this embodiment.

[0146] See also Figure 13 , Figure 13 This is a schematic diagram of the structure of a vehicle yaw analysis device provided in an embodiment of the present application. Figure 13 The device shown can be applied to an electronic device, and the device may include a yaw order determination module 1310, a data graph acquisition module 1320, and a yaw analysis module 1330, wherein:

[0147] The yaw order determination module 1310 is used to determine the yaw order corresponding to the vehicle's drive shaft. The yaw order is used to represent the proportional relationship between the vibration frequency of the drive shaft and the rotational speed of the drive shaft. The data graph acquisition module 1320 is used to obtain a first vibration data graph in the yaw direction. The first vibration data graph is used to represent the relationship between a first parameter of the vehicle, the vibration frequency collected by a vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction during the vehicle's speed change process. The first parameter is a parameter reflecting the rotational speed of the drive shaft. The yaw analysis module 1330 is used to determine an analysis result of the vehicle's yaw based on the yaw order and the first vibration data graph. The analysis result is used to reflect the correlation between the vehicle's yaw and the drive shaft.

[0148] In one possible implementation, when the yaw order determination module 1310 determines the yaw order corresponding to the drive shaft of the vehicle, it can be used to:

[0149] Determine the relationship between the axial force of the vehicle's drive shaft and the rotation angle of the drive shaft; based on the change relationship, determine the number of periodic changes in the axial force when the drive shaft rotates one circle as the yaw order corresponding to the drive shaft.

[0150] In one possible implementation, the drive shaft includes a main shaft and a plurality of ball rings connected to the main shaft. When the yaw order determination module 1310 determines the relationship between the axial force of the vehicle's drive shaft and the rotation angle of the drive shaft, it can be used to:

[0151] Determine the axial force of the drive shaft at each rotation angle, wherein the axial force of the drive shaft is determined based on the sliding friction between each ball ring in the plurality of ball rings and the main shaft; based on the axial force of the drive shaft at each rotation angle, determine the relationship between the axial force of the vehicle's drive shaft and the rotation angle of the drive shaft.

[0152] In one possible implementation, the vibration sensor is installed at a seat of the vehicle. When the data map acquisition module 1320 acquires the first vibration data map in the yaw direction, it can be used to:

[0153] Acquire a first parameter of the vehicle, the vibration frequency of the seat collected by a vibration sensor at the seat, and the vibration acceleration of the seat in the yaw direction during the vehicle's speed shifting movement; generate a first vibration data graph in the yaw direction based on the first parameter, the vibration frequency of the seat, and the vibration acceleration of the seat in the yaw direction. The first vibration data graph is used to represent the relationship between the first parameter of the vehicle, the vibration frequency of the seat, and the vibration acceleration of the seat in the yaw direction during the vehicle's speed shifting movement.

[0154] In one possible implementation, when the yaw analysis module 1330 determines the analysis result of the vehicle yaw based on the yaw order and the first vibration data graph, it can be used to:

[0155] Based on the yaw order and the first vibration data graph, a first mapping relationship between a second parameter and vibration acceleration is determined, where the second parameter is a parameter reflecting the rotational speed of the drive shaft; and the first mapping relationship is displayed as an analysis result of the vehicle yaw.

[0156] In one possible implementation, the first parameter and the second parameter are different parameters. When the yaw analysis module 1330 determines the first mapping relationship between the second parameter and the vibration acceleration based on the yaw order and the first vibration data graph, it can be used to:

[0157] Based on the second mapping relationship between the first parameter and the second parameter and the first vibration data graph, a second vibration data graph is obtained, where the second vibration data graph is used to represent the relationship between the second parameter of the vehicle, the vibration frequency collected by a vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction during the speed change movement of the vehicle; the second vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the second vibration data graph; based on the slice graph corresponding to the yaw order in the second vibration data graph, a first mapping relationship between the second parameter and the vibration acceleration is determined; or, when the first parameter and the second parameter are the same parameter, the yaw analysis module 1330 determines the first mapping relationship between the second parameter and the vibration acceleration based on the yaw order and the first vibration data graph, which can be used to:

[0158] The first vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the first vibration data graph; and a first mapping relationship between the second parameter and the vibration acceleration is determined based on the slice graph corresponding to the yaw order in the first vibration data graph.

[0159] In a possible implementation, the apparatus further includes:

[0160] The subjective evaluation module is used to determine the maximum vibration acceleration corresponding to the second parameter based on the first mapping relationship; and determine a subjective evaluation parameter of the vehicle yaw based on the maximum vibration acceleration, where the subjective evaluation parameter is used to represent the acceptability of the amplitude of the vehicle yaw.

[0161] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the devices and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. In the several embodiments provided in the present application, the coupling between modules can be electrical. In addition, the various functional modules in the various embodiments of the present application can be integrated into a processing module, or each module can exist physically alone, or two or more modules can be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0162] The present application also provides an electronic device 140, please refer to Figure 14 The electronic device 140 includes a processor 1410 and a memory 1420, wherein the memory 1410 is used to store computer programs; the processor 1420 is used to execute the programs stored in the memory 1410 to implement the vehicle yaw analysis method described in any embodiment of the present application. The electronic device 140 can be, for example, a vehicle.

[0163] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the vehicle yaw analysis method introduced in any embodiment of the present application is implemented.

[0164] In this application, a plurality refers to two or more.

[0165] In this application, unless otherwise expressly defined, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. A person of ordinary skill in the art will understand the specific meanings of these terms in this application.

[0166] The terms "first," "second," "third," "fourth," etc. (if any) in this application are used to distinguish similar objects and are not necessarily used to describe a particular sequential order.

