CN112977395B - Vehicle anti-shake method, device, storage medium and system - Google Patents
Vehicle anti-shake method, device, storage medium and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a vehicle anti-shake method, a device, a storage medium and a system, wherein the method comprises the following steps: based on the fact that the current time is used as the starting time, the motor rotating speed of a vehicle in the length of a preset time window is traced forwards, and the jitter cycle and the offset of the motor rotating speed in the length of the preset time window are determined; determining the shaking range of the motor rotating speed in any shaking period according to the maximum value and the offset of the motor rotating speed in any shaking period; when the motor rotating speed, the jitter range and the difference value between the jitter period and the adjacent jitter period at the current moment simultaneously meet preset conditions, determining the compensation torque corresponding to the motor rotating speed at the current moment; and compensating the real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking. By the scheme, vehicle shaking can be effectively reduced, and the comfort level of a user in driving or riding a vehicle is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle anti-shake method, device, storage medium and system.
Background
With the increasing of the quantity of automobiles kept in the world, the environmental pollution caused by the emission of automobile exhaust is more and more serious, meanwhile, the depletion of petroleum resources is accelerated due to the large consumption of fuel oil, and under the situations of energy shortage and environmental deterioration, the development of new energy automobiles with energy conservation and environmental protection accelerated is urgent. The new energy automobile is a substitute product of the traditional automobile, and is accepted and valued by governments and automobile enterprises of various countries in the world. The new energy automobile generally has a plurality of power sources, and taking a hybrid electric automobile as an example, the driving force of the automobile comes from an engine and a motor, and the engine and the motor can be driven independently or jointly.
In order to reduce emissions and improve fuel economy, the engine needs to be stopped at idle, and after entering an engine high efficiency region, the engine needs to be started, and vehicle shaking may be caused during the starting and stopping process, so that the comfort is reduced. On the other hand, because
The torque response speed of the drive motor is significantly higher than the engine and can also cause resonance when large torque steps are applied to the driveline, resulting in vehicle shudder. How to effectively prevent the vehicle from shaking becomes important.
Disclosure of Invention
The invention provides a vehicle anti-shake method, a vehicle anti-shake device, a vehicle anti-shake storage medium and a vehicle anti-shake system, which can effectively ensure the robustness and accuracy of scene recognition in the map construction process and are beneficial to accurate positioning of a vehicle based on an optimized map.
In a first aspect, an embodiment of the present invention provides a vehicle anti-shake method, including:
based on the fact that the current time is used as the starting time, the motor rotating speed of a vehicle in the length of a preset time window is traced forwards, and the jitter cycle and the offset of the motor rotating speed in the length of the preset time window are determined;
determining the shaking range of the motor rotating speed in any shaking period according to the maximum value and the offset of the motor rotating speed in any shaking period;
when the motor rotating speed, the jitter range and the difference value between the jitter period and the adjacent jitter period at the current moment simultaneously meet preset conditions, determining the compensation torque corresponding to the motor rotating speed at the current moment;
and compensating the real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking.
Optionally, based on the current time as the starting time, tracing back the motor speed of the vehicle within the preset time window length, determining the jitter cycle and the offset of the motor speed within the preset time window length, including:
the method comprises the steps of obtaining the motor rotating speed of a vehicle which is traced forward within the length of a preset time window by taking the current time as the starting time in real time;
and filtering the motor rotating speed, and determining the jitter cycle and the offset of the motor rotating speed in the preset time window length based on the filtered motor rotating speed.
Optionally, based on the current time as the starting time, tracing back the motor speed of the vehicle within the preset time window length, determining the jitter cycle and the offset of the motor speed within the preset time window length, including:
the method comprises the steps that for the motor rotating speed of a vehicle, which is traced back forwards within a preset time window length by taking the current moment as a starting moment, at each moment, the motor rotating speed at a target moment is compared with the motor rotating speed at the previous moment, the rising time length and the maximum value of the motor rotating speed corresponding to the rising stage of the motor rotating speed are determined, and the falling time length and the minimum value of the motor rotating speed corresponding to the falling stage of the motor rotating speed are determined;
and taking the sum of the rising time length and the falling time length as a shaking period of the motor rotating speed, and taking the average value of the maximum value of the motor rotating speed and the minimum value of the motor rotating speed as the offset of the motor rotating speed.
Optionally, comparing the motor speed at the target moment with the motor speed at the previous moment, determining a rising time length and a maximum motor speed value corresponding to the motor speed at the rising stage, and determining a falling time length and a minimum motor speed value corresponding to the motor speed at the falling stage, includes:
comparing the motor speed at the target moment with the motor speed at the previous moment, determining that the motor speed is in an ascending stage when the motor speed at the target moment is continuously greater than the motor speed at the previous moment, performing accumulated counting on the ascending number in the ascending stage in real time until the motor speed at the target moment is less than the motor speed at the previous moment, taking the motor speed at the previous moment as the maximum motor speed, and taking the product of the ascending number and a single preset ascending time length as the corresponding ascending time length of the motor speed at the ascending stage;
when the motor rotating speed at the target moment is continuously smaller than the motor rotating speed at the previous moment, determining that the motor rotating speed is in a descending stage, and performing accumulated counting on the descending number in the descending stage in real time until the motor rotating speed at the target moment is larger than the motor rotating speed at the previous moment, taking the motor rotating speed at the previous moment as the minimum value of the motor rotating speed, and taking the product of the descending number and a single preset descending time as the descending time length corresponding to the condition that the motor rotating speed is in the descending stage.
