A vehicle control method and related apparatus

Abstract

This application discloses a vehicle control method and related apparatus. The method includes: receiving a vehicle regeneration request including a target regeneration speed; acquiring the real-time engine torque and real-time pump pressure of the vehicle's engine; when the real-time engine torque and real-time pump pressure meet preset regeneration conditions, determining the actual pump displacement and actual pump speed of the hydraulic pump; then determining the actual required flow rate of the vehicle based on the actual pump displacement and actual pump speed; performing a division operation between the actual required flow rate and the target regeneration speed to obtain the target required displacement; and controlling the vehicle to perform vehicle regeneration based on the target regeneration speed and target required displacement. Specifically, since the vehicle needs to achieve a certain displacement and speed during regeneration, the target required displacement is obtained by dividing the actual required flow rate and the target regeneration speed, and the vehicle's displacement and speed are adjusted based on the target required displacement and target regeneration speed to achieve vehicle regeneration control.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method and related apparatus. Background Technology

[0002] A DPF (Diesel Particulate Filter) is a ceramic filter installed in an engine's emission system. Its main function is to capture harmful particulate matter in exhaust gases, reducing particulate emissions by 70%–90%. The process of filtering and oxidizing the collected exhaust gases and harmful particles in the DPF is called vehicle regeneration.

[0003] In related technologies, the exhaust temperature needs to reach a preset threshold for vehicle regeneration. However, some vehicles operate at low speeds and loads, making it impossible for the exhaust temperature to reach the preset threshold, thus preventing vehicle regeneration from being completed. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a vehicle control method for vehicle regeneration.

[0005] The embodiments of this application disclose the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a vehicle control method applied to a vehicle, the vehicle including an engine and a hydraulic pump, the method comprising:

[0007] Receive a vehicle regeneration request; the vehicle regeneration request includes the target regeneration speed of the vehicle.

[0008] Obtain the operating parameters of the vehicle; the operating parameters include the real-time engine torque of the engine and the real-time pump pressure of the hydraulic pump;

[0009] When the real-time engine torque and the real-time pump pressure meet the preset regeneration conditions, the actual pump displacement and the actual pump speed of the hydraulic pump are determined.

[0010] The actual required flow rate of the vehicle is determined based on the actual pump displacement and the actual pump speed; the target required displacement is obtained by dividing the actual required flow rate and the target regeneration speed.

[0011] The vehicle is controlled to regenerate based on the target regeneration speed and the target required displacement.

[0012] Optionally, the actual pump displacement of the hydraulic pump is obtained in the following way:

[0013] Obtain the actual pump torque of the hydraulic pump;

[0014] The actual pump displacement is determined based on the actual pump pressure and the actual pump torque.

[0015] Optionally, obtaining the actual pump torque of the hydraulic pump includes:

[0016] Obtain the loss torque generated by the corresponding accessories of the engine;

[0017] The actual pump torque of the hydraulic pump is determined based on the real-time engine torque and the lost torque.

[0018] Optionally, the preset regeneration conditions include:

[0019] Obtain the historical engine torque of the engine and the historical pump pressure of the hydraulic pump;

[0020] Determine whether the first difference between the real-time engine torque and the historical engine torque is not greater than a first preset difference, and determine whether the second difference between the real-time pump pressure and the historical pump pressure is not greater than a second preset difference;

[0021] If the first difference is not greater than the first preset difference and the second difference is not greater than the second preset difference, then determine whether the real-time engine torque is greater than the first threshold and whether the real-time pump pressure is greater than the second threshold.

[0022] If the real-time engine torque is greater than the first threshold and the real-time pump pressure is greater than the second threshold, then the preset regeneration conditions are met.

[0023] Optionally, controlling the vehicle to perform vehicle regeneration based on the target regeneration speed and the target required displacement includes:

[0024] Obtain the current engine speed of the engine and the current pump displacement of the hydraulic pump;

[0025] The current engine speed is adjusted to the target regeneration speed based on a preset slope value; and the current pump displacement is adjusted to the target required displacement based on the preset slope value.

[0026] When the current engine speed is the target regeneration speed and the current pump displacement is the target required displacement, the vehicle is controlled to perform vehicle regeneration.

