A method of correction of a temperature sensor in an engine aftertreatment and related devices

Abstract

The application discloses a correction method of a temperature sensor in engine aftertreatment and a related device, and relates to the technical field of engines, and comprises the following steps: according to an acquired fuel injection state of an engine, processing temperature observation values upstream of an SCR, temperature observation values upstream of a DOC, temperature observation values upstream of a DPF, environment heat dissipation observation values of the DOC and environment heat dissipation observation values of the DPF based on a pre-constructed energy conservation relation formula, and calculating temperature calculation values upstream of the DOC and temperature calculation values upstream of the DPF. According to the energy conservation relation formula, energy and temperature can be associated, and the Kalman filtering algorithm can be used to calculate the temperature calculation values. According to a difference between the temperature observation values and the temperature calculation values, a jump problem can be identified. The temperature calculation values are used to correct the temperature observation values, and the corrected observation values can be used as input of next Kalman filtering iteration, and the accuracy of the temperature sensor can be continuously improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the engine technical field, and particularly relates to a correction method of a temperature sensor in engine aftertreatment and a related device. BACKGROUND

[0002] In order to reduce harmful substances of engine exhaust and make the exhaust meet the corresponding emission standard, the engine mainly purifies the exhaust through the technical means of aftertreatment to reduce the harmful substances. The process of aftertreatment needs to accurately control the temperature inside to ensure the exhaust treatment effect and the working stability of the catalyst. The temperature sensor can be added upstream of DOC (Diesel Oxidation Catalyst, oxidation catalyst), upstream of DPF (Diesel Particulate Filter, diesel particulate filter) and upstream of SCR (Selective Catalytic Reduction, selective catalytic reduction) to convert the physical quantity of temperature into an electrical signal to realize the monitoring of the temperature.

[0003] At present, whether the temperature observation value measured by the temperature sensor exceeds the preset range is judged to determine the reliability. If the temperature observation value is within the preset range, the temperature sensor is considered reliable; if the temperature observation value exceeds the preset range, the temperature sensor is considered to have a problem.

[0004] However, in the process of monitoring the temperature, the temperature sensor may jump due to unstable battery voltage or unreasonable wiring harness arrangement, which may affect the temperature observation value to jump. At this time, the temperature observation value may still be within the preset range, so the problem of the temperature sensor cannot be accurately identified, resulting in low accuracy of the temperature sensor. SUMMARY

[0005] In view of the above problems, the present application provides a correction method of a temperature sensor in engine aftertreatment and a related device to realize the purpose of improving the accuracy of the temperature sensor. The specific scheme is as follows:

[0006] The first aspect of the present application provides a correction method of a temperature sensor in engine aftertreatment, comprising:

[0007] Obtaining a temperature observation value upstream of DOC, a temperature observation value upstream of DPF, a temperature observation value upstream of SCR, an environment heat dissipation observation value of DOC and an environment heat dissipation observation value of DPF in engine aftertreatment, and an injection state of the engine;

[0008] According to the fuel injection state of the engine, the temperature observation value upstream of the SCR, the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the ambient heat dissipation observation value of the DOC and the ambient heat dissipation observation value of the DPF are processed based on the pre-constructed energy conservation relation by using the Kalman filtering algorithm, and the temperature calculation value upstream of the DOC and the temperature calculation value upstream of the DPF are calculated;

[0009] The first difference value between the temperature observation value upstream of the DOC and the temperature calculation value upstream of the DOC, and the second difference value between the temperature observation value upstream of the DPF and the temperature calculation value upstream of the DPF are calculated;

[0010] It is judged whether the first difference value conforms to the first preset range and whether the second difference value conforms to the second preset range;

[0011] If the first difference value does not conform to the first preset range, the temperature observation value upstream of the DOC is corrected by using the temperature calculation value upstream of the DOC, and if the second difference value does not conform to the second preset range, the temperature observation value upstream of the DPF is corrected by using the temperature calculation value upstream of the DPF.

