阅读说明：本技术 车辆抖动控制方法、装置、计算机设备和存储介质 (Vehicle shake control method, apparatus, computer device, and storage medium ) 是由 李胜 庄晓 陈永瑞 李明震 匡媛 杜玉浩 王兵 于 2021-08-12 设计创作，主要内容包括：本申请涉及一种车辆抖动控制方法、装置、计算机设备和存储介质。所述方法包括：获取发动机的摩擦扭矩；根据摩擦扭矩获取发电机平衡扭矩和驱动电机平衡扭矩；若发动机转速不大于第一转速阈值且不小于第二转速阈值,则控制发电机的输出扭矩为发电机平衡扭矩,以及控制驱动电机的输出扭矩为驱动电机平衡扭矩；若发动机转速小于第二转速阈值,则控制发电机的输出扭矩从发电机平衡扭矩逐渐降低为0,以及控制驱动电机的输出扭矩从驱动电机平衡扭矩逐渐降低为0。采用本方法能够通过根据发动机转速,控制驱动电机和发电机输出一定大小的平衡扭矩,从而在发动机停机过程中消除车辆抖动。能够达到消除车辆抖动的目的。(The application relates to a vehicle shaking control method, a vehicle shaking control device, a computer device and a storage medium. The method comprises the following steps: acquiring the friction torque of an engine; acquiring a generator balance torque and a driving motor balance torque according to the friction torque; if the rotating speed of the engine is not greater than the first rotating speed threshold value and not less than the second rotating speed threshold value, controlling the output torque of the generator to be the generator balance torque, and controlling the output torque of the driving motor to be the driving motor balance torque; and if the engine speed is less than the second speed threshold, controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0, and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0. By adopting the method, the driving motor and the generator can be controlled to output a certain balance torque according to the rotating speed of the engine, so that vehicle shaking is eliminated in the stopping process of the engine. The purpose of eliminating vehicle shaking can be achieved.)

1. A vehicle shake control method, characterized by comprising:

acquiring the friction torque of an engine;

acquiring a generator balance torque and a driving motor balance torque according to the friction torque;

if the rotating speed of the engine is not greater than the first rotating speed threshold value and not less than the second rotating speed threshold value, controlling the output torque of the generator to be the generator balance torque, and controlling the output torque of the driving motor to be the driving motor balance torque;

and if the engine speed is less than the second speed threshold, controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0, and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0.

2. The method of claim 1, wherein said obtaining a friction torque of an engine comprises:

acquiring the temperature of cooling water at a water outlet of an engine;

the friction torque is obtained from the cooling water temperature and the engine speed.

3. The method of claim 1, wherein said deriving a generator balancing torque from said friction torque comprises:

acquiring characteristic parameters of a planetary transmission of a vehicle;

and acquiring a friction torque of a first preset proportion according to the characteristic parameters to obtain the balance torque of the generator.

4. The method of claim 1, wherein said deriving a drive motor balance torque from said friction torque comprises:

acquiring characteristic parameters of a planetary transmission of a vehicle;

acquiring friction torque of a second preset proportion according to the characteristic parameters to obtain basic torque of the driving motor;

acquiring the rotating speed variation of an engine, and acquiring the adjusting torque of a driving motor according to the rotating speed variation and an adjusting coefficient;

and acquiring the balance torque of the driving motor according to the basic torque of the driving motor and the adjusting torque of the driving motor.

5. The method of claim 4, wherein the obtaining the engine speed variation comprises:

acquiring the current rotating speed of the engine;

and determining the rotation speed variation according to the difference value between the target rotation speed of the engine and the current rotation speed.

6. The method of claim 1, wherein controlling the output torque of the generator to gradually decrease from the generator balancing torque to 0 and the output torque of the driving motor to gradually decrease from the driving motor balancing torque to 0 if the engine speed is less than the second speed threshold comprises:

acquiring a generator torque zero clearing smoothing coefficient, and determining the output torque of the generator at the next moment according to the generator torque zero clearing smoothing coefficient and the output torque of the generator at the current moment until the output torque of the generator is equal to 0;

and acquiring a torque zero clearing smooth coefficient of the driving motor, and determining the output torque of the driving motor at the next moment according to the torque zero clearing smooth coefficient of the driving motor and the output torque of the driving motor at the current moment until the output torque of the driving motor is equal to 0.