[0027] Secondly, embodiments of this application provide a vehicle control device applied to a vehicle, the vehicle including an engine and a hydraulic pump, the device comprising:

[0028] A receiving module is used to receive a vehicle regeneration request; the vehicle regeneration request includes the target regeneration speed of the vehicle.

[0029] The acquisition module is used to acquire the operating parameters of the vehicle; the operating parameters include the real-time engine torque of the engine and the real-time pump pressure of the hydraulic pump.

[0030] The judgment module is used to determine the actual pump displacement and actual pump speed of the hydraulic pump when the real-time engine torque and the real-time pump pressure meet the preset regeneration conditions.

[0031] The actual demand flow rate determination module is used to determine the actual demand flow rate of the vehicle based on the actual pump displacement and the actual pump speed.

[0032] The target demand displacement determination module is used to perform a division operation between the actual demand flow rate and the target regeneration speed to obtain the target demand displacement.

[0033] The control module is used to control the vehicle to perform vehicle regeneration based on the target regeneration speed and the target required displacement.

[0034] The actual pump displacement is obtained in the following way:

[0035] The acquisition unit is used to acquire the actual pump torque of the hydraulic pump;

[0036] The actual pump displacement determination unit is used to determine the actual pump displacement based on the actual pump pressure and the actual pump torque.

[0037] Thirdly, embodiments of this application provide a vehicle control system applied to a vehicle, the vehicle including an engine and a hydraulic pump, the system including: an electronic control unit (ECU); the ECU is used to control the engine and the hydraulic pump, and execute the vehicle control method as described in the first aspect.

[0038] Fourthly, embodiments of this application provide a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the vehicle control method as described in the first aspect.

[0039] Fifthly, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform the vehicle control method as described in the first aspect.

[0040] Compared with the prior art, this application has the following beneficial effects:

[0041] This application embodiment receives a vehicle regeneration request including the vehicle's target regeneration speed, then acquires the vehicle's real-time engine torque and hydraulic pump pressure. When the real-time engine torque and real-time pump pressure meet preset regeneration conditions, the actual pump displacement and actual pump speed of the hydraulic pump are determined. Then, based on the actual pump displacement and actual pump speed, the vehicle's actual required flow rate is determined. The target required displacement is obtained by dividing the actual required flow rate by the target regeneration speed. The vehicle is then controlled to perform regeneration based on the target regeneration speed and target required displacement. Specifically, since the vehicle needs to reach a certain displacement and speed during regeneration, the target required displacement is obtained by dividing the actual required flow rate by the target regeneration speed, and the vehicle's displacement and speed are adjusted based on the target required displacement and target regeneration speed to control vehicle regeneration. Attached Figure Description

[0042] 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 only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application;

[0044] Figure 2 A schematic diagram of a vehicle control method provided in an embodiment of this application;

[0045] Figure 3 This is a schematic diagram of the vehicle control device provided in an embodiment of this application. Detailed Implementation

[0046] As described earlier, research on vehicle regeneration has found that the DPF (Diesel Particulate Filter), a ceramic filter installed in the engine's emission system, primarily captures harmful particles in exhaust gases, reducing particulate emissions by 70%–90%. The process of filtering and oxidizing the collected exhaust gases and harmful particles in the DPF is called vehicle regeneration. Vehicle regeneration keeps the filter element clear and does not affect engine performance.

[0047] In related technologies, the exhaust temperature needs to reach a preset threshold for vehicle regeneration. However, some vehicles operate at low speeds and loads, making it impossible for the exhaust temperature to reach the preset threshold, thus preventing vehicle regeneration from being completed.

[0048] Taking cranes as an example, due to their inherent limitations, cranes have relatively low overall operating speed and load during actual operation. Therefore, in actual operation, cranes are unable to reach the exhaust temperature required for vehicle regeneration, thus preventing them from performing vehicle regeneration.

[0049] To address the aforementioned problems, embodiments of this application provide a vehicle control method and related apparatus. The method includes: receiving a vehicle regeneration request including a target regeneration speed of the vehicle; acquiring the real-time engine torque of the vehicle's engine and the real-time pump pressure of the hydraulic pump; when the real-time engine torque and real-time pump pressure meet preset regeneration conditions, determining the actual pump displacement and actual pump speed of the hydraulic pump; then determining the actual required flow rate of the vehicle based on the actual pump displacement and actual pump speed; performing a division operation between the actual required flow rate and the target regeneration speed to obtain the target required displacement; and controlling the vehicle to perform vehicle regeneration based on the target regeneration speed and the target required displacement.