[0012] In a possible implementation, when the fuel injection state of the engine is the non-regeneration fuel injection state, the energy conservation relation includes a first energy conservation relation and a second energy conservation relation;

[0013] According to the fuel injection state of the engine, the temperature observation value upstream of the SCR, the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the ambient heat dissipation observation value of the DOC and the ambient heat dissipation observation value of the DPF are processed based on the pre-constructed energy conservation relation by using the Kalman filtering algorithm, and the temperature calculation value upstream of the DOC and the temperature calculation value upstream of the DPF are calculated, including:

[0014] Based on the first energy conservation relation and the second energy conservation relation, a first observation equation is determined, the first energy conservation relation is used to indicate the energy relation between the upstream of the DOC and the upstream of the DPF, the second energy conservation relation is used to indicate the energy relation between the upstream of the DPF and the upstream of the SCR, the first observation equation is used to indicate the temperature relation among the upstream of the DOC, the upstream of the DPF and the upstream of the SCR, the first observation equation includes a first state quantity observation value and a first observation quantity observation value, the first state quantity observation value is the ambient heat dissipation observation value of the DOC and the ambient heat dissipation observation value of the DPF, and the first observation quantity observation value is the temperature observation value upstream of the DOC and the temperature observation value upstream of the DPF;

[0015] The first observation equation is processed by using a Kalman filtering algorithm to calculate a first state quantity calculation value, the first state quantity calculation value being a first ambient heat dissipation calculation value of the DOC and a first ambient heat dissipation calculation value of the DPF;

[0016] The first state quantity observation value of the first observation equation is replaced by the first state quantity calculation value to calculate a first observation quantity calculation value, the first observation quantity calculation value being a first temperature calculation value upstream of the DOC and a first temperature calculation value upstream of the DPF.

[0017] In a possible implementation, when the injection state of the engine is a regeneration injection state, the energy conservation relationship includes a third energy conservation relationship and a fourth energy conservation relationship;

[0018] The DOC upstream temperature calculation value and the DPF upstream temperature calculation value are calculated by using a Kalman filtering algorithm to process the temperature observation value upstream of the SCR, the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the ambient heat dissipation observation value of the DOC, and the ambient heat dissipation observation value of the DPF based on the pre-constructed energy conservation relationship according to the injection state of the engine, including:

[0019] Based on the third energy conservation relationship and the fourth energy conservation relationship, a second observation equation is determined, the third energy conservation relationship being used to indicate an energy relationship between the upstream of the DOC and the upstream of the DPF, the fourth energy conservation relationship being used to indicate an energy relationship between the upstream of the DPF and the upstream of the SCR, the second observation equation being used to indicate a temperature relationship between the upstream of the DOC, the upstream of the DPF, and the upstream of the SCR, the second observation equation including a second state quantity observation value and a second observation quantity observation value, the second state quantity observation value being a difference between the ambient heat dissipation observation value of the DOC and the fuel heat release quantity of the DOC, and the ambient heat dissipation observation value of the DPF, the second observation quantity observation value being the temperature observation value upstream of the DOC and the temperature observation value upstream of the DPF;

[0020] The second observation equation is processed by using a Kalman filtering algorithm to calculate a second state quantity calculation value, the second state quantity calculation value being a second ambient heat dissipation calculation value of the DOC and a second ambient heat dissipation calculation value of the DPF;

[0021] The second state quantity observation value of the second observation equation is replaced by the second state quantity calculation value to calculate a second observation quantity calculation value, the second observation quantity calculation value being a second temperature calculation value upstream of the DOC and a second temperature calculation value upstream of the DPF.

[0022] In a possible implementation, the first observation equation further includes a first observation matrix and a first control matrix;

[0023] The first state quantity calculation value is calculated by processing the first observation equation by using the Kalman filtering algorithm, and the processing includes:

[0024] A first state quantity prediction value is calculated based on the obtained historical first state quantity calculation value, the state transition matrix, the control quantity and the first control matrix;

[0025] A first covariance prediction matrix is calculated based on the obtained historical first covariance calculation matrix, the process noise covariance matrix and the state transition matrix;

[0026] A first Kalman gain is calculated based on the measurement noise covariance matrix, the first observation matrix and the first covariance prediction matrix;

[0027] A first covariance calculation matrix is calculated based on the first Kalman gain, the first covariance prediction matrix and the first observation matrix, so as to update the historical first covariance calculation matrix;

[0028] The first state quantity calculation value is calculated based on the first Kalman gain, the first state quantity prediction value, the first observation matrix and the first observation value, so as to update the historical first state quantity calculation value.

