Engine oil injection control method and device and medium
By acquiring sensor and GPS data to calculate the difference in acceleration and gradient, the timing of fuel injection and electrical activation is determined, solving the problem of inaccurate engine fuel consumption control in existing technologies and achieving precise control and fuel consumption reduction under all operating conditions.
Patent Information
- Application Number
- CN202511896917.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-16
- Publication Date
- 2026-01-27
AI Technical Summary
Existing technologies for engine fuel consumption control suffer from low control performance, inability to achieve precise control under all operating conditions, and issues with electronic injection strategies such as signal lag and insufficient matching of operating conditions.
By acquiring angular velocity data from sensors and GPS monitoring data, calculating acceleration and gradient differences, and using preset formulas to determine the fuel injection timing, precise fuel injection control is achieved, covering all operating conditions.
It achieves precise control of engine fuel consumption under all operating conditions, reducing fuel consumption and improving engine performance.
Smart Images
Figure CN121408097A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of engine control technology, and in particular to an engine fuel injection control method, device and medium. Background Technology
[0002] Road diesel engines are mainly used in heavy-duty trucks and other transport vehicles. These vehicles have long driving distances and high fuel consumption, so how to reduce fuel consumption is an important issue that urgently needs to be addressed.
[0003] Existing technologies employ methods such as optimizing engine injection-related structures, like the engine piston structure, to reduce fuel consumption. However, these methods are costly and have limited applicability.
[0004] Alternatively, optimizing the electronic injection strategy involves pre-calibrating the injection MAP (Modular Mounting Parameter) under different conditions to achieve more complete combustion and reduce fuel consumption. Specifically, different MAPs are calibrated using parameters affecting injection, such as fuel temperature, rail pressure signal, and pedal signal, to match different operating conditions, thereby improving power and reducing fuel consumption. However, electronic injection strategies have several problems: For example, signals affecting injection conditions, such as oil temperature and rail pressure, have a certain lag, changing only after the diesel engine has been running for a period of time. Using these lagging signals to correct the injection strategy has limited effectiveness. Furthermore, adjusting the injection strategy based on calibration data is static. For changing operating conditions, the current engine cannot be matched with the most suitable injection strategy for the current situation, preventing optimal engine performance and hindering performance and fuel economy improvements. Moreover, the injection strategies implemented through calibration data are limited; they can only match patterns for typical operating conditions and cannot handle all possible operating conditions or complex situations. Summary of the Invention
[0005] In response to the aforementioned problems and technical requirements, the applicant proposes an engine fuel injection control method, device, and medium to address the issues of low control performance and inability to achieve precise control under all operating conditions in existing technologies for engine fuel consumption control. This aims to improve the control performance of engine fuel consumption control and achieve precise control under all operating conditions.
[0006] This application provides an engine fuel injection control method, the method comprising: The system acquires the angular velocity corresponding to the sensor and the monitoring data corresponding to the GPS at the current moment. The monitoring data includes the vehicle's position, altitude, and speed. The first acceleration and the first slope are calculated based on the angular velocity, and the second acceleration and the second slope are calculated based on the monitoring data; Calculate the first difference between the first acceleration and the second acceleration, and the second difference between the first slope and the second slope; If both the first difference and the second difference are less than a preset difference, the fuel injection timing is determined based on the first acceleration and the first slope, and the fuel injection control of the engine is performed using the fuel injection timing. If it is determined that either or more of the first difference and the second difference are greater than or equal to the preset difference, the first acceleration and the first slope at the previous moment are obtained, the fuel injection timing is determined based on the previous first acceleration and the previous first slope, and the fuel injection control of the engine is performed using the fuel injection timing.
[0007] According to the engine fuel injection control method provided in the embodiments of this application, the fuel injection timing is determined based on the first acceleration and the first slope, including: Obtain engine speed and engine load; Based on the preset correspondence between engine speed and engine load and the base pulse width, the target base pulse width is obtained; The first acceleration, the first slope, and the target base pulse width are input into a preset fuel injection and electrical time calculation formula to obtain the fuel injection and electrical time output by the fuel injection and electrical time calculation formula. The formula for calculating the fuel injection and electrical timing includes: ; in, Indicates the fuel injection and electrical activation time. Indicates the first acceleration. This indicates the first gradient, N represents the engine speed, and L represents the engine load. Indicates the target base pulse width. This indicates the preset compensation value.
