An adaptive method, device, equipment and traffic equipment for urea concentration

Abstract

The application provides a urea concentration self-adaptive method, device, equipment and traffic equipment, wherein after a urea concentration measurement value output by a urea concentration sensor and a standard urea concentration value are acquired, the urea concentration measurement value output by the urea concentration sensor is compared with the standard urea concentration value, a correction coefficient of the urea concentration sensor is determined based on a comparison result, and an output value of the urea sensor is corrected based on the urea concentration sensor, so that the urea concentration detected by the urea concentration sensor is self-adaptive, and the output result of the urea sensor is more reliable.

Description

Technical Field

[0001] This invention relates to the field of engine system technology, and more specifically to an adaptive method, apparatus, device, and transportation equipment for urea concentration. Background Technology

[0002] To prevent vehicle exhaust pollution of the atmosphere, strict requirements are placed on vehicle nitrogen oxide (NOx) emissions and urea concentration. Substandard urea will lead to excessive NOx emissions. Generally, a urea quality sensor is installed to measure urea concentration in real time. Currently, the most widely used sensor is based on acoustic principles. It utilizes the different speeds of ultrasound in different media, measuring the time taken for the sound wave signal to be emitted, reflected, and received over a fixed distance to determine the speed of sound in the liquid, thus obtaining the urea solution concentration. However, due to issues such as production consistency during actual manufacturing, the distances between the emitting and reflecting surfaces of different sensors are not entirely consistent, thus affecting the accuracy of the measurement. The roughness of the reflecting and emitting surfaces of different urea quality sensors also has a certain impact on measurement accuracy. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide an adaptive method, apparatus, device, and transportation equipment for urea concentration, so as to achieve adaptive correction of the urea concentration output by the urea concentration sensor.

[0004] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0005] An adaptive method for urea concentration, comprising:

[0006] When the vehicle operating status data meets the preset conditions, the urea concentration measurement value output by the urea concentration sensor is obtained. The preset conditions include at least: the absolute value of the vehicle acceleration exceeds the preset acceleration more than the preset number of times during vehicle operation, and the square wave number of one output signal of the urea concentration sensor is greater than the preset square wave number.

[0007] Obtain the standard urea concentration value;

[0008] The difference between the measured urea concentration and the standard urea concentration is calculated and denoted as the urea concentration difference.

[0009] Determine the error range corresponding to the urea concentration difference, and denot it as the target error range;

[0010] Obtain the correction coefficient corresponding to the target error range;

[0011] The measurement value of the urea concentration sensor is corrected based on the correction coefficient.

[0012] Optionally, in the above adaptive method for urea concentration, the absolute value of the acceleration is 1 m / s^2, the preset number of times is 5, and the preset square wave number is 3.

[0013] Optionally, in the above adaptive method for urea concentration, the preset conditions include any one or more of the following combinations:

[0014] The urea tank level is above the target limit.

[0015] The urea tank temperature is within the preset temperature range;

[0016] T15 has been powered on for more than the first preset time;

[0017] The temperature change in the urea tank within the second preset time period is less than the target temperature limit.

[0018] Optionally, in the above adaptive method for urea concentration, before obtaining the urea concentration measurement value output by the urea concentration sensor, the method further includes:

[0019] The time node at which the correction coefficient corresponding to the urea concentration sensor was last obtained is recorded as the historical time node.

[0020] Determine whether the difference between the current time node and the historical time node is greater than a preset duration. If it is greater than the preset duration, continue execution.

[0021] Optionally, in the above adaptive method for urea concentration, obtaining the measured urea concentration value output by the urea concentration sensor includes:

[0022] Obtain the filtered urea concentration measurement value output from the urea concentration sensor.

[0023] Optionally, in the above adaptive method for urea concentration, determining the error range corresponding to the urea concentration difference, denoted as the target error range, includes:

[0024] Determine whether the urea concentration difference is within a first error range, where the first error range is [-m, m]. When the urea concentration difference is within the first error range, the first error range is taken as the target error range.

[0025] When the urea concentration difference is not within the first error range, it is determined whether the urea concentration difference is within the second error range, where the second error range is [-mn, -m]. When the urea concentration difference is within the second error range, the second error range is taken as the target error range.