[0050] Thus, since the vehicle needs to reach a certain displacement and speed during regeneration, the target displacement is obtained by dividing the actual required flow rate and the target regeneration speed. Based on the target displacement and the target regeneration speed, the vehicle's displacement and speed are adjusted to control the vehicle's regeneration.

[0051] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0052] See Figure 1 This figure is a flowchart of a vehicle control method provided in an embodiment of this application, combined with... Figure 1 As shown, the vehicle control method provided in this application embodiment is applied to a vehicle, which includes an engine and a hydraulic pump, and may include:

[0053] S101: Receive vehicle regeneration request.

[0054] A vehicle regeneration request refers to a request to initiate vehicle regeneration. This request includes a target regeneration speed for the vehicle. The target regeneration speed refers to the speed at which the vehicle can perform regeneration. For example, assuming the current speed is 500 RPM and the required speed for vehicle regeneration is 800 RPM, then 800 RPM can be considered the target regeneration speed.

[0055] RPM is an abbreviation for Revolutions Per Minute, which means the number of times a device rotates per minute.

[0056] S102: Obtain the operating parameters of the vehicle.

[0057] The operating parameters include the real-time engine torque of the engine and the real-time pump pressure of the hydraulic pump.

[0058] An engine is a machine that converts a certain type of energy into mechanical energy. Its function is to convert the chemical energy from the combustion of liquids or gases into heat energy, and then convert that heat energy into mechanical energy through expansion to output power. Engine torque refers to the torque output from the crankshaft end of the engine. Real-time engine torque refers to the engine torque obtained at the current moment.

[0059] A hydraulic pump is a component driven by an engine or electric motor. It draws hydraulic fluid from a hydraulic tank, pressurizes it, and discharges the pressurized oil to the actuator. Pump pressure refers to the pressure of the hydraulic pump, which is collected by sensors mounted on the pump's body. Real-time pump pressure refers to the pump pressure of the hydraulic pump at the current moment, as measured by the sensors.

[0060] S103: When the real-time engine torque and the real-time pump pressure meet the preset regeneration conditions, the actual pump displacement and the actual pump speed of the hydraulic pump are determined.

[0061] It should be noted that during vehicle operation, engine torque and pump pressure may change in real time. Taking a crane as an example, assuming the crane is accelerating to lift a heavy object, its engine torque may change from 300 Nm (standard unit Newton-meter) to 700 Nm. At this time, the engine torque is not stable, so it is impossible to determine the parameters of vehicle regeneration under this working condition. Therefore, it is necessary to determine whether the engine torque and pump pressure are stable in order to determine whether vehicle regeneration can be carried out.

[0062] In one possible implementation, the preset regeneration conditions include:

[0063] A1: Obtain the historical engine torque of the engine and the historical pump pressure of the hydraulic pump.

[0064] A2: Determine whether the first difference between the real-time engine torque and the historical engine torque is not greater than a first preset difference, and determine whether the second difference between the real-time pump pressure and the historical pump pressure is not greater than a second preset difference.

[0065] Understandably, by comparing the real-time engine torque with the historical engine torque, if the first difference between the two is not greater than the first preset difference, the engine is considered to be in a stable operating state; by comparing the real-time pump pressure with the historical pump pressure, if the second difference between the two is not greater than the second preset difference, the hydraulic pump is considered to be in a stable operating state.

[0066] A3: If the first difference is not greater than the first preset difference and the second difference is not greater than the second preset difference, then determine whether the real-time engine torque is greater than the first threshold and whether the real-time pump pressure is greater than the second threshold.

[0067] It should be noted that the power of the hydraulic pump is set with a starting adjustment point. That is, when the engine torque and pump pressure do not meet the threshold, the starting adjustment point of the hydraulic pump power cannot be reached, and the hydraulic pump cannot be adjusted. Therefore, in order to adjust the hydraulic pump, it is necessary to determine whether the starting adjustment point of the hydraulic pump has been reached by judging whether the real-time engine torque is greater than the first threshold and whether the real-time pump pressure is greater than the second threshold.