Optionally, when the motor speed at the current moment, the jitter range, and the difference between the jitter cycle and the adjacent jitter cycle simultaneously satisfy the preset condition, determining the compensation torque corresponding to the motor speed at the current moment, including:
and when the motor rotating speed at the current moment is less than a preset rotating speed threshold, the shaking range is less than a preset shaking threshold, and the difference value between the shaking period and the adjacent shaking period is less than a preset period threshold, determining the compensation torque corresponding to the motor rotating speed at the current moment.
Optionally, determining the compensation torque corresponding to the motor speed at the current time includes:
determining a compensation gain corresponding to the motor rotating speed at the current moment;
and taking the product of the compensation gain and the real torque corresponding to the motor rotating speed at the current moment as the compensation torque corresponding to the motor rotating speed at the current moment.
Optionally, determining a compensation gain corresponding to the motor speed at the current time includes:
acquiring a corresponding relation table of the motor rotating speed and the compensation gain;
and searching the compensation gain corresponding to the motor rotating speed at the current moment in the corresponding relation table.
In a second aspect, an embodiment of the present invention further provides a vehicle anti-shake apparatus, including:
the offset determining module is used for tracing the motor rotating speed of the vehicle within the length of a preset time window forward by taking the current time as a starting time, and determining the jitter cycle and the offset of the motor rotating speed within the length of the preset time window;
the jitter range determining module is used for determining the jitter range of the motor rotating speed in any jitter period according to the maximum value and the offset of the motor rotating speed in any jitter period;
the compensation torque determining module is used for determining the compensation torque corresponding to the motor rotating speed at the current moment when the motor rotating speed at the current moment, the jitter range and the difference value between the jitter cycle and the adjacent jitter cycle simultaneously meet preset conditions;
and the torque compensation module is used for compensating the real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking.
Optionally, the offset determining module is configured to:
the method comprises the steps of obtaining the motor rotating speed of a vehicle which is traced forward within the length of a preset time window by taking the current time as the starting time in real time;
and filtering the motor rotating speed, and determining the jitter cycle and the offset of the motor rotating speed in the preset time window length based on the filtered motor rotating speed.
Optionally, the offset determining module includes:
the comparison unit is used for comparing the motor rotating speed of the target moment with the motor rotating speed of the previous moment by taking the current moment as the starting moment and tracing the motor rotating speed of the vehicle at each moment in the preset time window length forwards, determining the rising time length and the maximum value of the motor rotating speed corresponding to the rising stage of the motor rotating speed, and determining the falling time length and the minimum value of the motor rotating speed corresponding to the falling stage of the motor rotating speed;
and the jitter period and offset determining unit is used for taking the sum of the rising time length and the falling time length as the jitter period of the motor rotating speed and taking the average value of the maximum value and the minimum value of the motor rotating speed as the offset of the motor rotating speed.
Optionally, the comparing unit is configured to:
comparing the motor speed at the target moment with the motor speed at the previous moment, determining that the motor speed is in an ascending stage when the motor speed at the target moment is continuously greater than the motor speed at the previous moment, performing accumulated counting on the ascending number in the ascending stage in real time until the motor speed at the target moment is less than the motor speed at the previous moment, taking the motor speed at the previous moment as the maximum motor speed, and taking the product of the ascending number and a single preset ascending time length as the corresponding ascending time length of the motor speed at the ascending stage;
when the motor rotating speed at the target moment is continuously smaller than the motor rotating speed at the previous moment, determining that the motor rotating speed is in a descending stage, and performing accumulated counting on the descending number in the descending stage in real time until the motor rotating speed at the target moment is larger than the motor rotating speed at the previous moment, taking the motor rotating speed at the previous moment as the minimum value of the motor rotating speed, and taking the product of the descending number and a single preset descending time as the descending time length corresponding to the condition that the motor rotating speed is in the descending stage.
Optionally, the compensation torque determination module is configured to:
and when the motor rotating speed at the current moment is less than a preset rotating speed threshold, the shaking range is less than a preset shaking threshold, and the difference value between the shaking period and the adjacent shaking period is less than a preset period threshold, determining the compensation torque corresponding to the motor rotating speed at the current moment.
Optionally, the compensation torque determination module comprises:
the compensation gain determining unit is used for determining the compensation gain corresponding to the motor rotating speed at the current moment;
and the compensation torque calculation unit is used for taking the product of the compensation gain and the real torque corresponding to the motor rotating speed at the current moment as the compensation torque corresponding to the motor rotating speed at the current moment.
Optionally, the compensation gain determining unit is configured to:
acquiring a corresponding relation table of the motor rotating speed and the compensation gain;
and searching the compensation gain corresponding to the motor rotating speed at the current moment in the corresponding relation table.
In a third aspect, embodiments of the present invention further provide a computer storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a vehicle anti-shake method provided in any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention provides a vehicle anti-shake system, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the vehicle anti-shake method provided by the embodiment of the present invention is implemented.
The invention provides a vehicle anti-shake scheme, which comprises: based on the fact that the current time is used as the starting time, the motor rotating speed of a vehicle in the length of a preset time window is traced forwards, and the jitter cycle and the offset of the motor rotating speed in the length of the preset time window are determined; determining the shaking range of the motor rotating speed in any shaking period according to the maximum value and the offset of the motor rotating speed in any shaking period; when the motor rotating speed, the jitter range and the difference value between the jitter period and the adjacent jitter period at the current moment simultaneously meet preset conditions, determining the compensation torque corresponding to the motor rotating speed at the current moment; and compensating the real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking. According to the technical scheme provided by the embodiment of the invention, the vehicle shake can be effectively reduced, and the comfort level of a user in driving or riding a vehicle is improved.