[0026] When the urea concentration difference is not within the second error range, it is determined whether the urea concentration difference is within the third error range, where the third error range is [m, m+n]. When the urea concentration difference is within the third error range, the third error range is taken as the target error range.

[0027] When the urea concentration difference is not within the third error range, a prompt message is output to indicate that the urea concentration sensor error is too high.

[0028] Optionally, in the above adaptive method for urea concentration, when the urea concentration difference is not within the third error range, a prompt message is output to characterize that the urea concentration sensor error is too high, including:

[0029] When the urea concentration difference is less than -mn, a prompt message is output to indicate that the urea concentration sensor output signal is too high.

[0030] When the urea concentration difference is greater than m+n, a prompt message is output to indicate that the output signal of the urea concentration sensor is too low.

[0031] An adaptive device for urea concentration, comprising:

[0032] The measurement acquisition unit is used to acquire the urea concentration measurement value output by the urea concentration sensor;

[0033] The comparison unit is used to obtain the standard urea concentration value, calculate the difference between the measured urea concentration value and the standard urea concentration value, and record it as the urea concentration difference;

[0034] The correction coefficient determination unit is used to determine the error range corresponding to the urea concentration difference, denoted as the target error range, and to obtain the correction coefficient corresponding to the target error range.

[0035] A correction unit is used to correct the measured value of the urea concentration sensor based on the correction coefficient.

[0036] An adaptive device for urea concentration includes: a memory and a processor;

[0037] The memory is used to store programs;

[0038] The processor is configured to execute the program to implement each step of the adaptive urea concentration method described in any of the preceding claims.

[0039] A transportation device that utilizes an adaptive device for the aforementioned urea concentration.

[0040] Based on the above technical solution, the solution provided in this embodiment of the invention, after obtaining the measured urea concentration value and the standard urea concentration value output by the urea concentration sensor, compares the measured urea concentration value output by the urea concentration sensor with the standard urea concentration value, determines the correction coefficient of the urea concentration sensor based on the comparison result, and corrects the output value of the urea sensor based on the urea concentration sensor, thereby realizing the adaptive urea concentration detected by the urea concentration sensor, making the output result of the urea sensor more reliable. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0042] Figure 1 and Figure 2 This is a schematic diagram illustrating the measurement principle of a urea concentration sensor.

[0043] Figure 3 This is a flowchart illustrating the adaptive urea concentration method disclosed in an embodiment of this application.

[0044] Figure 4 This is a schematic diagram of the output signal processing method of a urea concentration sensor.

[0045] Figure 5 This is a schematic diagram of the structure of the adaptive urea concentration device disclosed in the embodiments of this application;

[0046] Figure 6 This is a schematic diagram of the structure of the adaptive urea concentration device disclosed in the embodiments of this application. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] The urea concentration sensor used in this solution is a urea quality sensor, also known as a urea concentration sensor, and its principle is as follows: Figure 1 and Figure 2As shown, urea concentration is detected based on the different propagation speeds of ultrasound in different media. An ultrasonic probe on the transmitting plate emits a sound pulse signal, which is transmitted to the reflector plate and then reflected back to the ultrasonic probe. The propagation speed of ultrasound in urea is calculated based on the propagation distance and time difference. Based on the corresponding curves of different propagation speeds and urea concentrations, the urea concentration is obtained and sent out via J1939 standard messages.

[0049] To achieve adaptive adjustment of urea concentration measured by a urea sensor, this application discloses an adaptive method for urea concentration. This method compares the measured urea concentration value output by the urea concentration sensor with a standard urea concentration value, determines a correction coefficient for the urea concentration sensor based on the comparison result, and corrects the output value of the urea sensor based on the urea concentration sensor, thereby making the output result of the urea sensor more reliable.

[0050] See Figure 3 This application discloses an adaptive method for urea concentration, the method comprising:

[0051] Step S101: When the vehicle operating status data meets the preset conditions, the urea concentration measurement value output by the urea concentration sensor is obtained. The preset conditions include at least: the absolute value of the vehicle's acceleration exceeds the preset acceleration more than the preset number of times, and the square wave number of one output signal of the urea concentration sensor is greater than the preset square wave number.