[0029] The second aspect of the application provides a correction device for a temperature sensor in engine aftertreatment, comprising:

[0030] An acquisition unit is configured to acquire a temperature observation value upstream of a DOC, a temperature observation value upstream of a DPF, a temperature observation value upstream of a SCR, an environmental heat dissipation observation value of the DOC and an environmental heat dissipation observation value of the DPF, and an injection state of the engine;

[0031] A first calculation unit is configured to calculate a temperature calculation value upstream of the DOC and a temperature calculation value upstream of the DPF by using a Kalman filtering algorithm to process the temperature observation value upstream of the SCR, the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the environmental heat dissipation observation value of the DOC and the environmental heat dissipation observation value of the DPF based on a pre-constructed energy conservation relationship according to the injection state of the engine;

[0032] A second calculation unit is configured to calculate a first difference value between the temperature observation value upstream of the DOC and the temperature calculation value upstream of the DOC, and a second difference value between the temperature observation value upstream of the DPF and the temperature calculation value upstream of the DPF;

[0033] a judging unit configured to judge whether the first difference value meets a first preset range and whether the second difference value meets a second preset range;

[0034] a correcting unit configured to correct the temperature observation value upstream of the DOC by using the temperature calculation value upstream of the DOC if the first difference value does not meet the first preset range, and correct the temperature observation value upstream of the DPF by using the temperature calculation value upstream of the DPF if the second difference value does not meet the second preset range.

[0035] In a possible implementation, when the injection state of the engine is the non-regeneration injection state, the energy conservation relationship includes a first energy conservation relationship and a second energy conservation relationship;

[0036] The first calculation unit includes:

[0037] a first determining sub-unit configured to determine a first observation equation based on the first energy conservation relationship and the second energy conservation relationship, the first energy conservation relationship being used to indicate an energy relationship between the upstream of the DOC and the upstream of the DPF, the second energy conservation relationship being used to indicate an energy relationship between the upstream of the DPF and the upstream of the SCR, the first observation equation being used to indicate a temperature relationship among the upstream of the DOC, the upstream of the DPF and the upstream of the SCR, the first observation equation including a first state variable observation value and a first observation variable observation value, the first state variable observation value being an environment heat dissipation observation value of the DOC and an environment heat dissipation observation value of the DPF, the first observation variable observation value being a temperature observation value upstream of the DOC and a temperature observation value upstream of the DPF;

[0038] a first calculation sub-unit configured to process the first observation equation by using a Kalman filtering algorithm to calculate a first state variable calculation value, the first state variable calculation value being a first environment heat dissipation calculation value of the DOC and a first environment heat dissipation calculation value of the DPF;

[0039] a second calculation sub-unit configured to replace the first state variable observation value of the first observation equation with the first state variable calculation value to calculate a first observation variable calculation value, the first observation variable calculation value being a first temperature calculation value upstream of the DOC and a first temperature calculation value upstream of the DPF.

[0040] In a possible implementation, when the injection state of the engine is the non-regeneration injection state, the energy conservation relationship includes a first energy conservation relationship and a second energy conservation relationship;

[0041] The first calculation unit includes:

[0042] a second determining sub-unit, configured to determine a second observation equation based on the third energy conservation relationship and the fourth energy conservation relationship, the third energy conservation relationship being used to indicate an energy relationship between the upstream of the DOC and the upstream of the DPF, the fourth energy conservation relationship being used to indicate an energy relationship between the upstream of the DPF and the upstream of the SCR, the second observation equation being used to indicate a temperature relationship between the upstream of the DOC, the upstream of the DPF and the upstream of the SCR, the second observation equation comprising a second state quantity observation value and a second observation quantity observation value, the second state quantity observation value being a difference between an ambient heat dissipation observation value of the DOC and a fuel heat release quantity of the DOC, and an ambient heat dissipation observation value of the DPF, the second observation quantity observation value being a temperature observation value of the upstream of the DOC and a temperature observation value of the upstream of the DPF;

[0043] a third calculating sub-unit, configured to process the second observation equation by using a Kalman filtering algorithm to obtain a second state quantity calculation value, the second state quantity calculation value being a second ambient heat dissipation calculation value of the DOC and a second ambient heat dissipation calculation value of the DPF;

[0044] a fourth calculating sub-unit, configured to replace the second state quantity observation value of the second observation equation with the second state quantity calculation value to obtain a second observation quantity calculation value, the second observation quantity calculation value being a second temperature calculation value of the upstream of the DOC and a second temperature calculation value of the upstream of the DPF.

[0045] The third aspect of the present application provides a computer program product, comprising computer readable instructions, which, when executed on an electronic device, cause the electronic device to implement the engine aftertreatment temperature sensor correction method of the first aspect or any implementation manner of the first aspect.