7. The method of claim 1, further comprising:

and if the rotating speed of the engine is greater than the first rotating speed threshold value, controlling the output torques of the generator and the driving motor to be 0.

8. A vehicle shake control apparatus, characterized in that the apparatus comprises:

the friction torque acquisition module is used for acquiring the friction torque of the engine;

the balance torque acquisition module is used for acquiring a balance torque of the generator and a balance torque of the driving motor according to the friction torque;

the output torque control module is used for controlling the output torque of the generator to be the balance torque of the generator and controlling the output torque of the driving motor to be the balance torque of the driving motor if the rotating speed of the engine is not greater than a first rotating speed threshold and not less than a second rotating speed threshold; and if the engine speed is less than the second speed threshold, controlling the output torque of the generator to gradually decrease from the generator balance torque to 0, and controlling the output torque of the driving motor to gradually decrease from the driving motor balance torque to 0.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.

Technical Field

The present application relates to the field of vehicle control technologies, and in particular, to a vehicle shake control method and apparatus, a computer device, and a storage medium.

Background

With the development of automobile technology, the requirements for safety and reliability of automobiles are higher and higher. The parking brake technology is a brake technology capable of preventing a vehicle from slipping due to the fact that the vehicle is temporarily or permanently parked on a road surface with a certain slope. Vehicles with manual pneumatic brake systems used in vehicles of the related art often suffer from vehicle vibration caused by sudden changes of rotation speed and torque during slope stabilization.

In the process of slope stabilization control of the conventional hybrid electric vehicle, slope stabilization braking force is output mainly according to a slope starting switch state, an ABS electromagnetic valve and other actuating mechanisms, the problem that the vehicle slides along a slope can only be solved, and vehicle shaking cannot be eliminated.

Disclosure of Invention

In view of the above, it is necessary to provide a vehicle shake control method, apparatus, computer device, and storage medium capable of eliminating vehicle shake in view of the above technical problems.

A vehicle shake control method, the method comprising:

acquiring the friction torque of an engine;

acquiring a generator balance torque and a driving motor balance torque according to the friction torque;

if the rotating speed of the engine is not greater than the first rotating speed threshold value and not less than the second rotating speed threshold value, controlling the output torque of the generator to be the generator balance torque, and controlling the output torque of the driving motor to be the driving motor balance torque;

and if the engine speed is less than the second speed threshold, controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0, and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0.

In one embodiment, obtaining the friction torque of the engine comprises:

acquiring the temperature of cooling water at a water outlet of an engine;

the friction torque is obtained from the cooling water temperature and the engine speed.

In one embodiment, obtaining the generator balance torque from the friction torque comprises:

acquiring characteristic parameters of a planetary transmission of a vehicle;

and acquiring the friction torque of a first preset proportion according to the characteristic parameters to obtain the balance torque of the generator.

In one embodiment, obtaining the balance torque of the driving motor according to the friction torque comprises:

acquiring characteristic parameters of a planetary transmission of a vehicle;

acquiring friction torque of a second preset proportion according to the characteristic parameters to obtain basic torque of the driving motor;

acquiring the rotating speed variation of the engine, and acquiring the adjusting torque of the driving motor according to the rotating speed variation and the adjusting coefficient;

and obtaining the balance torque of the driving motor according to the basic torque of the driving motor and the adjusting torque of the driving motor.

In one embodiment, obtaining the variation of the engine speed comprises:

acquiring the current rotating speed of the engine;

and determining the rotation speed variation according to the difference value of the target rotation speed and the current rotation speed of the engine.

In one embodiment, if the engine speed is less than the second speed threshold, controlling the output torque of the generator to gradually decrease from the generator balance torque to 0, and controlling the output torque of the driving motor to gradually decrease from the driving motor balance torque to 0 includes:

acquiring a generator torque zero clearing smoothing coefficient, and determining the output torque of the generator at the next moment according to the generator torque zero clearing smoothing coefficient and the output torque of the generator at the current moment until the output torque of the generator is equal to 0;

and acquiring a torque zero clearing smooth coefficient of the driving motor, and determining the output torque of the driving motor at the next moment according to the torque zero clearing smooth coefficient of the driving motor and the output torque of the driving motor at the current moment until the output torque of the driving motor is equal to 0.

In one embodiment, the method further comprises:

and if the rotating speed of the engine is greater than the first rotating speed threshold value, controlling the output torques of the generator and the driving motor to be 0.