[0068] A4: If the real-time engine torque is greater than the first threshold and the real-time pump pressure is greater than the second threshold, then the preset regeneration condition is met.

[0069] Understandably, once the engine and hydraulic pump are running stably and the hydraulic pump reaches its initial adjustment point, the hydraulic pump can be adjusted.

[0070] Pump displacement refers to the volume of oil discharged during one revolution of the pump shaft. Actual pump displacement refers to the actual volume of oil discharged during one revolution of the hydraulic pump shaft. Actual pump speed refers to the actual rotational speed of the hydraulic pump.

[0071] S104: Determine the actual required flow rate of the vehicle based on the actual pump displacement and the actual pump speed.

[0072] Flow rate refers to the volume of oil output by the hydraulic pump within a preset time. In other words, the actual flow rate required by the vehicle can be determined by the actual pump displacement and the actual pump speed.

[0073] Among them, the flow rate determines the operating speed of the target vehicle. In order to ensure that the operating speed of the vehicle before and after regeneration is consistent, the flow rate needs to be kept consistent.

[0074] The actual required flow rate is the product of the actual pump speed and the actual pump displacement. After determining the actual required flow rate, the target required displacement can be determined by combining it with the target regeneration speed, so as to ensure that the operating speed of the target vehicle is consistent before and after regeneration.

[0075] S105: Perform a division operation between the actual required flow rate and the target regeneration speed to obtain the target required displacement.

[0076] It is understandable that the actual demand obtained through step S104 can be used to further determine the target demand displacement based on the target regeneration speed, which is the displacement that enables the vehicle to perform vehicle regeneration.

[0077] S106: Control the vehicle to perform vehicle regeneration based on the target regeneration speed and the target required displacement.

[0078] Understandably, vehicle regeneration requires two conditions: one is that the engine speed reaches the speed required for vehicle regeneration, i.e., the target regeneration speed; the other is that the hydraulic pump displacement reaches the displacement required for vehicle regeneration, i.e., the target demand displacement. Control signals can be generated based on the target regeneration speed and the target demand displacement to control the vehicle to adjust the current engine speed and the current hydraulic pump displacement to the target regeneration speed and the target demand displacement. Based on this, vehicle regeneration can be performed.

[0079] As one possible implementation, step S106 may specifically include:

[0080] B1: Obtain the current engine speed of the engine and the current pump displacement of the hydraulic pump.

[0081] B2: Adjust the current engine speed to the target regeneration speed based on the preset slope value; and adjust the current pump displacement to the target required displacement based on the preset slope value.

[0082] B3: When the current engine speed is the target regeneration speed and the current pump displacement is the target required displacement, control the vehicle to perform vehicle regeneration.

[0083] It should be noted that since the target regeneration speed and target required displacement are inconsistent with the current engine speed and current pump displacement, they need to be adjusted according to the preset slope value. The current engine speed cannot be directly changed to the target regeneration speed, nor can the current pump displacement be directly changed to the target required displacement, in order to ensure the stability and reliability of the engine and hydraulic pump.

[0084] The vehicle control method provided in this application receives a vehicle regeneration request including the vehicle's target regeneration speed, then acquires the vehicle's real-time engine torque and hydraulic pump pressure. When the real-time engine torque and real-time pump pressure meet preset regeneration conditions, the actual pump displacement and actual pump speed of the hydraulic pump are determined. Then, the actual required flow rate of the vehicle is determined based on the actual pump displacement and actual pump speed. The target required displacement is obtained by dividing the actual required flow rate by the target regeneration speed. The vehicle is then controlled to perform vehicle regeneration based on the target regeneration speed and target required displacement. Specifically, since the vehicle needs to reach a certain displacement and speed during regeneration, the target required displacement is obtained by dividing the actual required flow rate by the target regeneration speed, and the vehicle's displacement and speed are adjusted based on the target required displacement and target regeneration speed to achieve vehicle regeneration control.

[0085] Based on the vehicle control method provided in the above embodiments, the actual pump displacement can be obtained in the following way:

[0086] C1: Obtain the actual pump torque of the hydraulic pump.