[0008] According to the engine fuel injection control method provided in the embodiments of this application, before obtaining the first acceleration and the first gradient at the previous moment, the method further includes: Determine whether the number of consecutive occurrences of the condition where either the first difference or the second difference is greater than or equal to the preset difference has been predicted. If so, generate an alarm message indicating a fault in the vehicle controller circuit. Otherwise, execute the steps of obtaining the first acceleration and the first slope of the previous moment.
[0009] According to the engine fuel injection control method provided in the embodiments of this application, before calculating the first acceleration and the first gradient based on the angular velocity, the method further includes: Obtain displacement data corresponding to the sensor, wherein the displacement data includes: the displacement of the vehicle in three directions in the physical coordinate system; The displacement data is input into a preset slope calculation formula to obtain the initial slope output by the slope calculation formula; The slope calculation formula includes: ); in, Indicates the initial slope. , , Indicates the initial displacement in three directions; The initial acceleration is obtained based on the initial slope.
[0010] According to the engine fuel injection control method provided in the embodiments of this application, the calculation of the first acceleration and the first gradient based on the angular velocity includes: The predicted vehicle state is obtained based on the angular velocity; Obtain the process noise covariance matrix of the previous time step, the observation matrix of the previous time step, the preset observation matrix, and the preset observation noise covariance; and calculate the state prediction parameters corresponding to the current time step based on the process noise covariance matrix of the previous time step, the observation matrix of the previous time step, the preset observation matrix, and the observation noise covariance. Based on the vehicle state and state prediction parameters, the predicted first gradient in the vehicle state is corrected to obtain the final first gradient; The first acceleration is calculated based on the final first slope.
[0011] According to the engine fuel injection control method provided in the embodiments of this application, the predicted vehicle state is obtained based on the angular velocity, including: The angular velocity is input into a preset state calculation formula to obtain the vehicle state at the current moment output by the state calculation formula. The state calculation formula includes: ; in, This indicates the current vehicle status. , 'b' represents the predicted first slope, and 'b' represents the zero-bias error of the sensor. Let A represent the vehicle state at the previous moment, and let A represent the state transition matrix that changes over time. M represents the sampling time, which is a variable, and B represents the control input matrix that varies with time. , for variables This represents the angular velocity at the current moment; Based on the process noise covariance matrix of the previous time step, the observation matrix of the previous time step, the preset observation matrix, and the observation noise covariance, the state prediction parameters corresponding to the current time step are calculated, including: Input the process noise covariance matrix of the previous time step, the observation matrix of the previous time step, the preset observation matrix, and the observation noise covariance into the preset state parameter calculation formula to obtain the state prediction parameters output by the state parameter calculation formula. The formulas for calculating the state parameters include: ; in, This represents the state prediction parameters corresponding to the current moment. This represents the process noise covariance matrix corresponding to the previous time step. This represents the observation matrix from the previous time step. This represents the preset observation matrix. This represents the preset observation noise covariance.
[0012] According to the engine fuel injection control method provided in the embodiments of this application, the predicted first gradient in the vehicle state is corrected based on the vehicle state and state prediction parameters to obtain the final first gradient, including: The vehicle state and the state prediction parameters are input into a preset correction formula to obtain the corrected first slope; The correction formula includes: ; in, This indicates the corrected vehicle status. b represents the zero bias error of the sensor. This indicates the corrected first slope. This indicates the current vehicle status. , This indicates the predicted first slope. Represents the state prediction parameters. This indicates the first gradient of the previous moment. This represents the preset observation matrix.
[0013] According to the engine fuel injection control method provided in the embodiments of this application, the first acceleration is calculated based on the final first slope, including: The final first slope is input into the preset acceleration calculation formula to obtain the first acceleration output by the acceleration calculation formula; The formulas for calculating acceleration include: ; in, ; in, This represents the first acceleration at the current moment. This represents the acceleration along the X-axis at the current moment. Indicates acceleration. Indicates the final first gradient. M represents the current displacement on the X-axis, and M represents the sampling time.
[0014] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the engine fuel injection control method as described above.
[0015] This application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the engine fuel injection control method as described above.