A vehicle shake control apparatus, the apparatus comprising:

the friction torque acquisition module is used for acquiring the friction torque of the engine;

the balance torque acquisition module is used for acquiring a balance torque of the generator and a balance torque of the driving motor according to the friction torque;

the output torque control module is used for controlling the output torque of the generator to be the balance torque of the generator and controlling the output torque of the driving motor to be the balance torque of the driving motor if the rotating speed of the engine is not greater than the first rotating speed threshold and not less than the second rotating speed threshold; and the control unit is further used for controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0 and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0 if the engine speed is less than the second speed threshold.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

acquiring the friction torque of an engine;

acquiring a generator balance torque and a driving motor balance torque according to the friction torque;

if the rotating speed of the engine is not greater than the first rotating speed threshold value and not less than the second rotating speed threshold value, controlling the output torque of the generator to be the generator balance torque, and controlling the output torque of the driving motor to be the driving motor balance torque;

and if the engine speed is less than the second speed threshold, controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0, and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0.

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

acquiring the friction torque of an engine;

acquiring a generator balance torque and a driving motor balance torque according to the friction torque;

if the rotating speed of the engine is not greater than the first rotating speed threshold value and not less than the second rotating speed threshold value, controlling the output torque of the generator to be the generator balance torque, and controlling the output torque of the driving motor to be the driving motor balance torque;

and if the engine speed is less than the second speed threshold, controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0, and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0.

The vehicle shaking control method, the vehicle shaking control device, the computer equipment and the storage medium acquire the friction torque of the engine; acquiring a generator balance torque and a driving motor balance torque according to the friction torque; if the rotating speed of the engine is not greater than the first rotating speed threshold value and not less than the second rotating speed threshold value, controlling the output torque of the generator to be the generator balance torque, and controlling the output torque of the driving motor to be the driving motor balance torque; and if the engine speed is less than the second speed threshold, controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0, and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0. The vehicle shaking is eliminated in the stopping process of the engine by controlling the driving motor and the generator to output a certain balance torque according to the rotating speed of the engine. The purpose of eliminating vehicle shaking can be achieved.

Drawings

FIG. 1 is a schematic flow chart diagram of a vehicle judder control method in one embodiment;

FIG. 2 is a schematic flow chart illustrating the process of obtaining generator balancing torque according to one embodiment;

FIG. 3 is a schematic diagram of a process for obtaining a balancing torque of a drive motor according to one embodiment;

FIG. 4 is a schematic flow chart illustrating a gradual decrease in output torque of the generator and the drive motor according to one embodiment;

FIG. 5 is a schematic structural diagram of a planetary hybrid powertrain according to one embodiment;

FIG. 6 is a block diagram showing the construction of a vehicle shake control apparatus according to an embodiment;

FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, as shown in fig. 1, a vehicle shaking control method is provided, which is exemplified by the application of the method to a planetary hybrid system, and it is understood that the method can also be applied to a driving assistance system, and can also be applied to a vehicle control system including a planetary hybrid system and a driving assistance system, and is implemented by the interaction of the planetary hybrid system and the driving assistance system. In this embodiment, the method includes the steps of:

step 102, obtaining a friction torque of an engine.

Specifically, the processor may determine the friction torque of the engine based on the real-time engine cooling water temperature and the engine speed.

And 104, acquiring a generator balance torque and a driving motor balance torque according to the friction torque.

Specifically, the generator balance torque and the driving motor balance torque are obtained according to the friction torque and the characteristic parameters of the planetary gear transmission of the current vehicle.

And 106, if the rotating speed of the engine is not greater than the first rotating speed threshold and not less than the second rotating speed threshold, controlling the output torque of the generator to be the generator balance torque, and controlling the output torque of the driving motor to be the driving motor balance torque.

Specifically, in the process of stopping the engine, the rotation speed of the engine starts to decrease, and when the rotation speed of the engine is not greater than a first rotation speed threshold and not less than a second rotation speed threshold, the output torque of the generator is controlled to be the generator balance torque, and meanwhile, the output torque of the driving motor is controlled to be the driving motor balance torque. The first rotation speed threshold is greater than the second rotation speed threshold, and the first rotation speed threshold and the second rotation speed threshold are calibrated according to actual conditions, for example, the first rotation speed threshold may be 250rpm (revolutions per minute), and the second rotation speed threshold may be 50rpm (revolutions per minute).