[0052] In the technical solution disclosed in this embodiment, in order to ensure that the correction coefficient of the determined urea concentration sensor is more reliable, a preset condition can be pre-configured. Ideally, when the vehicle operating state meets the preset condition, the urea concentration measurement value output by the urea concentration sensor is the same as the standard urea concentration value. Therefore, in order to ensure the reliability of the determined correction coefficient, the urea concentration measurement value output by the urea concentration sensor can only be obtained when the vehicle operating state data meets the preset condition, and subsequent steps can continue to be executed. Specifically, in the above solution, before obtaining the urea concentration measurement value output by the urea concentration sensor, the following steps are also included: obtaining the vehicle operating state data under the current state of the vehicle, determining whether the vehicle operating state data meets the preset condition, and if the preset condition is met, continuing to execute. The preset condition may include the number of times the absolute value of the acceleration during vehicle operation exceeds a preset acceleration limit, and the square wave number of an output signal of the urea concentration sensor being greater than a preset square wave number.

[0053] The condition specifies that the absolute value of the vehicle's acceleration exceeds a preset acceleration limit more than a preset number of times during operation. This condition ensures that the urea in the urea tank is uniformly mixed. The configuration method for the absolute value of the acceleration can be set according to user needs; for example, the absolute value of the acceleration can be 1 m / s^2. The configuration method for the preset number of times can also be set according to user needs; for example, the preset number of times can be 5.

[0054] The square wave number of one output signal of the urea concentration sensor is greater than a preset square wave number. This condition is used to characterize the signal quality of the output signal of the urea concentration sensor as reliable and trustworthy. In this scheme, the signal quality of the output signal of the urea concentration sensor can be divided into three levels: low, medium, and high. Figure 4 As shown, Figure 4 The pulse excitation signal is the pulse signal emitted by the urea concentration sensor, the received voltage signal is the unprocessed output signal of the urea concentration sensor, and the processed signal is the processed output signal of the urea concentration sensor. By processing the received voltage signal (the output signal of the urea concentration sensor), signals below the voltage limit are output as square waves. The signal quality is graded according to the number of square waves; the fewer the square waves, the lower the corresponding signal quality level. For example, if the number of square waves corresponding to the output signal of the urea concentration sensor is ≤3, the signal quality of the output signal of the urea concentration sensor is low; when the number of square waves corresponding to the output signal of the urea concentration sensor is >3 and ≤6, the signal quality of the output signal of the urea concentration sensor is medium; and when the number of square waves corresponding to the output signal of the urea concentration sensor is >6, the signal quality of the output signal of the urea concentration sensor is high. In this solution, the configuration method of the preset number of square waves can be set according to user needs; for example, the preset number of square waves can be 4.

[0055] As can be seen from the above scheme, the above scheme can be an adaptive method for determining whether to release urea concentration based on preset conditions, making the determined correction coefficient more accurate and reliable.

[0056] In this step, the urea concentration measurement value output by the urea concentration sensor during vehicle operation is obtained. This urea concentration measurement value can be a pre-processed urea concentration measurement value. The pre-processing can refer to filtering. During the filtering process, a first-order filtering algorithm PT1 can be used to filter the urea concentration measurement value output by the urea concentration sensor. The filtering process can remove the glitch interference signal in the urea concentration measurement value output by the urea concentration sensor.

[0057] Step S102: Obtain the standard urea concentration value.

[0058] The standard urea concentration value is a pre-marked urea concentration value, which can be automatically marked according to the actual situation of the urea solution used by the engine and the urea addition conditions of the engine. For example, in the embodiment of this application, the standard urea concentration value can be 32.5%, and the pre-marked data of the standard urea concentration value is stored in the vehicle system.

[0059] Step S103: Calculate the difference between the measured urea concentration and the standard urea concentration, and record it as the urea concentration difference.

[0060] In this step, after obtaining the standard urea concentration value and the measured urea concentration value, the difference between the standard urea concentration value and the measured urea concentration value is calculated and recorded as the urea concentration difference a. The urea concentration difference a is the result of subtracting the measured urea concentration value from the standard urea concentration value.

[0061] Step S104: Determine the error range corresponding to the urea concentration difference, and denot it as the target error range.