Drawings
Fig. 1 is a schematic flow chart of a vehicle anti-shake method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating another anti-shake method for a vehicle according to an embodiment of the present invention;
fig. 3 is a block diagram illustrating a structure of an anti-shake apparatus for a vehicle according to an embodiment of the present invention;
fig. 4 is a block diagram of a vehicle anti-shake system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart illustrating a vehicle anti-shake method according to an embodiment of the present invention, where the method may be performed by a vehicle anti-shake apparatus, where the apparatus may be implemented by software and/or hardware, and may be generally integrated in a vehicle anti-shake system, and the vehicle anti-shake system may be generally configured in a vehicle. As shown in fig. 1, the method includes:
In the embodiment of the present invention, the current time may be understood as the time when the anti-shake event of the vehicle is triggered. The length of the preset time window is traced forward by taking the current time as the starting time, which can be understood as a preset time period traced forward from the current time. Specifically, the motor speed of the vehicle corresponding to each time within the preset time window length is obtained, and the jitter cycle and the offset of the motor speed are determined according to the motor speed of the vehicle within the preset time window length, wherein the offset of the motor speed can be understood as an offset of the motor speed relative to a 0 value (x axis) within the jitter cycle. For example, the motor rotation speed within the preset time window length may be subjected to jitter self-learning, for example, the motor rotation speed within the preset time window length is input into a pre-trained jitter self-learning model, and the jitter period and the offset of the motor rotation speed within the preset time window length are determined according to the output result of the jitter self-learning model.
Optionally, based on the current time as the starting time, tracing back the motor speed of the vehicle within the preset time window length, determining the jitter cycle and the offset of the motor speed within the preset time window length, including: the method comprises the steps that for the motor rotating speed of a vehicle, which is traced back forwards within a preset time window length by taking the current moment as a starting moment, at each moment, the motor rotating speed at a target moment is compared with the motor rotating speed at the previous moment, the rising time length and the maximum value of the motor rotating speed corresponding to the rising stage of the motor rotating speed are determined, and the falling time length and the minimum value of the motor rotating speed corresponding to the falling stage of the motor rotating speed are determined; and taking the sum of the rising time length and the falling time length as a shaking period of the motor rotating speed, and taking the average value of the maximum value of the motor rotating speed and the minimum value of the motor rotating speed as the offset of the motor rotating speed. The advantage of this is that the offset of the motor speed and the period of the wobble can be accurately determined.
The target time is any time within the length of the preset time window, and can also be understood as any sampling time of the motor rotating speed within the preset time window. Illustratively, the motor speed at the target moment is compared with the motor speed at the previous moment according to the motor speed at each moment in the preset time window length, and the magnitude relation between the motor speed at the target moment and the motor speed at the previous moment is determined, wherein the previous moment is the previous moment at the target moment. And determining whether the motor rotating speed is in an ascending stage or a descending stage according to the magnitude relation of the motor rotating speeds at each adjacent moment, wherein the ascending stage can be understood as a stage in which the motor rotating speed is continuously increased, and the descending stage can be understood as a stage in which the motor rotating speed is continuously reduced. Counting the rising time length corresponding to the rising stage of the motor rotating speed and the falling time length corresponding to the falling stage of the motor rotating speed, and taking the sum of the rising time length and the falling time length as the shaking period of the motor rotating speed, wherein the rising time length can be understood as the duration of the continuous rising of the motor rotating speed, and the falling time length can be understood as the duration of the continuous falling of the motor rotating speed. In addition, a maximum motor speed value at which the motor speed is in an increasing phase and a minimum motor speed value at which the motor speed is in a decreasing phase are determined, wherein the maximum motor speed value may be understood as a maximum motor speed value in the dithering cycle, and the minimum motor speed value may be understood as a minimum motor speed value in the dithering cycle. And summing the maximum value of the motor rotating speed and the minimum value of the motor rotating speed, taking the average value of the maximum value of the motor rotating speed and the minimum value of the motor rotating speed as the offset of the motor rotating speed in the jitter period.
Optionally, comparing the motor speed at the target moment with the motor speed at the previous moment, determining a rising time length and a maximum motor speed value corresponding to the motor speed at the rising stage, and determining a falling time length and a minimum motor speed value corresponding to the motor speed at the falling stage, includes: comparing the motor rotating speed at the target moment with the motor rotating speed at the previous moment, determining that the motor rotating speed is in an ascending stage when the motor rotating speed at the target moment is continuously greater than the motor rotating speed at the previous moment, and accumulating and counting the ascending number in the ascending stage in real time until the motor rotating speed at the target moment is less than the motor rotating speed at the previous moment, taking the motor rotating speed at the previous moment as the maximum value of the motor rotating speed, and taking the product of the ascending number and a single preset ascending time length as the corresponding ascending time length of the motor rotating speed at the ascending stage; when the motor rotating speed at the target moment is continuously smaller than the motor rotating speed at the previous moment, determining that the motor rotating speed is in a descending stage, and performing accumulated counting on the descending number in the descending stage in real time until the motor rotating speed at the target moment is larger than the motor rotating speed at the previous moment, taking the motor rotating speed at the previous moment as the minimum value of the motor rotating speed, and taking the product of the descending number and a single preset descending time as the descending time length corresponding to the condition that the motor rotating speed is in the descending stage. Illustratively, comparing the motor speed Spd (z) at the target moment with the motor speed value Spd (z-1) at the previous moment, if the motor speed at the target moment is continuously greater than the motor speed value Spd (z-1) at the previous moment, the current motor is considered to be in a speed increasing stage and can be recorded as Spd _ up, and the increasing number Spd _ up is continuously counted in the increasing stage, and when the motor speed Spd (z) at a certain moment is less than the motor speed value Spd (z-1) at the previous moment, the motor speed value at the previous moment is considered to be the peak value of the motor speed, that is, the motor speed value at the previous moment is taken as the maximum motor speed value and can be recorded as Spd _ max; and meanwhile, recording rising time Ti, and when the rotating speed of the motor is in a falling state, the situation is opposite to the situation that the motor is in a rising stage, specifically, if the rotating speed of the motor at the target moment is continuously less than the rotating speed of the motor at the previous moment, the current motor is considered to be in a rotating speed rising stage, Spd _ Down can be recorded, the falling number Spd _ Down is continuously counted in the falling stage in an accumulated mode, when the rotating speed Spd (z) of the motor at a certain moment is greater than the rotating speed value Spd (z-1) of the motor at the previous moment, the rotating speed of the motor at the previous moment is considered to be the valley value of the rotating speed of the motor, namely, the rotating speed of the motor at the previous moment is taken as the minimum value of the rotating speed of the motor, and the rotating speed of the motor at the previous moment can be recorded as Spd _ min. Calculating the product of the rising quantity and a single preset rising time length, and taking the product as the rising time length corresponding to the rising stage of the rotating speed of the motor; and calculating the product of the descending number and the single preset descending time, and taking the product as the descending time length corresponding to the descending stage of the rotating speed of the motor. The single preset rising time can be understood as the interval time between the target time and the previous time when the motor rotation speed is in the rising stage, and the single preset falling time can be understood as the interval time between the target time and the previous time when the motor rotation speed is in the falling stage. Optionally, the single preset rising time period may be the same as or different from the single preset falling time period, which is not limited in the embodiment of the present invention. When the single preset rising time length is the same as the single preset falling time length, the rising number and the falling number can be directly summed and then multiplied by the interval time length of two adjacent moments, and the calculation result is used as the jitter period of the motor rotating speed.