[0016] The engine fuel injection control method, device, and medium provided in this application acquire the angular velocity corresponding to the sensor and the monitoring data corresponding to the GPS at the current moment; calculate a first acceleration and a first slope based on the angular velocity, and calculate a second acceleration and a second slope based on the monitoring data. This application calculates the vehicle's acceleration and slope based on the sensor data and GPS data respectively; and calculates a first difference between the first acceleration and the second acceleration, and a second difference between the first slope and the second slope; when it is determined that both the first difference and the second difference are less than a preset difference, the timing of fuel injection is determined based on the first acceleration and the first slope. In this process, the fuel injection control of the engine is performed based on the fuel injection and electrical timing. If it is determined that either or both of the first difference and the second difference are greater than or equal to a preset difference, the first acceleration and the first slope of the previous moment are obtained. The fuel injection and electrical timing are determined based on the previous first acceleration and the previous first slope. The fuel injection control of the engine is performed based on the fuel injection and electrical timing. This ensures that the fuel injection and electrical timing is calculated with accurate acceleration and slope data. It can be seen that this application can obtain the fuel injection and electrical timing in real time and can fully cover all operating conditions, realizing precise control of engine fuel consumption under all operating conditions. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is one of the schematic flowcharts of the engine fuel injection control method provided in the embodiments of this application; Figure 2 This is a second schematic flowchart of the engine fuel injection control method provided in the embodiments of this application; Figure 3 This is the third flowchart of the engine fuel injection control method provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.
[0020] This application provides an engine fuel injection control method. This method can be applied to a smart terminal, a server, or a vehicle controller. This application uses the application of this method in a vehicle controller as an example for illustration, and some other descriptions in the embodiments are illustrative and not intended to limit the scope of protection of this application, and will not be described in detail thereafter. The specific implementation of the method is as follows... Figure 1 As shown: Step 101: Obtain the angular velocity of the sensor and the monitoring data of the GPS at the current moment.
[0021] The monitoring data includes: vehicle position, altitude, and speed.
[0022] Step 102: Calculate the first acceleration and the first slope based on the angular velocity, and calculate the second acceleration and the second slope based on the monitoring data.
[0023] Step 103: Calculate the first difference between the first acceleration and the second acceleration, and the second difference between the first slope and the second slope.
[0024] Step 104: If both the first difference and the second difference are less than the preset difference, determine the fuel injection timing based on the first acceleration and the first slope, and use the fuel injection timing to control the engine's fuel injection.
[0025] Step 105: If it is determined that either or more of the first difference and the second difference are greater than or equal to the preset difference, the first acceleration and the first slope of the previous moment are obtained, and the fuel injection and electrical timing are determined based on the previous first acceleration and the previous first slope, and the fuel injection control of the engine is performed based on the fuel injection and electrical timing.
[0026] The engine fuel injection control method provided in this application acquires the angular velocity corresponding to the sensor and the monitoring data corresponding to the GPS at the current moment; calculates a first acceleration and a first slope based on the angular velocity, and calculates a second acceleration and a second slope based on the monitoring data. This application calculates the vehicle's acceleration and slope based on the sensor data and GPS data respectively; and calculates a first difference between the first acceleration and the second acceleration, and a second difference between the first slope and the second slope; when it is determined that both the first difference and the second difference are less than a preset difference, the fuel injection timing is determined based on the first acceleration and the first slope. The fuel injection timing is used to control the engine's fuel injection. If either or both of the first and second differences are greater than or equal to a preset difference, the first acceleration and the first slope at the previous moment are obtained. The fuel injection timing is determined based on the previous first acceleration and the previous first slope, and the engine's fuel injection is controlled using this timing. This ensures that the fuel injection timing is calculated with accurate acceleration and slope data. Therefore, this application can obtain the fuel injection timing accurately in real time and can comprehensively cover all operating conditions, achieving precise control of engine fuel consumption under all operating conditions.
[0027] In one specific embodiment, after the vehicle is powered on (before calculating the first acceleration and the first slope based on angular velocity), displacement data corresponding to the sensors is acquired. This displacement data is then input into a preset slope calculation formula to obtain the initial slope output by the formula. The initial acceleration is then derived based on this initial slope.
[0028] The displacement data includes the vehicle's displacement in three directions in the physical coordinate system.