[0046] The fourth aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0047] The memory is configured to store a computer program;

[0048] The processor is configured to execute the computer program, so that the electronic device can implement the engine aftertreatment temperature sensor correction method of the first aspect or any implementation manner of the first aspect.

[0049] The fifth aspect of the present application provides a computer storage medium, which carries one or more computer programs, when the one or more computer programs are executed by an electronic device, can make the electronic device implement the engine aftertreatment temperature sensor correction method of the first aspect or any implementation manner of the first aspect.

[0050] According to the technical solution, the method for correcting the temperature sensor in the engine aftertreatment and the related device are provided. According to the fuel injection state of the engine, the temperature observation value upstream of the SCR, the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the environmental heat dissipation observation value of the DOC and the environmental heat dissipation observation value of the DPF are processed based on the pre-constructed energy conservation relationship, and the temperature calculation value upstream of the DOC and the temperature calculation value upstream of the DPF are calculated. The energy conservation relationship describes the law of energy flow conversion, and the energy and the temperature can be associated according to the energy conservation relationship, so that the temperature calculation value can be calculated by using the Kalman filtering algorithm. According to the difference between the temperature observation value measured by the temperature sensor and the temperature calculation value calculated by the mathematical algorithm, the jump problem can be identified, and the accuracy of the temperature sensor can be improved. The temperature observation value is corrected by using the temperature calculation value. Since the Kalman filtering algorithm is an iterative process, the corrected observation value can be used as the input of the next Kalman filtering iteration, and the accuracy of the temperature sensor can be continuously improved. BRIEF DESCRIPTION OF DRAWINGS

[0051] The above and other features, advantages, and aspects of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals can represent the same or similar elements. It should be understood that the drawings are schematic and elements and features are not necessarily to scale.

[0052] Figure 1 A flowchart of a method for correcting a temperature sensor in engine aftertreatment according to an embodiment of the present application is shown in FIG. 1.

[0053] Figure 2 A schematic diagram of the change curve of the environmental heat dissipation observation value of the DOC and the change curve of the environmental heat dissipation observation value of the DPF according to an embodiment of the present application is shown in FIG. 2.

[0054] Figure 3 A schematic diagram of the change curve of the temperature calculation value upstream of the DOC, the change curve of the temperature calculation value upstream of the DPF and the change curve of the temperature observation value upstream of the SCR according to an embodiment of the present application is shown in FIG. 3.

[0055] Figure 4 A schematic diagram of the change curve of the temperature calculation value upstream of the DOC, the change curve of the temperature measurement value upstream of the DOC and the change curve of the temperature correction value upstream of the DOC according to an embodiment of the present application is shown in FIG. 4.

[0056] Figure 5A schematic diagram of a change curve of a measured temperature upstream of a DPF, a change curve of a calculated temperature upstream of a DPF, and a change curve of a corrected temperature upstream of a DPF is provided for an embodiment of the present application.

[0057] Figure 6 A structural schematic diagram of a correction device for a temperature sensor in engine aftertreatment is provided for an embodiment of the present application.

[0058] Figure 7 A hardware structural schematic diagram of a correction device for a temperature sensor in engine aftertreatment is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0059] The embodiments of the present application are described below in conjunction with the accompanying drawings. The terms used in the embodiment part of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0060] The embodiments of the present application are described below in conjunction with the accompanying drawings. It is known to those of ordinary skill in the art that, as technology develops and new scenarios appear, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0061] The terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, and this is only a way of distinguishing the objects with the same attributes in the description of the embodiments of the present application. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, so that the processes, methods, systems, products or equipment containing a series of units do not necessarily limit to those units, but can include other units not clearly listed or inherent to these processes, methods, products or equipment.

[0062] In order to achieve the purpose of improving the accuracy of the temperature sensor, the present application provides a robot path planning method, which is described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0063] Please refer to the accompanying Figure 1 , Figure 1 A flowchart of a correction method for a temperature sensor in engine aftertreatment is provided for an embodiment of the present application. The method can include the following steps:

[0064] Step S101: Obtain the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the temperature observation value upstream of the SCR, the environment heat dissipation observation value of the DOC, the environment heat dissipation observation value of the DPF, and the fuel injection state of the engine.