[0062] In this scheme, multiple different error ranges are pre-marked, and different error ranges correspond to different correction coefficients. After determining the urea concentration difference a, it is necessary to compare the urea concentration difference a with the urea concentration difference to determine the error range to which the urea concentration difference a belongs, and record the error range to which the urea concentration difference a belongs as the target error range.

[0063] Step S105: Obtain the correction coefficient corresponding to the target error range.

[0064] In this step, after determining the target error range, correction coefficients that have been pre-marked for the target error range are obtained.

[0065] Step S106: Correct the measured value of the urea concentration sensor based on the correction coefficient.

[0066] Once the correction coefficient is determined, it is stored as the correction coefficient of the urea concentration sensor. The measured value of the urea concentration sensor is corrected based on the correction coefficient. In subsequent operations, the measured value of the urea concentration sensor needs to be corrected using the correction coefficient. During the correction process, the sum of the measured value of the urea concentration and the correction coefficient is taken as the measured value of the urea concentration sensor.

[0067] As can be seen from the above adaptive method for urea concentration, after obtaining the measured urea concentration value output by the urea concentration sensor and the standard urea concentration value, the above scheme compares the measured urea concentration value output by the urea concentration sensor with the standard urea concentration value, determines the correction coefficient of the urea concentration sensor based on the comparison result, and corrects the output value of the urea concentration sensor based on the urea concentration sensor, thereby realizing the adaptive urea concentration detected by the urea concentration sensor and making the output result of the urea sensor more reliable.

[0068] In this embodiment, the preset conditions may also include any one or more of the following combinations:

[0069] The urea tank level is greater than the target limit. The target limit can be configured according to user needs. For example, the target limit can be 20% of the maximum urea tank level.

[0070] The temperature of the urea tank is within a preset temperature range. The preset temperature range can be configured according to user needs. For example, the preset temperature range can be (-7 to 38℃).

[0071] When the T15 is powered on for more than the first preset time, the vehicle key is powered on. When the vehicle key is powered on, it indicates that the vehicle has entered the start state. The configuration of the first preset time can be set by the user according to their needs. For example, the first preset time can be 120 seconds or other values.

[0072] If the temperature change of the urea tank within the second preset time period is less than the target temperature limit, it indicates that the temperature of the urea tank has reached a stable operating condition. The configuration method of the second preset time period can be set by the user according to their needs. For example, the second preset time period can be 300s. The configuration method of the target temperature limit can also be set by the user according to their needs. For example, the target temperature limit can be 2℃.

[0073] When determining the error range corresponding to the urea concentration difference, multiple error ranges can be pre-constructed. In this embodiment, for example, three error ranges can be pre-constructed, namely the first error range, the second error range, and the third error range. The first error range is [-m, m], the second error range is [-mn, -m], and the third error range is [m, m+n]. The values ​​of m and n are determined by the maximum probe length deviation of the urea concentration sensor in this batch. For example, the value of m can be any value between 0 and 3.5%, and the value of n can be 1% or other values. Taking the value of m as 2.5% and the value of n as 1%, the first error range [-m, m] is [-2.5%, 2.5%], the second error range [-mn, -m] is [-3.5%, -2.5%], and the third error range [m, m+n] is [2.5%, 3.5%]. The error range corresponding to the urea concentration difference is defined as the target error range, which specifically includes:

[0074] Determine whether the urea concentration difference is within the first error range. When the urea concentration difference is within the first error range, take the first error range as the target error range. At this time, take the urea concentration difference a as the correction coefficient of the urea concentration sensor to correct the urea concentration measurement value output by the urea concentration sensor.

[0075] When the urea concentration difference is not within the first error range, it is determined whether the urea concentration difference is within the second error range, which is [-mn, -m]. When the urea concentration difference is within the second error range, the second error range is taken as the target error range. At this time, -m is used as the correction coefficient of the urea concentration sensor to correct the urea concentration measurement value output by the urea concentration sensor.

[0076] When the urea concentration difference is not within the second error range, it is determined whether the urea concentration difference is within the third error range, where the third error range is [m, m+n]. When the urea concentration difference is within the third error range, the third error range is taken as the target error range. At this time, m is used as the correction coefficient of the urea concentration sensor to correct the urea concentration measurement value output by the urea concentration sensor.