[0087] As one possible implementation method, step C1 may specifically include:

[0088] D1: Obtain the loss torque generated by the accessories corresponding to the engine.

[0089] Accessories refer to the parts or components that come with the engine.

[0090] D2: Subtract the real-time engine torque from the lost torque to obtain the actual pump torque of the hydraulic pump.

[0091] During engine operation, engine accessories may also generate a certain torque, which is called loss torque. The sum of the pumping torque of the hydraulic pump and the loss torque of the accessories is the real-time engine torque. In order to improve the accuracy of vehicle control, this loss torque needs to be considered. Therefore, the actual pumping torque of the hydraulic pump is obtained by subtracting the real-time engine torque from the loss torque.

[0092] It should be noted that since the actual pump torque of a hydraulic pump cannot be directly obtained through monitoring, in order to obtain the actual pump torque of the hydraulic pump, the real-time engine torque corresponding to the engine connected to the hydraulic pump can be obtained, and the loss torque generated by the engine can be subtracted to indirectly obtain the actual pump torque of the hydraulic pump.

[0093] C2: Determine the actual pump displacement based on the actual pump pressure and the actual pump torque.

[0094] Actual pump pressure refers to the actual pump pressure of the hydraulic pump, and actual torque refers to the actual torque of the hydraulic pump.

[0095] In one possible implementation, the actual pump displacement can be determined using the following formula:

[0096]

[0097] Among them, V 泵 This represents the actual pump displacement of the hydraulic pump, k represents the calibration constant, and F... 泵扭矩 F represents the actual pump torque of the hydraulic pump. 泵压 This indicates the actual pump pressure of the hydraulic pump.

[0098] See Figure 2 The figure is a schematic diagram of a vehicle control method provided in an embodiment of this application.

[0099] Combination Figure 2 As shown, the vehicle control process provided in this application embodiment can be as follows:

[0100] Step 1: If the vehicle parameters meet the conditions for vehicle regeneration, proceed to Step 2.

[0101] Specifically, it can determine whether the vehicle's engine torque is stable and greater than a first preset value; and whether the hydraulic pump pressure is stable and greater than a second preset value.

[0102] Step 2: Determine the required flow rate.

[0103] The engine torque is obtained in real time by monitoring the engine at the current moment, and the pre-calibrated loss torque of the corresponding engine accessories is also obtained. Then, the actual pump torque is determined by the real-time engine torque and the loss torque, and the actual pump pressure of the hydraulic pump is obtained. The actual pump displacement of the hydraulic pump is further determined based on the actual pump torque and the actual pump pressure. Then, the actual pump speed of the hydraulic pump is determined. Furthermore, the actual required flow rate of the hydraulic pump is determined by combining the actual pump displacement and the actual pump speed.

[0104] Step 3: Control the vehicle to perform vehicle regeneration.

[0105] Obtain the target regeneration speed and the actual required flow rate from step 2; determine the target required displacement by division based on the target regeneration speed and the actual required flow rate; then obtain the current engine speed and the current pump displacement, and adjust them to the target regeneration speed and the target required displacement with a preset slope value; when the target regeneration speed and the target required displacement are adjusted to the target regeneration speed and the target required displacement, control the vehicle to perform vehicle regeneration.

[0106] Based on the vehicle control method provided in the above embodiments, this application also provides a vehicle control device, see [link to relevant documentation]. Figure 3This figure is a structural schematic diagram of the vehicle control device provided in an embodiment of this application, combined with... Figure 3 As shown, the vehicle control device 300 provided in this application embodiment is applied to a vehicle, which includes an engine and a hydraulic pump, and may include:

[0107] The receiving module 301 is used to receive a vehicle regeneration request; the vehicle regeneration request includes the target regeneration speed of the vehicle.

[0108] The acquisition module 302 is used to acquire the operating parameters of the vehicle; the operating parameters include the real-time engine torque of the engine and the real-time pump pressure of the hydraulic pump;

[0109] The judgment module 303 is used to determine the actual pump displacement and actual pump speed of the hydraulic pump when the real-time engine torque and the real-time pump pressure meet the preset regeneration conditions.