And step 108, if the engine speed is less than the second speed threshold, controlling the output torque of the generator to gradually decrease from the generator balance torque to 0, and controlling the output torque of the driving motor to gradually decrease from the driving motor balance torque to 0.

Specifically, during the engine stop, the engine speed continuously decreases, and when the engine speed is less than the second speed threshold, the output torque of the generator is controlled to gradually decrease from the generator balance torque to 0, and the output torque of the driving motor is controlled to gradually decrease from the driving motor balance torque to 0. When the engine speed is 0, the output torque of the generator is 0, and the output torque of the drive motor is 0.

In the vehicle shake control method, a friction torque of an engine is acquired; acquiring a generator balance torque and a driving motor balance torque according to the friction torque; if the rotating speed of the engine is not greater than the first rotating speed threshold value and not less than the second rotating speed threshold value, controlling the output torque of the generator to be the generator balance torque, and controlling the output torque of the driving motor to be the driving motor balance torque; and if the engine speed is less than the second speed threshold, controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0, and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0. The vehicle shaking is eliminated in the stopping process of the engine by controlling the driving motor and the generator to output a certain balance torque according to the rotating speed of the engine. The purpose of eliminating vehicle shaking can be achieved.

In one embodiment, obtaining a friction torque of an engine comprises: acquiring the temperature of cooling water at a water outlet of an engine; the friction torque is obtained from the cooling water temperature and the engine speed.

Specifically, the temperature of cooling water at the water outlet of the engine is acquired through a temperature sensor at the water outlet of the engine, and the friction torque is determined according to the temperature of the cooling water and the rotating speed of the engine by combining the type and the type of the engine.

In one embodiment, as shown in FIG. 2, deriving a generator balancing torque from the friction torque comprises:

in step 202, characteristic parameters of a planetary transmission of a vehicle are obtained.

Specifically, the characteristic parameter k of the planetary transmission is determined according to the internal structure of the current hybrid vehicle.

And 204, acquiring a friction torque of a first preset proportion according to the characteristic parameters to obtain a generator balance torque.

Specifically, a first preset proportion is determined according to the characteristic parameter kIf the friction torque is F_rThen the generator balances the torque

In one embodiment, as shown in fig. 3, obtaining the driving motor balance torque from the friction torque includes:

step 302, a characteristic parameter of a planetary transmission of a vehicle is obtained.

Specifically, the characteristic parameter k of the planetary transmission is determined according to the internal structure of the current hybrid vehicle.

And 304, acquiring the friction torque of a second preset proportion according to the characteristic parameters to obtain the basic torque of the driving motor.

Specifically, a first preset proportion is determined according to the characteristic parameter kIf the friction torque is F_rBasic torque of driving motor

And step 306, acquiring the rotating speed variation of the engine, and acquiring the adjusting torque of the driving motor according to the rotating speed variation and the adjusting coefficient.

Specifically, the rotation speed variation of the vehicle driving motor is obtained, and in a normal case, the rotation speed before the engine is stopped minus the rotation speed when the engine is stopped is the rotation speed variation, and since the rotation speed when the engine is stopped is 0, the value of the rotation speed variation is equal to the value of the rotation speed before the engine is stopped. The adjustment coefficient may be one or a set of coefficients, typically a set of preset PI adjustment coefficients, which includes a proportional coefficient and an integral coefficient.

For example, assume that the rotational speed variation amount is N_ΔIf N is present_ΔIf the ratio is larger than the first proportional threshold, the proportional coefficient K is taken_d＝K_d1(ii) a If N is present_ΔIf the value is less than the second proportional term threshold value, the proportional coefficient K is taken_d＝K_d2(ii) a If N is present_ΔBetween the first proportional term threshold and the second proportional term threshold, then taking the proportional coefficient K_d＝K_d0；K_d1、K_d2And K_d0Are all calibrated values.

Further, if N_ΔIf the integral coefficient is larger than the first integral term threshold value, the integral coefficient K is taken_i＝K_i1(ii) a If N is present_ΔIf the integral coefficient is less than the second integral term threshold value, the integral coefficient K is taken_i＝K_i2(ii) a If N is present_ΔBetween the first integral term threshold and the second integral term threshold, the integral coefficient K is taken_i＝K_i0；K_i1、K_i2And K_i0Are all calibrated values.