And 102, determining a shaking range of the motor rotating speed in any shaking period according to the maximum value and the offset of the motor rotating speed in any shaking period.
In the embodiment of the invention, the maximum value of the motor rotating speed in a certain shaking period is determined, and the shaking range of the motor rotating speed in the shaking period is calculated according to the offset between the maximum value of the motor rotating speed in the shaking period and the motor rotating speed. Specifically, the difference between the maximum value of the motor speed and the offset of the motor speed in the jitter period is calculated, and the difference is used as the jitter range of the motor speed. For example, if the difference between the maximum value of the motor speed and the offset of the motor speed in the wobble period is b, the motor speed is wobbled in the (-b, + b) interval.
And 103, when the motor rotating speed at the current moment, the shaking range and the difference value between the shaking period and the adjacent shaking period simultaneously meet preset conditions, determining the compensation torque corresponding to the motor rotating speed at the current moment.
In the embodiment of the invention, the motor rotating speed at the current moment is determined, whether the motor rotating speed at the current moment, the shaking range and the difference value of the shaking period and the last shaking period simultaneously meet the preset conditions or not is judged, and if yes, the compensation torque corresponding to the motor rotating speed at the current moment is determined. For example, when the motor speed at the current moment is within a preset speed range, the jitter range is within a preset jitter range, and the difference between two adjacent jitter cycles is smaller than a preset cycle threshold, the compensation torque corresponding to the motor speed at the current moment is determined.
Optionally, when the motor speed at the current moment, the jitter range, and the difference between the jitter cycle and the adjacent jitter cycle simultaneously satisfy the preset condition, determining the compensation torque corresponding to the motor speed at the current moment, including: and when the motor rotating speed at the current moment is smaller than a preset rotating speed threshold, the shaking range is smaller than a preset shaking threshold, and the difference value between the shaking period and the adjacent shaking period is smaller than a preset period threshold, determining the compensation torque corresponding to the motor rotating speed at the current moment. The advantage of this kind of setting is that can effectively improve low-speed shake, improves the driving comfort level. Specifically, whether the motor rotation speed, the jitter range and the difference between two adjacent jitter periods at the current moment simultaneously satisfy the following preset conditions is judged: the rotating speed of the motor is less than a preset rotating speed threshold value Spd _ cal; whether the jitter range is smaller than a preset jitter threshold Spd _ cali or not; whether the difference value of two adjacent jitter cycles is smaller than a preset cycle threshold value T _ cal or not; and if so, determining the compensation torque corresponding to the motor rotating speed at the current moment. The preset rotation speed threshold value Spd _ cal, the preset jitter threshold value Spd _ cali and the preset period threshold value T _ cal may be standard quantities determined by performing experimental calibration on the vehicle. Illustratively, the vehicle is a pure electric vehicle, the pure electric vehicle has low-speed vibration, the low-speed vibration condition is calibrated through a whole vehicle test, the determined preset rotating speed threshold value Spd _ cal can be 200rpm, and the whole vehicle has a common resonance frequency of 5HZ to 10HZ due to factors such as general name consistency and the like, so the preset period threshold value T _ cal can also be calibrated through the test according to the interval value.
In the embodiment of the invention, the compensation torque corresponding to the motor rotating speed at the current moment can be determined according to the corresponding relation between the motor rotating speed and the compensation torque. For example, a pre-stored correspondence table of the motor rotation speed and the compensation torque may be obtained, and the compensation torque corresponding to the motor rotation speed at the current time may be searched in the correspondence table of the motor rotation speed and the compensation torque. For another example, a pre-stored correspondence equation between the motor rotation speed and the compensation torque may be determined, and the compensation torque corresponding to the motor rotation speed at the current time may be calculated from the motor rotation speed at the current time and the correspondence equation.