[0110] The actual demand flow determination module 304 is used to determine the actual demand flow of the vehicle based on the actual pump displacement and the actual pump speed.

[0111] The target demand displacement determination module 305 is used to perform a division operation between the actual demand flow rate and the target regeneration speed to obtain the target demand displacement.

[0112] The control module 306 is used to control the vehicle to perform vehicle regeneration based on the target regeneration speed and the target required displacement.

[0113] As an example, the actual pump displacement is obtained in the following way:

[0114] The acquisition unit is used to acquire the actual pump torque of the hydraulic pump;

[0115] The actual pump displacement determination unit is used to determine the actual pump displacement based on the actual pump pressure and the actual pump torque.

[0116] As an example, the acquisition unit includes:

[0117] The first acquisition subunit is used to acquire the loss torque generated by the accessory corresponding to the engine;

[0118] The second acquisition subunit is used to perform a subtraction operation on the real-time engine torque and the lost torque to obtain the actual pump torque of the hydraulic pump.

[0119] As an example, the preset regeneration conditions include:

[0120] The historical parameter acquisition unit is used to acquire the historical engine torque of the engine and the historical pump pressure of the hydraulic pump.

[0121] The first judgment unit is used to determine whether the first difference between the real-time engine torque and the historical engine torque is not greater than a first preset difference, and to determine whether the second difference between the real-time pump pressure and the historical pump pressure is not greater than a second preset difference.

[0122] The second judgment unit is used to determine whether the real-time engine torque is greater than a first threshold and whether the real-time pump pressure is greater than a second threshold if the first difference is not greater than the first preset difference and the second difference is not greater than the second preset difference.

[0123] A condition unit is used to satisfy a preset regeneration condition if the real-time engine torque is greater than a first threshold and the real-time pump pressure is greater than a second threshold.

[0124] As an example, the control module 306 includes:

[0125] The current parameter acquisition unit is used to acquire the current engine speed of the engine and the current pump displacement of the hydraulic pump;

[0126] A first control unit is configured to adjust the current engine speed to the target regeneration speed based on a preset slope value; and to adjust the current pump displacement to the target required displacement based on the preset slope value.

[0127] The second control unit is used to control the vehicle to perform vehicle regeneration when the current engine speed is the target regeneration speed and the current pump displacement is the target required displacement.

[0128] The vehicle control device provided in this application embodiment has the same beneficial effects as the vehicle control method provided in the above embodiments, so it will not be described again.

[0129] This application also provides corresponding devices and computer storage media for implementing the solutions provided in this application.

[0130] The device includes a memory and a processor. The memory stores instructions or code, and the processor executes the instructions or code to cause the device to perform the vehicle control method described in any embodiment of this application.

[0131] The computer storage medium stores code, and when the code is executed, the device running the code implements the vehicle control method described in any embodiment of this application.

[0132] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and equipment embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components indicated 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 the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0133] In the embodiments of this application, the terms "first" and "second" (if they exist) are used only as name identifiers and do not represent the order of first and second.

[0134] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus a general-purpose hardware platform. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as a read-only memory (ROM) / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0135] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle control method, characterized in that, Applied to a vehicle, the vehicle including an engine and a hydraulic pump, the method includes: Receive a vehicle regeneration request; the vehicle regeneration request includes the target regeneration speed of the vehicle. Obtain the operating parameters of the vehicle; the operating parameters include the real-time engine torque of the engine and the real-time pump pressure of the hydraulic pump; When the real-time engine torque and the real-time pump pressure meet the preset regeneration conditions, the actual pump displacement and actual pump speed of the hydraulic pump are determined, including: obtaining the historical engine torque of the engine and obtaining the historical pump pressure of the hydraulic pump; determining whether a first difference between the real-time engine torque and the historical engine torque is not greater than a first preset difference, and determining whether a second difference between the real-time pump pressure and the historical pump pressure is not greater than a second preset difference; if the first difference is not greater than the first preset difference and the second difference is not greater than the second preset difference, then determining whether the real-time engine torque is greater than a first threshold and determining whether the real-time pump pressure is greater than a second threshold; if the real-time engine torque is greater than the first threshold and the real-time pump pressure is greater than the second threshold, then the preset regeneration conditions are met; obtaining the lost torque generated by the corresponding engine accessory, performing a subtraction operation on the real-time engine torque and the lost torque to obtain the actual pump torque of the hydraulic pump, and determining the actual pump displacement based on the actual pump pressure and the actual pump torque; The actual required flow rate of the vehicle is determined based on the actual pump displacement and the actual pump speed. The target required displacement is obtained by dividing the actual required flow rate and the target regeneration speed. The vehicle is controlled to regenerate based on the target regeneration speed and the target required displacement.