Finally, the adjusting torque T of the driving motor is obtained_adj＝∑K_i×N_Δ+K_d×N_Δ。

And 308, acquiring the balance torque of the driving motor according to the basic torque of the driving motor and the adjusting torque of the driving motor.

Specifically, the balance torque of the driving motor is obtained according to the sum of the basic torque of the driving motor and the adjusting torque of the driving motor. In the example above, the drive motor balances the torque T₂＝T_m2+T_adj。

In one embodiment, obtaining the variation of the engine speed comprises: acquiring the current rotating speed of the engine; and determining the rotation speed variation according to the difference value of the target rotation speed and the current rotation speed of the engine.

Specifically, the current rotating speed N of the engine is obtained in the stopping process of the engine_eDetermining the target speed of the engine as 0, thereby determining the speed variation N_Δ＝N_e-0＝N_e。

In one embodiment, as shown in fig. 4, controlling the output torque of the generator to gradually decrease from the generator balancing torque to 0 and controlling the output torque of the driving motor to gradually decrease from the driving motor balancing torque to 0 if the engine speed is less than the second speed threshold includes:

and step 402, acquiring a generator torque zero clearing smoothing coefficient, and determining the output torque of the generator at the next moment according to the generator torque zero clearing smoothing coefficient and the output torque of the generator at the current moment until the output torque of the generator is equal to 0.

Obtaining a generator torque zero clearing smooth coefficient alpha, and obtaining the generator torque zero clearing smooth coefficient alpha and the output torque T of the generator at the current moment₁′^-1Determining the output torque T of the generator at the next moment₁′＝α×T₁′^-1Up to the output torque T of the generator₁′＝0。

And step 404, acquiring a torque zero clearing smoothing coefficient of the driving motor, and determining the output torque of the driving motor at the next moment according to the torque zero clearing smoothing coefficient of the driving motor and the output torque of the driving motor at the current moment until the output torque of the driving motor is equal to 0.

Specifically, a torque zero clearing smooth coefficient beta of the driving motor is obtained, and the torque zero clearing smooth coefficient beta of the driving motor and the output torque T of the driving motor at the current moment are obtained₂′^-1Determining the output torque T of the drive motor at the next moment₂′＝β×T₂′^-1Until the drive motor output torque T2' is 0.

In the embodiment, the output torque of the generator at the next moment is determined according to the generator torque zero-clearing smoothing coefficient and the output torque of the generator at the current moment by obtaining the generator torque zero-clearing smoothing coefficient until the output torque of the generator is equal to 0; and acquiring a torque zero clearing smooth coefficient of the driving motor, and determining the output torque of the driving motor at the next moment according to the torque zero clearing smooth coefficient of the driving motor and the output torque of the driving motor at the current moment until the output torque of the driving motor is equal to 0. The generator and the driving motor can simultaneously output gradually reduced balance torque along with the reduction of the rotating speed of the engine in the stopping process of the engine, and the aim of eliminating vehicle shaking is fulfilled.

In one embodiment, the method further comprises: and if the rotating speed of the engine is greater than the first rotating speed threshold value, controlling the output torques of the generator and the driving motor to be 0.

Specifically, if the engine speed is greater than the first speed threshold, it indicates that the engine speed is high, and the vehicle may be in a normal driving state, in which the vehicle is not shaken basically, so that shake elimination is not required, and the generator and the driving motor are not controlled to output torque.

In one embodiment, a vehicle shake recognition method is applied to a planetary hybrid system of a hybrid vehicle, as shown in fig. 5, the planetary hybrid system of the hybrid vehicle includes an engine E, a generator MG1, a main drive motor MG2, a planetary gear transmission PG1 and a propeller shaft DS, and the method specifically includes: the temperature sensor at the water outlet of the engine is used for acquiring the temperature t of cooling water at the water outlet of the engine, which is 80 ℃, and the engine cooling water temperature t is 80 ℃ and the engine speed N_e80rpm, determine the Engine Friction TorqueMoment F_r30 Nm. By engine friction torque F_r30Nm and a characteristic parameter k of the planetary transmission, and calculating to obtain the balance torque of the generatorWherein k is 2.1.