[0029] The slope calculation formula is shown in formula (1): ………………(1) in, Indicates the initial slope. , , This represents the initial displacement in three directions.
[0030] Specifically, this process is equivalent to initializing the initial slope and initial acceleration. However, this process takes into account the vehicle's displacement data, making the initial slope and initial acceleration more accurate, and providing a precise and effective data foundation for subsequent acceleration and slope calculations.
[0031] The sensors include gyroscopes.
[0032] In one specific embodiment, the specific implementation of calculating the first acceleration and the first slope based on angular velocity includes: The predicted vehicle state is obtained based on angular velocity. The process noise covariance matrix, the observation matrix, a preset observation matrix, and a preset observation noise covariance are acquired from the previous time step. Based on these parameters, the state prediction parameters for the current time step are calculated. The predicted first gradient in the vehicle state is corrected based on the vehicle state and the state prediction parameters to obtain the final first gradient. The first acceleration is then calculated based on the final first gradient.
[0033] In one specific embodiment, the specific implementation of predicting the vehicle state based on angular velocity includes: Input the angular velocity into the preset state calculation formula to obtain the vehicle state at the current moment as output by the state calculation formula.
[0034] The state calculation formula is shown in formula (2): ……………………(2) in, This indicates the current vehicle status. , 'b' represents the predicted first slope, and 'b' represents the zero bias error of the sensor. Let A represent the vehicle state at the previous moment, and let A represent the state transition matrix that changes over time. M represents the sampling time, which is a variable, and B represents the control input matrix that varies with time. , for variables This represents the angular velocity at the current moment.
[0035] Specifically, A and B increase with the time of adoption.
[0036] The purpose of formula (2) is to obtain .
[0037] In one specific embodiment, the specific implementation of calculating the state prediction parameters corresponding to the current moment based on the process noise covariance matrix of the previous moment, the observation matrix of the previous moment, the preset observation matrix, and the observation noise covariance includes: Input the process noise covariance matrix of the previous time step, the observation matrix of the previous time step, the preset observation matrix, and the observation noise covariance into the preset state parameter calculation formula to obtain the state prediction parameters output by the state parameter calculation formula.
[0038] The formula for calculating the state parameters is shown in formula (3): …………(3) in, This represents the state prediction parameters corresponding to the current moment. This represents the process noise covariance matrix corresponding to the previous time step. This represents the observation matrix from the previous time step. This represents the preset observation matrix. This represents the preset observation noise covariance.
[0039] In one specific embodiment, after obtaining the first slope and the first acceleration, the process noise covariance matrix is updated, as shown in formula (4): ……………………(4) in, This represents the process modeling covariance matrix corresponding to the current moment. Represents the identity matrix.
[0040] In one specific embodiment, after obtaining the first slope and the first acceleration, the observation matrix is updated, as shown in formula (5): ……………………(5) in, This represents the observation matrix corresponding to the current time.
[0041] In one specific embodiment, the specific implementation of correcting the predicted first gradient in the vehicle state based on the vehicle state and state prediction parameters to obtain the final first gradient includes: The vehicle status and status prediction parameters are input into a preset correction formula to obtain the corrected first gradient.
[0042] The correction formula is shown in formula (6): ……………………(6) in, This indicates the corrected vehicle status. b represents the zero bias error of the sensor. This indicates the corrected first slope. This indicates the current vehicle status. , This indicates the predicted first slope. Represents the state prediction parameters. This indicates the first gradient of the previous moment. This represents the preset observation matrix. This indicates the vehicle's status at the previous moment.
[0043] The purpose of formula (6) is to calculate Therefore, it is equivalent to .
[0044] In one specific embodiment, the specific implementation of calculating the first acceleration based on the final first slope includes: Input the final first slope into the preset acceleration calculation formula to obtain the first acceleration output by the acceleration calculation formula.
[0045] The formula for calculating acceleration is shown in formula (7): ……………………(7) in, .
[0046] in, This represents the first acceleration at the current moment. This represents the acceleration along the X-axis at the current moment. Indicates acceleration. Indicates the final first gradient. M represents the current displacement on the X-axis, and M represents the sampling time.
[0047] Formula (7) requires the gyroscope accelerometer sensor to be installed horizontally to improve the accuracy of slope and acceleration calculations.