Optionally, determining the compensation torque corresponding to the motor speed at the current time includes: determining a compensation gain corresponding to the motor rotating speed at the current moment; and taking the product of the compensation gain and the real torque corresponding to the motor rotating speed at the current moment as the compensation torque corresponding to the motor rotating speed at the current moment. The advantage of setting up like this is that can accurate definite motor speed corresponds compensation moment of torsion, helps improving the effect to the vehicle anti-shake. Specifically, the compensation gain may be a compensation coefficient obtained by comparing the rotation speed of the motor during dithering and the rotation speed of the motor during debouncing and calibrating according to a deviation between the two. The compensation gain K takes a negative value, because the motor rotating speed jitter and the torque decomposed by the motor according to the whole vehicle torque instruction FFT have the same frequency, and the amplitude is the same as positive and negative, if the whole vehicle torque instruction is superposed according to the motor rotating speed fluctuation, the motor rotating speed needs to be multiplied by the compensation gain with a negative value. Optionally, determining a compensation gain corresponding to the motor speed at the current time includes: acquiring a corresponding relation table of the motor rotating speed and the compensation gain; and searching the compensation gain corresponding to the motor rotating speed at the current moment in the corresponding relation table. Specifically, a corresponding relation table between the motor rotation speed and the compensation gain is determined by calibrating the whole vehicle, and the compensation gain corresponding to the motor rotation speed at the current moment is searched in the corresponding relation table, wherein when the compensation gain corresponding to the motor rotation speed at the current moment cannot be searched in the corresponding relation table, the compensation gain corresponding to the motor rotation speed at the current moment can be determined based on an interpolation method. And determining the real torque corresponding to the motor rotating speed at the current moment, wherein the real torque is the given torque when the vehicle control unit controls the motor to rotate at the motor rotating speed, and the product of the real torque and the compensation gain is used as the compensation torque corresponding to the motor rotating speed at the current moment.
And 104, compensating the real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking.
In the embodiment of the invention, the compensation torque corresponding to the motor rotating speed at the current moment is superposed with the real torque corresponding to the motor rotating speed at the current moment, and the superposed torque is used for controlling the motor to rotate and output so as to prevent the vehicle from shaking. It can be understood that, along with the continuous change of the motor rotation speed jitter, the compensation torque superposed in the vehicle torque command (the real torque given by the vehicle controller) also changes until the motor rotation speed jitter range is reduced to the motor rotation speed jitter range which can not be sensed by the driver, or the motor rotation speed jitters around the zero rotation speed, so as to realize the enabling compensation of the jittered vehicle torque.
The invention provides a vehicle anti-shake method, which comprises the following steps: based on the fact that the current time is used as the starting time, the motor rotating speed of a vehicle in the length of a preset time window is traced forwards, and the jitter cycle and the offset of the motor rotating speed in the length of the preset time window are determined; determining the shaking range of the motor rotating speed in any shaking period according to the maximum value and the offset of the motor rotating speed in any shaking period; when the motor rotating speed, the jitter range and the difference value between the jitter period and the adjacent jitter period at the current moment simultaneously meet preset conditions, determining the compensation torque corresponding to the motor rotating speed at the current moment; and compensating the real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking. According to the technical scheme provided by the embodiment of the invention, the vehicle shake can be effectively reduced, and the comfort level of a user in driving or riding a vehicle is improved.
In some embodiments, determining the jitter cycle and the offset of the motor speed within the preset time window length based on the motor speed of the vehicle tracing back forward within the preset time window length by taking the current time as the starting time comprises: the method comprises the steps of obtaining the motor rotating speed of a vehicle which is traced forward within the length of a preset time window by taking the current time as the starting time in real time; and filtering the motor rotating speed, and determining the jitter cycle and the offset of the motor rotating speed in the preset time window length based on the filtered motor rotating speed. Specifically, the motor rotating speed of the vehicle is calculated in real time through the motor rotating transformer in the preset time window length by taking the current time as the starting time and the motor rotating speed is easy to fluctuate due to abnormal fluctuation of the rotating position, so that the motor rotating speed can be filtered. The filtering length cannot be too small, so that the condition that the anti-shaking failure of the vehicle is caused due to the fact that the rotating speed of the motor fluctuates due to abnormal fluctuation of the rotating position is avoided, the situation that the phase deviation of the rotating speed of the filtered motor and the actual rotating speed of the motor is large due to the fact that the filtering length is too large, especially the deviation of the rotating speed of the filtered motor is large when the rotating speed of the motor changes rapidly, and the influence of hysteresis is brought to the motor controller when the filtered value is used for carrying out other control processing. For example, the motor speed may be filtered based on an average filtering method. Illustratively, the motor speed calculated by the rotation-variation decoding is the same as the motor control period, and the frequency is generally between 4K and 10K, so the filtering period can be controlled between 100us and 250 us. And then, determining the jitter period and the offset of the motor rotating speed in the preset time window length based on the filtered motor rotating speed.
In some embodiments, when the current motor speed, the jitter range, and the difference between the jitter cycle and the adjacent jitter cycle do not satisfy the preset condition, the actual torque corresponding to the current motor speed may not be compensated, or the compensation torque may be set to 0. Illustratively, when the motor speed at the current moment, the jitter range and the difference between two adjacent jitter cycles do not satisfy any one of the following preset conditions: the motor rotating speed is less than a preset rotating speed threshold Spd _ cal; whether the jitter range is smaller than a preset jitter threshold Spd _ cali or not; whether the difference value of two adjacent shaking periods is smaller than a preset period threshold value T _ cal or not indicates that the shaking range of the vehicle is not large, the compensation torque can be directly set to be 0, and the torque compensation of the vehicle is not enabled.
Fig. 2 is a schematic flow chart of another vehicle anti-shake method provided by an embodiment of the invention, as shown in fig. 2, the method includes the following steps:
And 203, when the motor rotating speed at the target moment is continuously greater than the motor rotating speed at the previous moment, determining that the motor rotating speed is in an increasing stage, and performing accumulated counting on the increasing number at the increasing stage in real time until the motor rotating speed at the target moment is less than the motor rotating speed at the previous moment, taking the motor rotating speed at the previous moment as the maximum value of the motor rotating speed, and taking the product of the increasing number and a single preset increasing time as the corresponding increasing time length of the motor rotating speed in the increasing stage.