Further, the torque F is rubbed by the engine_rCalculating to obtain the basic torque of the driving motor, wherein the basic torque is 30Nm and a characteristic parameter k of the planetary gear transmissionWherein k is 2.1. According to the current rotating speed N of the engine_eAnd a target engine speed 0, and determining a speed variation N_Δ＝N_e-0-80 rpm. Calculating the adjusting torque T of the driving motor_adj＝K_d×Δ_e+∑K_i×Δ_e0.1 × 80+0.03 × 80 ═ 10.4Nm, where K_d0.1Nm/rpm as a proportionality coefficient, K_iAnd 0.03Nm/rpm · s is an integral coefficient. Further obtaining the balance torque T of the driving motor₂＝T_m2+T_adj＝20.3+10.4＝30.7Nm。

Finally, a first speed threshold N is calibrated₁250rpm, second speed threshold N₂At 50rpm, the engine speed was monitored in real time. Engine speed N_eWhen the speed is 400rpm, the generator and the driving motor do not output torque. Engine speed N_eWhen the speed is 80rpm, the generator outputs torque T₁9.68Nm, drive motor output torque T₂30.7 Nm. Engine speed N_e30rpm, 0.3 for the calibration α, 0.4 for the calibration β, the output torque T of the generator is then initiated₁′^-19.68Nm, the next moment the output torque T of the generator₁′＝α×T₁′^-12.904Nm until the output torque of the generator is 0.3 × 9.68; output torque T of driving motor at initial moment₂′^-130.7Nm, the output torque T of the drive motor at the next moment₂′＝β×T₂′^-1Until the output torque of the drive motor is 0.4 × 30.7 to 12.28 Nm.

It should be understood that although the various steps in the flow charts of fig. 1-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.

In one embodiment, as shown in fig. 6, there is provided a vehicle shaking control apparatus 600 including: a friction torque acquisition module 601, a balance torque acquisition module 602, and an output torque control module 603, wherein:

a friction torque acquisition module 601 for acquiring a friction torque of the engine;

a balance torque obtaining module 602, configured to obtain a generator balance torque and a driving motor balance torque according to the friction torque;

an output torque control module 603, configured to control the output torque of the generator to be a generator balance torque and control the output torque of the driving motor to be a driving motor balance torque if the engine speed is not greater than the first speed threshold and not less than the second speed threshold; and the control unit is further used for controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0 and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0 if the engine speed is less than the second speed threshold.

In one embodiment, the friction torque obtaining module 601 is further configured to obtain a cooling water temperature at the water outlet of the engine; the friction torque is obtained from the cooling water temperature and the engine speed.

In one embodiment, the balance torque acquisition module 602 is further configured to acquire a characteristic parameter of a planetary transmission of the vehicle; and acquiring the friction torque of a first preset proportion according to the characteristic parameters to obtain the balance torque of the generator.

In one embodiment, the balance torque acquisition module 602 is further configured to acquire a characteristic parameter of a planetary transmission of the vehicle; acquiring friction torque of a second preset proportion according to the characteristic parameters to obtain basic torque of the driving motor; acquiring the rotating speed variation of the engine, and acquiring the adjusting torque of the driving motor according to the rotating speed variation and the adjusting coefficient; and obtaining the balance torque of the driving motor according to the basic torque of the driving motor and the adjusting torque of the driving motor.

In one embodiment, the balance torque acquisition module 602 is further configured to acquire a current speed of the engine; and determining the rotation speed variation according to the difference value of the target rotation speed and the current rotation speed of the engine.

In one embodiment, the output torque control module 603 is further configured to obtain a generator torque zero-clearing smoothing coefficient, and determine the output torque of the generator at the next time according to the generator torque zero-clearing smoothing coefficient and the output torque of the generator at the current time until the output torque of the generator is equal to 0; and the torque zero clearing smoothing coefficient of the driving motor is also used for obtaining the torque zero clearing smoothing coefficient of the driving motor, and determining the output torque of the driving motor at the next moment according to the torque zero clearing smoothing coefficient of the driving motor and the output torque of the driving motor at the current moment until the output torque of the driving motor is equal to 0.

In one embodiment, the output torque control module 603 is further configured to control the output torques of the generator and the driving motor to be 0 if the engine speed is greater than the first speed threshold.