[0048] Specifically, the calculations for the first acceleration and the first gradient can be found in [reference needed]. Figure 2 : Step 201: Obtain the displacement data transmitted by the sensor at the current moment to obtain the initial slope and initial acceleration.
[0049] Step 202: Predict the vehicle state and calculate the state prediction parameters.
[0050] Step 203: Correct the predicted first gradient in the vehicle state based on the vehicle state and state prediction parameters to obtain the final first gradient.
[0051] Step 204: Calculate the first acceleration based on the first slope, and return to step 202.
[0052] In one specific embodiment, before obtaining the first acceleration and the first slope of the previous moment, it is determined whether the number of consecutive predictions of a situation where either the first difference or the second difference is greater than or equal to a preset difference has occurred. If so, an alarm message indicating a fault in the vehicle controller circuit is generated; otherwise, the step of obtaining the first acceleration and the first slope of the previous moment is executed.
[0053] In one specific embodiment, the specific implementation of determining the fuel injection timing based on the first acceleration and the first slope is as follows: Figure 3 As shown: Step 301: Obtain engine speed and engine load.
[0054] Step 302: Based on the preset correspondence between engine speed and engine load and basic pulse width, obtain the target basic pulse width.
[0055] Step 303: Input the first acceleration, the first slope, and the target base pulse width into the preset fuel injection time calculation formula to obtain the fuel injection time output by the fuel injection time calculation formula.
[0056] The formula for calculating the fuel injection and electrical timing is shown in formula (8): ………………(8) in, Indicates the fuel injection and electrical activation time. Indicates the first acceleration. This indicates the first gradient, N represents the engine speed, and L represents the engine load. Indicates the target base pulse width. This indicates the preset compensation value.
[0057] This application can adjust the engine's fuel injection strategy (fuel injection and power generation time) in real time based on changes in operating conditions, so that the engine operates in the optimal performance mode and effectively reduces fuel consumption.
[0058] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include a processor 401, a communications interface 402, a memory 403, and a communication bus 404. The processor 401, communications interface 402, and memory 403 communicate with each other via the communication bus 404. The processor 401 can call logical instructions stored in the memory 403 to execute engine fuel injection control methods.
[0059] Furthermore, the logical instructions in the aforementioned memory 403 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0060] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, and when the program instructions are executed by a computer, the computer is able to execute the engine fuel injection control method provided by the above methods.
[0061] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the engine fuel injection control method provided in the above embodiments.
[0062] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0063] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0064] Finally, it should be noted that the above descriptions are merely preferred embodiments of this application, and this application is not limited to the above embodiments. It is understood that other improvements and variations directly derived or conceived by those skilled in the art without departing from the spirit and concept of this application should be considered to be included within the protection scope of this application.
Claims
1. An engine fuel injection control method, characterized in that, The method includes: The system acquires the angular velocity corresponding to the sensor and the monitoring data corresponding to the GPS at the current moment. The monitoring data includes the vehicle's position, altitude, and speed. The first acceleration and the first slope are calculated based on the angular velocity, and the second acceleration and the second slope are calculated based on the monitoring data; Calculate the first difference between the first acceleration and the second acceleration, and the second difference between the first slope and the second slope; If both the first difference and the second difference are less than a preset difference, the fuel injection timing is determined based on the first acceleration and the first slope, and the fuel injection control of the engine is performed using the fuel injection timing. If it is determined that either or more of the first difference and the second difference are greater than or equal to the preset difference, the first acceleration and the first slope at the previous moment are obtained, the fuel injection timing is determined based on the previous first acceleration and the previous first slope, and the fuel injection control of the engine is performed using the fuel injection timing.
2. The engine fuel injection control method according to claim 1, characterized in that, Determining the fuel injection timing based on the first acceleration and the first slope includes: Obtain engine speed and engine load; Based on the preset correspondence between engine speed and engine load and the base pulse width, the target base pulse width is obtained; The first acceleration, the first slope, and the target base pulse width are input into a preset fuel injection and electrical time calculation formula to obtain the fuel injection and electrical time output by the fuel injection and electrical time calculation formula. The formula for calculating the fuel injection and electrical timing includes: ； in, Indicates the fuel injection and electrical activation time. Indicates the first acceleration. This indicates the first gradient, N represents the engine speed, and L represents the engine load. Indicates the target base pulse width. This indicates the preset compensation value.