[0167] The term "and / or" in this application simply describes an association between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects are in an "or" relationship.

[0168] Unless otherwise specified, all steps of this application may be performed sequentially or randomly. For example, a statement that a method includes steps A and B indicates that the method may include steps A and B performed sequentially, or steps B and A performed sequentially. For example, a statement that a method may also include step C indicates that step C may be added to the method in any order. For example, a method may include steps A, B, and C, or steps A, C, and B, or steps C, A, and B, etc.

[0169] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A vehicle yaw analysis method, characterized in that: include: Determining a yaw order corresponding to a drive shaft of a vehicle, wherein the yaw order is used to represent a proportional relationship between a vibration frequency of the drive shaft and a rotational speed of the drive shaft; Acquiring a first vibration data graph in a yaw direction, the first vibration data graph being used to represent a relationship between a first parameter of the vehicle, a vibration frequency collected by a vibration sensor installed on the vehicle, and a vibration acceleration in the yaw direction during a speed change of the vehicle, wherein the first parameter is a parameter reflecting a rotational speed of the drive shaft; An analysis result of the vehicle yaw is determined based on the yaw order and the first vibration data graph, where the analysis result is used to reflect the correlation between the yaw of the vehicle and the drive shaft.

2. The method according to claim 1, characterized in that Determining the yaw order corresponding to the drive shaft of the vehicle includes: Determining a relationship between an axial force of a drive shaft of a vehicle and a rotation angle of the drive shaft; Based on the change relationship, the number of periodic changes of the axial force when the drive shaft rotates one circle is determined as the yaw order corresponding to the drive shaft.

3. The method according to claim 2, characterized in that The drive shaft includes a main shaft and a plurality of ball rings connected to the main shaft. Determining the relationship between the axial force of the drive shaft of the vehicle and the rotation angle of the drive shaft includes: determining an axial force of the drive shaft at each rotation angle, wherein the axial force of the drive shaft is determined based on a sliding friction force between each of the plurality of ball rings and the main shaft; Based on the axial force of the drive shaft at each rotation angle, a variation relationship between the axial force of the drive shaft of the vehicle and the rotation angle of the drive shaft is determined.

4. The method according to claim 1, wherein The vibration sensor is mounted on a seat of the vehicle, and the step of obtaining a first vibration data graph in a yaw direction includes: Acquiring, during a speed change process of the vehicle, a first parameter of the vehicle, a vibration frequency of the seat collected by the vibration sensor at the seat, and a vibration acceleration of the seat in the yaw direction; Based on the first parameter, the vibration frequency of the seat and the vibration acceleration of the seat in the yaw direction, a first vibration data graph in the yaw direction is generated. The first vibration data graph is used to represent the relationship between the first parameter of the vehicle, the vibration frequency of the seat and the vibration acceleration of the seat in the yaw direction during the speed change movement of the vehicle.

5. The method according to any one of claims 1 to 4, characterized in that Determining an analysis result of the vehicle yaw based on the yaw order and the first vibration data graph includes: determining a first mapping relationship between a second parameter and the vibration acceleration based on the yaw order and the first vibration data graph, wherein the second parameter is a parameter reflecting a rotational speed of the drive shaft; The first mapping relationship is displayed as an analysis result of vehicle yaw.

6. The method according to claim 5, characterized in that The first parameter and the second parameter are different parameters, and determining a first mapping relationship between the second parameter and the vibration acceleration based on the yaw order and the first vibration data graph includes: Based on a second mapping relationship between the first parameter and the second parameter and the first vibration data graph, a second vibration data graph is obtained, where the second vibration data graph is used to represent the relationship between the second parameter of the vehicle, the vibration frequency collected by a vibration sensor installed on the vehicle, and the vibration acceleration in the yaw direction during the speed change movement of the vehicle; the second vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the second vibration data graph; based on the slice graph corresponding to the yaw order in the second vibration data graph, a first mapping relationship between the second parameter and the vibration acceleration is determined; or, The first parameter and the second parameter are the same parameter, and determining a first mapping relationship between the second parameter and the vibration acceleration based on the yaw order and the first vibration data graph includes: The first vibration data graph is segmented based on the yaw order to obtain a slice graph corresponding to the yaw order in the first vibration data graph; and a first mapping relationship between a second parameter and the vibration acceleration is determined based on the slice graph corresponding to the yaw order in the first vibration data graph.

7. The method according to claim 5, characterized in that The method further comprises: determining, based on the first mapping relationship, a maximum vibration acceleration corresponding to the second parameter; A subjective evaluation parameter of the vehicle yaw is determined based on the maximum vibration acceleration, where the subjective evaluation parameter is used to represent the acceptability of the amplitude of the vehicle yaw.

8. A vehicle yaw analysis device, characterized in that: include: a yaw order determination module, configured to determine a yaw order corresponding to a drive shaft of a vehicle, wherein the yaw order is used to represent a proportional relationship between a vibration frequency of the drive shaft and a rotational speed of the drive shaft; a data graph acquisition module, configured to acquire a first vibration data graph in a yaw direction, the first vibration data graph being used to represent a relationship between a first parameter of the vehicle, a vibration frequency collected by a vibration sensor installed on the vehicle, and a vibration acceleration in the yaw direction during a speed change of the vehicle, wherein the first parameter is a parameter reflecting a rotational speed of the drive shaft; A yaw analysis module is configured to determine an analysis result of the vehicle yaw based on the yaw order and the first vibration data graph, wherein the analysis result is configured to reflect a correlation between the vehicle yaw and the drive shaft.

9. An electronic device, characterized in that: comprising a processor and a memory, wherein: Memory for storing computer programs; A processor, configured to execute a program stored in a memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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