And 204, when the motor rotating speed at the target moment is continuously smaller than the motor rotating speed at the previous moment, determining that the motor rotating speed is in a descending stage, and performing accumulated counting on the descending number in the descending stage in real time until the motor rotating speed at the target moment is larger than the motor rotating speed at the previous moment, taking the motor rotating speed at the previous moment as the minimum value of the motor rotating speed, and taking the product of the descending number and a single preset descending time as the descending time length corresponding to the condition that the motor rotating speed is in the descending stage.
And step 205, taking the sum of the rising time length and the falling time length as a dithering period of the motor rotating speed, and taking the average value of the maximum value and the minimum value of the motor rotating speed as an offset of the motor rotating speed.
And step 206, determining the shaking range of the motor rotating speed in any shaking period according to the maximum value and the offset of the motor rotating speed in any shaking period.
And step 207, when the motor rotating speed at the current moment is less than a preset rotating speed threshold, the jitter range is less than a preset jitter threshold, and the difference value between the jitter cycle and the adjacent jitter cycle is less than a preset cycle threshold, determining a compensation gain corresponding to the motor rotating speed at the current moment.
And step 208, taking the product of the compensation gain and the real torque corresponding to the motor rotating speed at the current moment as the compensation torque corresponding to the motor rotating speed at the current moment.
Optionally, determining a compensation gain corresponding to the motor speed at the current time includes: acquiring a corresponding relation table of the motor rotating speed and the compensation gain; and searching the compensation gain corresponding to the motor rotating speed at the current moment in the corresponding relation table.
And 209, compensating the real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking.
The vehicle anti-shaking method provided by the embodiment of the invention obtains the motor rotating speed of a vehicle which is traced back within the length of the preset time window in a forward direction by taking the current moment as the starting moment in real time, filters the motor rotating speed, then carries out working condition self-learning on the filtered motor rotating speed within the length of the preset time window, determines the shaking period and the offset of the motor rotating speed, further determines the shaking range of the motor rotating speed within the shaking period according to the maximum value and the offset of the motor rotating speed within the shaking period, determines the compensation torque corresponding to the motor rotating speed at the current moment when the motor rotating speed at the current moment is less than the preset rotating speed threshold value, the shaking range is less than the preset shaking threshold value and the difference value between two adjacent shaking periods is less than the preset period threshold value, so as to compensate the real torque of the motor rotating speed at the current moment, effectively reduce the shaking of the vehicle and improve the comfort level of a user for driving or riding the vehicle, and the operation period is short, the calibration is easy, and the acceleration and the comfort of the vehicle can be considered simultaneously.
Fig. 3 is a block diagram of a vehicle anti-shake apparatus according to an embodiment of the present invention, which may be implemented by software and/or hardware, and is generally integrated in a vehicle anti-shake system, and may reduce vehicle shake by performing a vehicle anti-shake method. As shown in fig. 3, the apparatus includes:
the offset determining module 301 is configured to determine a jitter cycle and an offset of a motor speed within a preset time window length based on a forward tracing of the motor speed of a vehicle within the preset time window length by taking a current time as a starting time;
a jitter range determining module 302, configured to determine a jitter range of the motor speed in any jitter period according to a maximum value and an offset of the motor speed in the jitter period;
the compensation torque determining module 303 is configured to determine a compensation torque corresponding to the motor rotation speed at the current moment when the motor rotation speed at the current moment, the jitter range, and a difference between the jitter cycle and an adjacent jitter cycle simultaneously satisfy preset conditions;
a torque compensation module 304, configured to compensate a real torque corresponding to the motor speed at the current time based on the compensation torque, so as to prevent the vehicle from shaking.
The invention provides a vehicle anti-shake device, which is characterized in that based on the fact that the motor rotating speed of a vehicle in a preset time window length is traced forwards by taking the current time as the starting time, the shake period and the offset of the motor rotating speed in the preset time window length are determined; determining the shaking range of the motor rotating speed in any shaking period according to the maximum value and the offset of the motor rotating speed in any shaking period; when the motor rotating speed, the jitter range and the difference value between the jitter period and the adjacent jitter period at the current moment simultaneously meet preset conditions, determining the compensation torque corresponding to the motor rotating speed at the current moment; and compensating the real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking. According to the technical scheme provided by the embodiment of the invention, the vehicle shake can be effectively reduced, and the comfort level of a user in driving or riding a vehicle is improved.
Optionally, the offset determining module is configured to:
the method comprises the steps of obtaining the motor rotating speed of a vehicle which is traced forward within the length of a preset time window by taking the current time as the starting time in real time;
and filtering the motor rotating speed, and determining the jitter cycle and the offset of the motor rotating speed in the preset time window length based on the filtered motor rotating speed.
Optionally, the offset determining module includes:
the comparison unit is used for comparing the motor rotating speed of the target moment with the motor rotating speed of the previous moment by taking the current moment as the starting moment and tracing the motor rotating speed of the vehicle at each moment in the preset time window length forwards, determining the rising time length and the maximum value of the motor rotating speed corresponding to the rising stage of the motor rotating speed, and determining the falling time length and the minimum value of the motor rotating speed corresponding to the falling stage of the motor rotating speed;
and the jitter period and offset determining unit is used for taking the sum of the rising time length and the falling time length as the jitter period of the motor rotating speed and taking the average value of the maximum value and the minimum value of the motor rotating speed as the offset of the motor rotating speed.