[0077] When the urea concentration difference is not within the third error range, a prompt message indicating that the urea concentration sensor error is too high is output. Specifically, when the urea concentration difference is less than -mn, a prompt message indicating that the urea concentration sensor output signal is too high is output; when the urea concentration difference is greater than m+n, a prompt message indicating that the urea concentration sensor output signal is too low is output.

[0078] The above embodiments can determine the correctable concentration limit based on the allowable deviation range of the probe length of the urea concentration sensor, thereby better determining the correction coefficient of the urea concentration sensor and providing an early warning when the deviation is too large.

[0079] In the above-disclosed scheme of the above embodiments, considering that the aging degree of the urea concentration sensor will continuously increase with the length of time it is used, and its measurement accuracy will change accordingly, in order to ensure the reliability of the measurement results of the urea concentration sensor, the correction coefficient corresponding to the urea concentration sensor can also be measured based on a preset period. Therefore, before obtaining the urea concentration measurement value output by the urea concentration sensor, the method further includes: obtaining the time node of the correction coefficient corresponding to the urea concentration sensor obtained last time, and recording it as a historical time node; determining whether the difference between the current time node and the historical time node is greater than a preset time period. If it is greater than the preset time period, the process continues. In this embodiment, if the difference between the current time node and the historical time node is greater than the preset time period, it indicates that the time for matching the correction coefficient of the urea concentration sensor last time was too long, and a new correction coefficient needs to be matched for the urea concentration sensor again. If the difference between the current time node and the historical time node is less than the preset time period, it indicates that there is no need to match a new correction coefficient for the urea concentration sensor at this time.

[0080] This embodiment discloses an adaptive urea concentration device. For the specific working function of each unit in the device, please refer to the above method embodiment.

[0081] The adaptive urea concentration device provided in the embodiments of the present invention will be described below. The adaptive urea concentration device described below can be referred to in correspondence with the adaptive urea concentration method described above. See also Figure 5 The device may include:

[0082] The measurement acquisition unit 10 is used to acquire the urea concentration measurement value output by the urea concentration sensor;

[0083] Comparison unit 20 is used to obtain the standard urea concentration value, calculate the difference between the measured urea concentration value and the standard urea concentration value, and record it as the urea concentration difference;

[0084] The correction coefficient determination unit 30 is used to determine the error range corresponding to the urea concentration difference, denoted as the target error range, and to obtain the correction coefficient corresponding to the target error range.

[0085] The correction unit 40 is used to correct the measured value of the urea concentration sensor based on the correction coefficient.

[0086] The specific working process of the measurement value acquisition unit 10, comparison unit 20, correction coefficient determination unit 30 and correction unit 40 can be found in the above method embodiments, and will not be repeated here.

[0087] Figure 6 This is a hardware structure diagram of the urea concentration adaptive device provided in an embodiment of the present invention. This urea concentration adaptive device can be integrated into an onboard control system. (See also...) Figure 6 As shown, it may include: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400;

[0088] In this embodiment of the invention, the number of processor 100, communication interface 200, memory 300, and communication bus 400 is at least one, and the processor 100, communication interface 200, and memory 300 communicate with each other through communication bus 400; obviously, Figure 6 The communication connections shown for the processor 100, communication interface 200, memory 300, and communication bus 400 are optional.

[0089] Optionally, the communication interface 200 can be an interface of a communication module, such as the interface of a GSM module;

[0090] Processor 100 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0091] The memory 300 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0092] Specifically, the processor 100 is used to: acquire the urea concentration measurement value output by the urea concentration sensor;

[0093] Obtain the standard urea concentration value;

[0094] The difference between the measured urea concentration and the standard urea concentration is calculated and denoted as the urea concentration difference.

[0095] Determine the error range corresponding to the urea concentration difference, and denot it as the target error range;

[0096] Obtain the correction coefficient corresponding to the target error range;

[0097] The measurement value of the urea concentration sensor is corrected based on the correction coefficient.

[0098] Correspondingly, this application also discloses a transportation device that uses an adaptive device for urea concentration as described in any of the above-mentioned claims, and the transportation device can be a car.

[0099] For ease of description, the above system is described by dividing it into various modules based on their functions. Of course, in implementing this invention, the functions of each module can be implemented in one or more software and / or hardware components.