[0065] It should be noted that the main role of the DOC is to oxidize carbon monoxide and hydrocarbons in the exhaust gas into harmless carbon dioxide and water, and the temperature observation value upstream of the DOC refers to the exhaust gas temperature observed by the temperature sensor before the DOC; the main role of the DPF is to capture particulate matter in the exhaust gas to reduce particulate matter emitted into the atmosphere, and the temperature observation value upstream of the DPF refers to the exhaust gas temperature observed by the temperature sensor before the DPF; the main role of the SCR is that under the action of the SCR catalyst, the ammonia produced by the decomposition of the injected urea reacts with the nitrogen oxides in the exhaust gas to generate harmless nitrogen and water. The temperature observation value upstream of the SCR refers to the exhaust gas temperature observed by the temperature sensor before the DPF.

[0066] There is environment heat dissipation in the process of exhaust gas passing through each component, and the environment heat dissipation is mainly related to vehicle speed and environmental temperature. The DOC generates a certain amount of heat during operation, and these heat will be transferred to the surrounding environment through radiation, resulting in heat loss. The environment heat dissipation observation value of the DOC can be calculated by comparing the temperature observation value upstream of the DOC and the temperature observation value upstream of the DPF; the surface of the DPF will radiate heat to the surrounding environment, and part of the heat will also be taken away by the exhaust gas, resulting in heat loss. The environment heat dissipation observation value of the DPF can be calculated by comparing the temperature observation value upstream of the DPF and the temperature observation value upstream of the SCR. For ease of understanding, please refer to Figure 2 , Figure 2 A schematic diagram of the change curve of the environment heat dissipation observation value of the DOC and the change curve of the environment heat dissipation observation value of the DPF provided by the embodiment of the present application, DPFMON_DiagPrm[1][1] represents the change curve of the environment heat dissipation observation value of the DOC, and DPFMON_DiagPrm[2][1] represents the change curve of the environment heat dissipation observation value of the DPF.

[0067] The fuel injection state of the engine can be divided into normal state, thermal management state and regeneration fuel injection state. The normal state mainly focuses on basic fuel injection control and combustion performance, the thermal management state focuses on temperature management of the engine to improve overall performance and efficiency, and the regeneration fuel injection state focuses on DOC fuel heat release to eliminate carbon deposition upstream of the DPF to maintain normal emissions. The normal state and the thermal management state can be collectively referred to as non-regeneration fuel injection state.

[0068] Step S102: according to the fuel injection state of the engine, the temperature observation value upstream of the SCR, the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the environmental heat dissipation observation value of the DOC and the environmental heat dissipation observation value of the DPF are processed based on the pre-constructed energy conservation relationship by using the Kalman filtering algorithm, and the temperature calculation value upstream of the DOC and the temperature calculation value upstream of the DPF are calculated.

[0069] In the present application, as an implementation manner, when the fuel injection state of the engine is the non-regeneration fuel injection state, first, based on the first energy conservation relationship and the second energy conservation relationship, a first observation equation is determined, the first energy conservation relationship is used to indicate the energy relationship between the upstream of the DOC and the upstream of the DPF, the second energy conservation relationship is used to indicate the energy relationship between the upstream of the DPF and the upstream of the SCR, the first observation equation is used to indicate the temperature relationship among the upstream of the DOC, the upstream of the DPF and the upstream of the SCR, the first observation equation includes the first state quantity observation value and the first observation quantity observation value, the first state quantity observation value is the environmental heat dissipation observation value of the DOC and the environmental heat dissipation observation value of the DPF, and the first observation quantity observation value is the temperature observation value upstream of the DOC and the temperature observation value upstream of the DPF; then the first observation equation is processed by using the Kalman filtering algorithm, and the first state quantity calculation value is calculated, the first state quantity calculation value is the first environmental heat dissipation calculation value of the DOC and the first environmental heat dissipation calculation value of the DPF; finally, the first state quantity observation value of the first observation equation is replaced by the first state quantity calculation value, and the first observation quantity calculation value is calculated, the first observation quantity calculation value is the first temperature calculation value upstream of the DOC and the first temperature calculation value upstream of the DPF.

[0070] It should be noted that the first energy conservation relationship is: the energy of the upstream of the DOC at T4 temperature-the environmental heat dissipation of the DOC=E DOC.Us.T4 - E DOC.Ful =E DOC.Ds.T5 ; the second energy conservation relationship is: the energy of the downstream of the DOC at T5 temperature (the energy of the upstream of the DPF at T5 temperature)-the environmental heat dissipation of the DPF=E DOC.Ds.T5 -E DPF.Env = E DPF.Ds.T6 . A basic formula E=cm△T in thermodynamics describes the relationship among heat, mass, specific heat capacity and temperature change amount, E is heat (energy), c is specific heat capacity, m is mass, and △T is the change amount of temperature.