Optionally, the comparing unit is configured to:
comparing the motor rotating speed at the target moment with the motor rotating speed at the previous moment, determining that the motor rotating speed is in an ascending stage when the motor rotating speed at the target moment is continuously greater than the motor rotating speed at the previous moment, and accumulating and counting the ascending number in the ascending stage in real time until the motor rotating speed at the target moment is less than the motor rotating speed at the previous moment, taking the motor rotating speed at the previous moment as the maximum value of the motor rotating speed, and taking the product of the ascending number and a single preset ascending time length as the corresponding ascending time length of the motor rotating speed at the ascending stage;
when the motor rotating speed at the target moment is continuously smaller than the motor rotating speed at the previous moment, determining that the motor rotating speed is in a descending stage, and performing accumulated counting on the descending number in the descending stage in real time until the motor rotating speed at the target moment is larger than the motor rotating speed at the previous moment, taking the motor rotating speed at the previous moment as the minimum value of the motor rotating speed, and taking the product of the descending number and a single preset descending time as the descending time length corresponding to the condition that the motor rotating speed is in the descending stage.
Optionally, a compensation torque determination module for:
and when the motor rotating speed at the current moment is less than a preset rotating speed threshold, the shaking range is less than a preset shaking threshold, and the difference value between the shaking period and the adjacent shaking period is less than a preset period threshold, determining the compensation torque corresponding to the motor rotating speed at the current moment.
Optionally, the compensation torque determination module comprises:
the compensation gain determining unit is used for determining the compensation gain corresponding to the motor rotating speed at the current moment;
and the compensation torque calculation unit is used for taking the product of the compensation gain and the real torque corresponding to the motor rotating speed at the current moment as the compensation torque corresponding to the motor rotating speed at the current moment.
Optionally, the compensation gain determining unit is configured to:
acquiring a corresponding relation table of the motor rotating speed and the compensation gain;
and searching the compensation gain corresponding to the motor rotating speed at the current moment in the corresponding relation table.
Embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a vehicle anti-shake method, the method including:
based on the fact that the current time is used as the starting time, the motor rotating speed of a vehicle in the length of a preset time window is traced forwards, and the jitter cycle and the offset of the motor rotating speed in the length of the preset time window are determined;
determining the shaking range of the motor rotating speed in any shaking period according to the maximum value and the offset of the motor rotating speed in any shaking period;
when the motor rotating speed, the jitter range and the difference value between the jitter period and the adjacent jitter period at the current moment simultaneously meet preset conditions, determining the compensation torque corresponding to the motor rotating speed at the current moment;
and compensating the real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDRRAM, SRAM, EDORAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the vehicle anti-shake operation described above, and may also perform related operations in the vehicle anti-shake method provided by any embodiments of the present invention.
The embodiment of the invention provides a vehicle anti-shake system, which can be integrated with the vehicle anti-shake device provided by the embodiment of the invention. Fig. 4 is a block diagram of a vehicle anti-shake system according to an embodiment of the present invention. The vehicle anti-shake system 400 may include: a memory 401, a processor 402 and a computer program stored on the memory 401 and operable on the processor, the processor 402 implementing the anti-shake method for a vehicle according to an embodiment of the present invention when executing the computer program.
The vehicle anti-shaking system provided by the embodiment of the invention determines the shaking period and the offset of the motor rotating speed in the length of the preset time window based on the fact that the motor rotating speed of a vehicle in the length of the preset time window is traced forwards by taking the current moment as the starting moment; determining the shaking range of the motor rotating speed in any shaking period according to the maximum value and the offset of the motor rotating speed in any shaking period; when the motor rotating speed, the jitter range and the difference value between the jitter period and the adjacent jitter period at the current moment simultaneously meet preset conditions, determining the compensation torque corresponding to the motor rotating speed at the current moment; and compensating the real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking. According to the technical scheme provided by the embodiment of the invention, the vehicle shake can be effectively reduced, and the comfort level of a user in driving or riding a vehicle is improved.
The vehicle anti-shake apparatus, the storage medium, and the system provided in the above embodiments may perform the vehicle anti-shake method provided in any embodiment of the present invention, and have corresponding functional modules and advantageous effects for performing the method. Technical details that are not described in detail in the above embodiments may be referred to a vehicle anti-shake method provided in any embodiment of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A vehicle anti-shake method, comprising:
based on the fact that the current time is used as the starting time, the motor rotating speed of a vehicle in the length of a preset time window is traced forwards, and the jitter cycle and the offset of the motor rotating speed in the length of the preset time window are determined;
determining the shaking range of the motor rotating speed in any shaking period according to the maximum value and the offset of the motor rotating speed in any shaking period;
when the motor rotating speed, the jitter range and the difference value between the jitter period and the adjacent jitter period at the current moment simultaneously meet preset conditions, determining the compensation torque corresponding to the motor rotating speed at the current moment;
compensating a true torque corresponding to the motor rotation speed at the current moment based on the compensation torque to prevent the vehicle from shaking;
the determining the jitter cycle and the offset of the motor speed in the length of the preset time window based on the forward tracing of the motor speed of the vehicle in the length of the preset time window by taking the current time as the starting time comprises the following steps:
the method comprises the steps that for the motor rotating speed of a vehicle, which is traced back forwards within a preset time window length by taking the current moment as a starting moment, at each moment, the motor rotating speed at a target moment is compared with the motor rotating speed at the previous moment, the rising time length and the maximum value of the motor rotating speed corresponding to the rising stage of the motor rotating speed are determined, and the falling time length and the minimum value of the motor rotating speed corresponding to the falling stage of the motor rotating speed are determined;
and taking the sum of the rising time length and the falling time length as a shaking period of the motor rotating speed, and taking the average value of the maximum value of the motor rotating speed and the minimum value of the motor rotating speed as the offset of the motor rotating speed.