[0100] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system 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 creative effort.

[0101] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0102] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0103] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0104] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An adaptive method for urea concentration, characterized in that, include: When the vehicle operating status data meets the preset conditions, the urea concentration measurement value output by the urea concentration sensor is obtained. The preset conditions include at least: the absolute value of the vehicle acceleration exceeds the preset acceleration more than the preset number of times during vehicle operation, and the square wave number of one output signal of the urea concentration sensor is greater than the preset square wave number. Obtain the standard urea concentration value; The difference between the measured urea concentration and the standard urea concentration is calculated and denoted as the urea concentration difference. Determine the error range corresponding to the urea concentration difference, and denot it as the target error range; Obtain the correction coefficient corresponding to the target error range; The measurement value of the urea concentration sensor is corrected based on the correction coefficient.

2. The adaptive method for urea concentration according to claim 1, characterized in that, The absolute value of the acceleration is 1 m / s^2, the preset number of times is 5, and the preset square wave number is 3.

3. The adaptive method for urea concentration according to claim 1, characterized in that, The preset conditions also include any one or more of the following combinations: The urea tank level is above the target limit. The urea tank temperature is within the preset temperature range; T15 has been powered on for more than the first preset time; The temperature change in the urea tank within the second preset time period is less than the target temperature limit.

4. The adaptive method for urea concentration according to claim 3, characterized in that, Before obtaining the urea concentration measurement value output by the urea concentration sensor, the following steps are also included: The time node at which the correction coefficient corresponding to the urea concentration sensor was last obtained is recorded as the historical time node. Determine whether the difference between the current time node and the historical time node is greater than a preset duration. If it is greater than the preset duration, continue execution.

5. The adaptive method for urea concentration according to claim 1, characterized in that, Acquire the urea concentration measurement value output by the urea concentration sensor, including: Obtain the filtered urea concentration measurement value output from the urea concentration sensor.

6. The adaptive method for urea concentration according to claim 1, characterized in that, The error range corresponding to the urea concentration difference is determined and denoted as the target error range, including: Determine whether the urea concentration difference is within a first error range, where the first error range is [-m, m]. When the urea concentration difference is within the first error range, the first error range is taken as the target error range. When the urea concentration difference is not within the first error range, it is determined whether the urea concentration difference is within the second error range, where the second error range is [-mn, -m]. When the urea concentration difference is within the second error range, the second error range is taken as the target error range. When the urea concentration difference is not within the second error range, it is determined whether the urea concentration difference is within the third error range, where the third error range is [m, m+n]. When the urea concentration difference is within the third error range, the third error range is taken as the target error range. When the urea concentration difference is not within the third error range, a prompt message is output to indicate that the urea concentration sensor error is too high.

7. The adaptive method for urea concentration according to claim 6, characterized in that, When the urea concentration difference is not within the third error range, a prompt message indicating that the urea concentration sensor error is too high is output, including: When the urea concentration difference is less than -mn, a prompt message is output to indicate that the urea concentration sensor output signal is too high. When the urea concentration difference is greater than m+n, a prompt message is output to indicate that the output signal of the urea concentration sensor is too low.

8. An adaptive device for urea concentration, characterized in that, include: The measurement acquisition unit is used to acquire the urea concentration measurement value output by the urea concentration sensor when the vehicle operation status data meets the preset conditions. The preset conditions include at least: the absolute value of the acceleration during vehicle operation exceeds the preset acceleration more than the preset number of times, and the square wave number of one output signal of the urea concentration sensor is greater than the preset square wave number. The comparison unit is used to obtain the standard urea concentration value, calculate the difference between the measured urea concentration value and the standard urea concentration value, and record it as the urea concentration difference; The correction coefficient determination unit is used to determine the error range corresponding to the urea concentration difference, denoted as the target error range, and to obtain the correction coefficient corresponding to the target error range. A correction unit is used to correct the measured value of the urea concentration sensor based on the correction coefficient.

9. An adaptive device for urea concentration, characterized in that, include: Memory and processor; The memory is used to store programs; The processor is configured to execute the program to implement the steps of the adaptive urea concentration method as described in any one of claims 1-7.

10. A transportation device, characterized in that, The application includes the adaptive device for urea concentration as described in claim 9.

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