For specific limitations of the vehicle shaking control device, reference may be made to the above limitations of the vehicle shaking control method, which are not described herein again. The respective modules in the above-described vehicle shake control apparatus may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle shaking control method. The display screen of the computer equipment can be a vehicle-mounted liquid crystal display screen or a display screen connected with a vehicle control system, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged in a vehicle cab, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

acquiring the friction torque of an engine;

acquiring a generator balance torque and a driving motor balance torque according to the friction torque;

if the rotating speed of the engine is not greater than the first rotating speed threshold value and not less than the second rotating speed threshold value, controlling the output torque of the generator to be the generator balance torque, and controlling the output torque of the driving motor to be the driving motor balance torque;

and if the engine speed is less than the second speed threshold, controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0, and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

acquiring the temperature of cooling water at a water outlet of an engine;

the friction torque is obtained from the cooling water temperature and the engine speed.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

acquiring characteristic parameters of a planetary transmission of a vehicle;

and acquiring the friction torque of a first preset proportion according to the characteristic parameters to obtain the balance torque of the generator.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

acquiring characteristic parameters of a planetary transmission of a vehicle;

acquiring friction torque of a second preset proportion according to the characteristic parameters to obtain basic torque of the driving motor;

acquiring the rotating speed variation of the engine, and acquiring the adjusting torque of the driving motor according to the rotating speed variation and the adjusting coefficient;

and obtaining the balance torque of the driving motor according to the basic torque of the driving motor and the adjusting torque of the driving motor.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

acquiring the current rotating speed of the engine;

and determining the rotation speed variation according to the difference value of the target rotation speed and the current rotation speed of the engine.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

acquiring a generator torque zero clearing smoothing coefficient, and determining the output torque of the generator at the next moment according to the generator torque zero clearing smoothing coefficient and the output torque of the generator at the current moment until the output torque of the generator is equal to 0;

and acquiring a torque zero clearing smooth coefficient of the driving motor, and determining the output torque of the driving motor at the next moment according to the torque zero clearing smooth coefficient of the driving motor and the output torque of the driving motor at the current moment until the output torque of the driving motor is equal to 0.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

and if the rotating speed of the engine is greater than the first rotating speed threshold value, controlling the output torques of the generator and the driving motor to be 0.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

acquiring the friction torque of an engine;

acquiring a generator balance torque and a driving motor balance torque according to the friction torque;

if the rotating speed of the engine is not greater than the first rotating speed threshold value and not less than the second rotating speed threshold value, controlling the output torque of the generator to be the generator balance torque, and controlling the output torque of the driving motor to be the driving motor balance torque;

and if the engine speed is less than the second speed threshold, controlling the output torque of the generator to be gradually reduced from the generator balance torque to 0, and controlling the output torque of the driving motor to be gradually reduced from the driving motor balance torque to 0.

In one embodiment, the computer program when executed by the processor further performs the steps of:

acquiring the temperature of cooling water at a water outlet of an engine;

the friction torque is obtained from the cooling water temperature and the engine speed.

In one embodiment, the computer program when executed by the processor further performs the steps of:

acquiring characteristic parameters of a planetary transmission of a vehicle;

and acquiring the friction torque of a first preset proportion according to the characteristic parameters to obtain the balance torque of the generator.

In one embodiment, the computer program when executed by the processor further performs the steps of:

acquiring characteristic parameters of a planetary transmission of a vehicle;

acquiring friction torque of a second preset proportion according to the characteristic parameters to obtain basic torque of the driving motor;

acquiring the rotating speed variation of the engine, and acquiring the adjusting torque of the driving motor according to the rotating speed variation and the adjusting coefficient;

and obtaining the balance torque of the driving motor according to the basic torque of the driving motor and the adjusting torque of the driving motor.

In one embodiment, the computer program when executed by the processor further performs the steps of:

acquiring the current rotating speed of the engine;

and determining the rotation speed variation according to the difference value of the target rotation speed and the current rotation speed of the engine.

In one embodiment, the computer program when executed by the processor further performs the steps of:

acquiring a generator torque zero clearing smoothing coefficient, and determining the output torque of the generator at the next moment according to the generator torque zero clearing smoothing coefficient and the output torque of the generator at the current moment until the output torque of the generator is equal to 0;

and acquiring a torque zero clearing smooth coefficient of the driving motor, and determining the output torque of the driving motor at the next moment according to the torque zero clearing smooth coefficient of the driving motor and the output torque of the driving motor at the current moment until the output torque of the driving motor is equal to 0.

In one embodiment, the computer program when executed by the processor further performs the steps of:

and if the rotating speed of the engine is greater than the first rotating speed threshold value, controlling the output torques of the generator and the driving motor to be 0.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.