2. The method of claim 1, wherein determining the dithering cycle and the offset of the motor speed within a preset time window length based on tracing back the motor speed of the vehicle within the preset time window length forward with the current time as a starting time comprises:
the method comprises the steps of obtaining the motor rotating speed of a vehicle which is traced forward within the length of a preset time window by taking the current time as the starting time in real time;
and filtering the motor rotating speed, and determining the jitter cycle and the offset of the motor rotating speed in the preset time window length based on the filtered motor rotating speed.
3. The method of claim 1, wherein comparing the motor speed at the target time with the motor speed at the previous time to determine a rising time length and a maximum motor speed value corresponding to the motor speed being in a rising phase and to determine a falling time length and a minimum motor speed value corresponding to the motor speed being in a falling phase comprises:
comparing the motor rotating speed at the target moment with the motor rotating speed at the previous moment, determining that the motor rotating speed is in an ascending stage when the motor rotating speed at the target moment is continuously greater than the motor rotating speed at the previous moment, and accumulating and counting the ascending number in the ascending stage in real time until the motor rotating speed at the target moment is less than the motor rotating speed at the previous moment, taking the motor rotating speed at the previous moment as the maximum value of the motor rotating speed, and taking the product of the ascending number and a single preset ascending time length as the corresponding ascending time length of the motor rotating speed at the ascending stage;
when the motor rotating speed at the target moment is continuously smaller than the motor rotating speed at the previous moment, determining that the motor rotating speed is in a descending stage, and performing accumulated counting on the descending number in the descending stage in real time until the motor rotating speed at the target moment is larger than the motor rotating speed at the previous moment, taking the motor rotating speed at the previous moment as the minimum value of the motor rotating speed, and taking the product of the descending number and a single preset descending time as the descending time length corresponding to the condition that the motor rotating speed is in the descending stage.
4. The method of claim 1, wherein when the motor speed at the current moment, the jitter range and the difference between the jitter cycle and the adjacent jitter cycle simultaneously satisfy preset conditions, determining the compensation torque corresponding to the motor speed at the current moment comprises:
and when the motor rotating speed at the current moment is less than a preset rotating speed threshold, the shaking range is less than a preset shaking threshold, and the difference value between the shaking period and the adjacent shaking period is less than a preset period threshold, determining the compensation torque corresponding to the motor rotating speed at the current moment.
5. The method of any of claims 1-4, wherein determining the compensation torque for the motor speed at the current time comprises:
determining a compensation gain corresponding to the motor rotating speed at the current moment;
and taking the product of the compensation gain and the real torque corresponding to the motor rotating speed at the current moment as the compensation torque corresponding to the motor rotating speed at the current moment.
6. The method of claim 5, wherein determining the compensation gain corresponding to the motor speed at the current time comprises:
acquiring a corresponding relation table of the motor rotating speed and the compensation gain;
and searching the compensation gain corresponding to the motor rotating speed at the current moment in the corresponding relation table.
7. An anti-shake apparatus for a vehicle, comprising:
the offset determining module is used for tracing the motor rotating speed of the vehicle within the length of a preset time window forward by taking the current time as a starting time, and determining the jitter cycle and the offset of the motor rotating speed within the length of the preset time window;
the jitter range determining module is used for determining the jitter range of the motor rotating speed in any jitter period according to the maximum value and the offset of the motor rotating speed in any jitter period;
the compensation torque determining module is used for determining the compensation torque corresponding to the motor rotating speed at the current moment when the motor rotating speed at the current moment, the jitter range and the difference value between the jitter cycle and the adjacent jitter cycle simultaneously meet preset conditions;
the torque compensation module is used for compensating real torque corresponding to the motor rotating speed at the current moment based on the compensation torque so as to prevent the vehicle from shaking;
the offset determination module includes, in part,
the comparison unit is used for comparing the motor rotating speed of the target moment with the motor rotating speed of the previous moment aiming at the motor rotating speed of the vehicle which is traced back forward within the preset time window length by taking the current moment as the starting moment, determining the rising time length and the maximum value of the motor rotating speed corresponding to the rising stage of the motor rotating speed, and determining the falling time length and the minimum value of the motor rotating speed corresponding to the falling stage of the motor rotating speed;
and the jitter period and offset determining unit is used for taking the sum of the rising time length and the falling time length as the jitter period of the motor rotating speed and taking the average value of the maximum value and the minimum value of the motor rotating speed as the offset of the motor rotating speed.
8. A computer-readable storage medium on which a computer program is stored, the program, when being executed by a processor, implementing a vehicle anti-shake method according to any one of claims 1-6.
9. A vehicle anti-shake system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the vehicle anti-shake method according to any one of claims 1 to 6 when executing the computer program.
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| CN202110220200.8A CN112977395B (en) | 2021-02-26 | 2021-02-26 | Vehicle anti-shake method, device, storage medium and system |
| PCT/CN2021/141867 WO2022179287A1 (en) | 2021-02-26 | 2021-12-28 | Vehicle anti-shake method, apparatus and system, and storage medium |
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| CN202110220200.8A CN112977395B (en) | 2021-02-26 | 2021-02-26 | Vehicle anti-shake method, device, storage medium and system |
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| CN112977395B (en) * | 2021-02-26 | 2022-07-05 | 中国第一汽车股份有限公司 | Vehicle anti-shake method, device, storage medium and system |
| CN113723473B (en) * | 2021-08-12 | 2024-07-12 | 一汽解放青岛汽车有限公司 | Vehicle shake recognition method, device, computer equipment and storage medium |
| CN116961494B (en) * | 2023-09-19 | 2024-01-26 | 江西五十铃汽车有限公司 | Driving motor active anti-shake control method and system |
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