[0071] The first observation equation can be obtained by arranging the above formula as Z k =HX k+ BT6. Where the first state quantity observation X k is the ambient heat dissipation observation of the DOC and the ambient heat dissipation observation of the DPF, which can be represented as X k = [E DOC.Env E DPF.Env ] T , the first observation quantity observation Z k is the temperature observation upstream of the DOC and the temperature observation upstream of the DPF, which can be represented as Z k = [T4 T5] T , the observation matrix H maps the state quantity (energy) to the observation quantity (temperature), which can be represented as H = 1 cm f ( v ) [ 1 1 0 1 ] , the control matrix B maps T6 (one dimension) to the observation space (two dimensions), which can be represented as B = [1 1] T , and T6 is the temperature observation upstream of the SCR.

[0072] The iteration process of Kalman filtering can be clearly divided into two main steps: prediction and update. The preset step includes state quantity prediction and covariance matrix prediction, and the update step includes calculation of Kalman gain, update of covariance calculation matrix and update of state quantity calculation value.

[0073] Specifically, the state quantity prediction is to calculate the first state quantity prediction value based on the obtained historical first state quantity calculation value, the state transition matrix, the control quantity and the first control matrix. According to the first state calculation value X k-1 ＋ at k-1 time, the state transition matrix A, combined with the control quantity u k at k time and the first control matrix B, the first state quantity prediction value X k - at k time is calculated. The formula can be represented as: X k - = AX k-1 ＋ + Bu k . This value is called prior estimate because it is calculated before the first state quantity observation at the current time is obtained.

[0074] The covariance matrix prediction is to calculate the first covariance prediction matrix based on the obtained historical first covariance matrix, the process noise covariance matrix and the state transition matrix. According to the covariance matrix P k-1 ＋ at k-1 time, the process noise covariance matrix Q and the state transition matrix A, the first covariance prediction matrix P k - at k time is calculated. The formula can be represented as: P k - = AP k-1＋ A T +Q. This value represents the uncertainty of the a priori estimate.

[0075] The Kalman gain is calculated based on the obtained measurement noise covariance matrix, the first observation matrix and the first covariance prediction matrix, to obtain the first Kalman gain. According to the covariance matrix R of the measurement noise, the first observation matrix H and the first covariance prediction matrix P k - at the k time, the first Kalman gain K k is calculated, and the formula can be expressed as: K k = P k H - (HP T +R) k - H T +R) -1 This value is a trade-off factor, which determines how to combine the a priori estimate and the observation value in the update step.

[0076] The covariance calculation matrix is updated based on the first Kalman gain, the first covariance prediction matrix and the first observation matrix, to obtain the first covariance calculation matrix, so as to update the historical first covariance calculation matrix. According to the first Kalman gain K k at the k time, the first covariance prediction matrix P k - at the k time and the first observation matrix H, the first covariance calculation matrix P k at the k time is calculated, and the first covariance prediction matrix P k - at the k time is updated to the first covariance calculation matrix P k at the k time, and the formula is expressed as: P k =(I-K k H)P k - This value will be used as the historical first covariance calculation matrix in the next iteration.

[0077] The state quantity calculation value is updated based on the first Kalman gain, the first state quantity prediction value, the first observation matrix and the first observation value, to obtain the first state quantity calculation value, so as to update the historical first state quantity calculation value. According to the first Kalman gain K k at the k time, the first state quantity prediction value X k - at the k time, the first observation matrix H and the first observation value Z k , the first state quantity calculation value X k at the k time is calculated, and the formula is expressed as: X k =Xk - +K k (Z k -HX k - ). This value combines the prior estimate and the observation and gives a more accurate state quantity estimate, which will be used as the historical first state quantity calculation value in the next iteration.

[0078] For the convenience of understanding, reference can be made to Figure 3 . Figure 3 A schematic diagram of a DOC upstream temperature calculation value change curve, a DPF upstream temperature calculation value change curve and an SCR upstream temperature observation value change curve provided by the embodiment of the application is shown in FIG. 1, wherein DocUsMdl represents the DOC upstream temperature calculation value change curve, DpfUsMdl represents the DPF upstream temperature calculation value change curve, and ScrUs represents the SCR upstream temperature observation value change curve.