2. The control method according to claim 1, characterized in that, The actual pump displacement is obtained in the following way: Obtain the actual pump torque of the hydraulic pump; The actual pump displacement is determined based on the actual pump pressure and the actual pump torque.

3. The control method according to claim 2, characterized in that, The process of obtaining the actual pump torque of the hydraulic pump includes: Obtain the loss torque generated by the corresponding accessories of the engine; The actual pump torque of the hydraulic pump is obtained by subtracting the real-time engine torque from the lost torque.

4. The control method according to claim 1, characterized in that, The method of controlling the vehicle to perform vehicle regeneration based on the target regeneration speed and the target required displacement includes: Obtain the current engine speed of the engine and the current pump displacement of the hydraulic pump; The current engine speed is adjusted to the target regeneration speed based on a preset slope value; and the current pump displacement is adjusted to the target required displacement based on the preset slope value. When the current engine speed is the target regeneration speed and the current pump displacement is the target required displacement, the vehicle is controlled to perform vehicle regeneration.

5. A vehicle control device, characterized in that, Applied to a vehicle, the vehicle including an engine and a hydraulic pump, the device includes: A receiving module is used to receive a vehicle regeneration request; the vehicle regeneration request includes the target regeneration speed of the vehicle. The acquisition module is used to acquire the operating parameters of the vehicle; the operating parameters include the real-time engine torque of the engine and the real-time pump pressure of the hydraulic pump. A judgment module, used to determine the actual pump displacement and actual pump speed of the hydraulic pump when the real-time engine torque and the real-time pump pressure meet preset regeneration conditions, includes: a historical parameter acquisition unit, used to acquire the historical engine torque of the engine and the historical pump pressure of the hydraulic pump; a first judgment unit, used to determine whether a first difference between the real-time engine torque and the historical engine torque is not greater than a first preset difference, and whether a second difference between the real-time pump pressure and the historical pump pressure is not greater than a second preset difference; and a second judgment unit, used to determine whether the first difference is not greater than the first preset difference, and the second difference is... If the difference is not greater than the second preset value, then it is determined whether the real-time engine torque is greater than the first threshold and whether the real-time pump pressure is greater than the second threshold; a condition unit is used to satisfy the preset regeneration condition if the real-time engine torque is greater than the first threshold and the real-time pump pressure is greater than the second threshold; a first acquisition subunit is used to acquire the lost torque generated by the accessory corresponding to the engine; a second acquisition subunit is used to perform a subtraction operation on the real-time engine torque and the lost torque to obtain the actual pump torque of the hydraulic pump; an actual pump displacement determination unit is used to determine the actual pump displacement based on the actual pump pressure and the actual pump torque; The actual demand flow rate determination module is used to determine the actual demand flow rate of the vehicle based on the actual pump displacement and the actual pump speed. The target demand displacement determination module is used to perform a division operation between the actual demand flow rate and the target regeneration speed to obtain the target demand displacement. The control module is used to control the vehicle to perform vehicle regeneration based on the target regeneration speed and the target required displacement.

6. The control device according to claim 5, characterized in that, The actual pump displacement is obtained in the following way: The acquisition unit is used to acquire the actual pump torque of the hydraulic pump; The actual pump displacement determination unit is used to determine the actual pump displacement based on the actual pump pressure and the actual pump torque.

7. A vehicle control system, characterized in that, Applied to a vehicle, the vehicle including an engine and a hydraulic pump, the system including: an electronic control unit (ECU); the ECU for controlling the engine and the hydraulic pump, performing the vehicle control method according to any one of claims 1-4.

8. A computer device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the vehicle control method as described in any one of claims 1-4.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a terminal device, cause the terminal device to perform the vehicle control method as described in any one of claims 1-4.

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