3. The engine fuel injection control method according to claim 1 or 2, characterized in that, Before obtaining the first acceleration and the first gradient of the previous moment, the following steps are also included: Determine whether the number of consecutive occurrences of the condition where either the first difference or the second difference is greater than or equal to the preset difference has been predicted. If so, generate an alarm message indicating a fault in the vehicle controller circuit. Otherwise, execute the steps of obtaining the first acceleration and the first slope of the previous moment.
4. The engine fuel injection control method according to claim 1 or 2, characterized in that, Before calculating the first acceleration and the first slope based on the angular velocity, the following steps are also included: Obtain displacement data corresponding to the sensor, wherein the displacement data includes: the displacement of the vehicle in three directions in the physical coordinate system; The displacement data is input into a preset slope calculation formula to obtain the initial slope output by the slope calculation formula; The slope calculation formula includes: )； in, Indicates the initial slope. , , Indicates the initial displacement in three directions; The initial acceleration is obtained based on the initial slope.
5. The engine fuel injection control method according to claim 1 or 2, characterized in that, Calculating the first acceleration and the first slope based on the angular velocity includes: The predicted vehicle state is obtained based on the angular velocity; Obtain the process noise covariance matrix of the previous time step, the observation matrix of the previous time step, the preset observation matrix, and the preset observation noise covariance; and calculate the state prediction parameters corresponding to the current time step based on the process noise covariance matrix of the previous time step, the observation matrix of the previous time step, the preset observation matrix, and the observation noise covariance. Based on the vehicle state and state prediction parameters, the predicted first gradient in the vehicle state is corrected to obtain the final first gradient; The first acceleration is calculated based on the final first slope.
6. The engine fuel injection control method according to claim 5, characterized in that, The predicted vehicle state based on the angular velocity includes: The angular velocity is input into a preset state calculation formula to obtain the vehicle state at the current moment output by the state calculation formula. The state calculation formula includes: ； in, This indicates the current vehicle status. , 'b' represents the predicted first slope, and 'b' represents the zero-bias error of the sensor. Let A represent the vehicle state at the previous moment, and let A represent the state transition matrix that changes over time. M represents the sampling time, which is a variable, and B represents the control input matrix that varies with time. , for variables This represents the angular velocity at the current moment; Based on the process noise covariance matrix of the previous time step, the observation matrix of the previous time step, the preset observation matrix, and the observation noise covariance, the state prediction parameters corresponding to the current time step are calculated, including: Input the process noise covariance matrix of the previous time step, the observation matrix of the previous time step, the preset observation matrix, and the observation noise covariance into the preset state parameter calculation formula to obtain the state prediction parameters output by the state parameter calculation formula. The formulas for calculating the state parameters include: ； in, This represents the state prediction parameters corresponding to the current moment. This represents the process noise covariance matrix corresponding to the previous time step. This represents the observation matrix from the previous time step. This represents the preset observation matrix. This represents the preset observation noise covariance.
7. The engine fuel injection control method according to claim 5, characterized in that, Based on the vehicle state and state prediction parameters, the predicted first gradient in the vehicle state is corrected to obtain the final first gradient, including: The vehicle state and the state prediction parameters are input into a preset correction formula to obtain the corrected first slope; The correction formula includes: ； in, This indicates the corrected vehicle status. b represents the zero bias error of the sensor. This indicates the corrected first slope. This indicates the current vehicle status. , This indicates the predicted first slope. Represents the state prediction parameters. This indicates the first gradient of the previous moment. This represents the preset observation matrix.
8. The engine fuel injection control method according to claim 5, characterized in that, The first acceleration is calculated based on the final first slope, including: The final first slope is input into the preset acceleration calculation formula to obtain the first acceleration output by the acceleration calculation formula; The formulas for calculating acceleration include: ; in, ; in, This represents the first acceleration at the current moment. This represents the acceleration along the X-axis at the current moment. Indicates acceleration. Indicates the final first gradient. M represents the current displacement on the X-axis, and M represents the sampling time.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the engine fuel injection control method as described in any one of claims 1 to 8.
10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the engine fuel injection control method as described in any one of claims 1 to 8.