[0079] As another implementable manner, when the fuel injection state of the engine is the regeneration fuel injection state, first, the second observation equation is determined based on the third energy conservation relationship and the fourth energy conservation relationship, the third energy conservation relationship is used to indicate the energy relationship between the DOC upstream and the DPF upstream, the fourth energy conservation relationship is used to indicate the energy relationship between the DPF upstream and the SCR upstream, the second observation equation is used to indicate the temperature relationship among the DOC upstream, the DPF upstream and the SCR upstream, the second observation equation includes a second state quantity observation value and a second observation quantity observation value, the second state quantity observation value is the difference between the DOC ambient heat dissipation observation value and the fuel heat release quantity of the DOC, and the DPF ambient heat dissipation observation value, and the second observation quantity observation value is the DOC upstream temperature observation value and the DPF upstream temperature observation value; then the second observation equation is processed by using the Kalman filtering algorithm to obtain a second state quantity calculation value, the second state quantity calculation value is a second ambient heat dissipation calculation value of the DOC and a second ambient heat dissipation calculation value of the DPF; finally, the second state quantity observation value of the second observation equation is replaced by the second state quantity calculation value to obtain a second observation quantity calculation value, the second observation quantity calculation value is a second temperature calculation value of the DOC upstream and a second temperature calculation value of the DPF upstream.

[0080] It should be noted that the third energy conservation relationship is: the energy of the DOC upstream at T4 temperature-DOC ambient heat dissipation+DOC fuel heat release=E (the energy of the DPF upstream at T5 temperature), that is, E DOC.Us.T4 -E DOC.Ful + E DOC.Ful = E DOC.Ds.T5; the fourth energy conservation relationship is: energy of the DOC downstream at T5 (energy of the DPF upstream at T5) - ambient heat dissipation of the DPF = energy of the DPF downstream at T6 (energy of the SCR upstream at T6), i.e. E DOC.Ds.T5 - E DPF.Env = E DPF.Ds.T6 . A basic formula E = cm△T in thermodynamics describes the relationship between heat, mass, specific heat capacity and temperature change, E is heat (energy), c is specific heat capacity, m is mass, and△T is the change in temperature.

[0081] The second observation equation can be obtained by arranging the above formula as Z k =HX k +BT6. Wherein, the second state quantity observation value X k is the difference between the observation value of the ambient heat dissipation of the DOC and the fuel heat release of the DOC, and the observation value of the ambient heat dissipation of the DPF, which can be expressed as X k =[E DOC.Env -E DOC.Ful E DPF.Env ] T , the second observation value Z k is the observation value of the temperature upstream of the DOC and the observation value of the temperature upstream of the DPF, which can be expressed as Z k =[T4 T5] T , the observation matrix H maps the state quantity (energy) to the observation quantity (temperature), which can be expressed as H = 1 cm f ( v ) [ 1 1 0 1 ] , the control matrix B maps T6 (one dimension) to the observation space (two dimensions), which can be expressed as B=

[11] T , and T6 is the observation value of the temperature upstream of the SCR.

[0082] The iteration process of the Kalman filter of this embodiment can refer to the iteration process of the Kalman filter of the above-mentioned embodiment.

[0083] Step S103: Calculate the first difference between the observation value of the temperature upstream of the DOC and the calculated value of the temperature upstream of the DOC, and the second difference between the observation value of the temperature upstream of the DPF and the calculated value of the temperature upstream of the DPF.

[0084] In this application, the deviation between the observation value of the temperature measured by the temperature sensor and the calculated value of the temperature calculated by the mathematical algorithm is calculated.

[0085] Step S104: Determine whether the first difference meets the first preset range and whether the second difference meets the second preset range.

[0086] It should be noted that the first preset range and the second preset range can both be between ±30℃.

[0087] In this application, the presence of a problem with the temperature sensor (e.g., a jump problem) can be determined by judging whether the difference value meets a preset range. If the difference value does not meet the preset range, it indicates that the temperature sensor has a problem; if the difference value meets the preset range, it indicates that the temperature sensor does not have a problem.

[0088] If the first difference does not meet the first preset range and the second difference does not meet the second preset range, then step S105 is executed.

[0089] Step S105: Correct the temperature observation value upstream of DOC using the calculated temperature value upstream of DOC, and correct the temperature observation value upstream of DPF using the calculated temperature value upstream of DPF.

[0090] In this application, if the difference does not fall within the preset range, it indicates that there is a problem with the temperature sensor. Therefore, the temperature observation value is corrected using the calculated temperature value.

[0091] One possible approach is to directly replace the observed temperature with the calculated temperature value. This method is simple and straightforward, but it may overlook some useful information in the observed values.

[0092] As another possible implementation, a weighted strategy can be used to combine observed and calculated values ​​for correction. For example, a weight can be determined based on historical data or expert knowledge, and then the temperature correction value can be calculated by combining the observed and calculated values ​​with the weight. The weight can be adjusted according to the actual situation.

[0093] For easier understanding, please refer to Figure 4 and Figure 5 . Figure 4 This is a schematic diagram illustrating the variation curves of the calculated temperature value, the measured temperature value, and the corrected temperature value upstream of the DOC, provided in an embodiment of this application. DocUsMdl represents the variation curve of the calculated temperature value upstream of the DOC, DocUs represents the variation curve of the measured temperature value upstream of the DOC, and Exh_tOxiCatUs represents the variation curve of the corrected temperature value upstream of the DOC. As can be seen from the diagram, the corrected temperature value upstream of the DOC is closer to the true value than the measured temperature value upstream of the DOC. Figure 5A schematic diagram of a change curve of a temperature measured value upstream of a DPF, a change curve of a temperature calculated value upstream of a DPF, and a change curve of a temperature corrected value upstream of a DPF provided by the embodiment of the application is shown in the figure, wherein DpfUsMdl represents the change curve of the temperature calculated value upstream of the DPF, DpfUs represents the change curve of the temperature measured value upstream of the DPF, and Exh_tPFItUs represents the change curve of the temperature corrected value upstream of the DPF. It can be seen from the figure that the temperature corrected value upstream of the DPF is closer to the true value than the temperature measured value upstream of the DPF.

[0094] To sum up, the application provides a correction method for a temperature sensor in engine aftertreatment. According to the fuel injection state of the engine, the temperature observed value upstream of the SCR, the temperature observed value upstream of the DOC, the temperature observed value upstream of the DPF, the environmental heat dissipation observed value of the DOC, and the environmental heat dissipation observed value of the DPF are processed based on the pre-constructed energy conservation relationship to calculate the temperature calculated value upstream of the DOC and the temperature calculated value upstream of the DPF. The energy conservation relationship describes the law of energy flow conversion, and the energy and temperature can be associated according to the energy conservation relationship, and then the Kalman filtering algorithm is used to calculate the temperature calculated value. According to the difference between the temperature observed value measured by the temperature sensor and the temperature calculated value calculated by the mathematical algorithm, the jump problem can be identified, which is conducive to improving the accuracy of the temperature sensor. The temperature observed value is corrected by using the temperature calculated value. Since the Kalman filtering algorithm is an iterative process, the corrected observed value can be used as the input of the next Kalman filtering iteration, which can continuously improve the accuracy of the temperature sensor.

[0095] The above describes the correction method for a temperature sensor in engine aftertreatment provided by the embodiment of the application. The device for executing the above-mentioned correction method for a temperature sensor in engine aftertreatment will be described below.

[0096] Please refer to Figure 6 , Figure 6 The structure schematic diagram of the correction device for a temperature sensor in engine aftertreatment provided by the embodiment of the application is shown in the figure. Figure 6 As shown in the figure, the correction device for a temperature sensor in engine aftertreatment comprises:

[0097] The acquisition unit 11 is configured to acquire the temperature observed value upstream of the DOC, the temperature observed value upstream of the DPF, the temperature observed value upstream of the SCR, the environmental heat dissipation observed value of the DOC, the environmental heat dissipation observed value of the DPF, and the fuel injection state of the engine.

[0098] The first calculation unit 12 is configured to calculate a DOC-upstream temperature calculation value and a DPF-upstream temperature calculation value by processing a DOC-upstream temperature observation value, a DPF-upstream temperature observation value, a DOC ambient heat dissipation observation value and a DPF ambient heat dissipation observation value upstream of the SCR based on a pre-constructed energy conservation relationship by using a Kalman filtering algorithm according to an injection state of the engine.

[0099] The second calculation unit 13 is configured to calculate a first difference value between the DOC-upstream temperature observation value and the DOC-upstream temperature calculation value, and a second difference value between the DPF-upstream temperature observation value and the DPF-upstream temperature calculation value.

[0100] The judgment unit 14 is configured to judge whether the first difference value meets a first preset range and whether the second difference value meets a second preset range.

[0101] The correction unit 15 is configured to correct the DOC-upstream temperature observation value by using the DOC-upstream temperature calculation value if the first difference value does not meet the first preset range, and correct the DPF-upstream temperature observation value by using the DPF-upstream temperature calculation value if the second difference value does not meet the second preset range.

[0102] In a possible implementation, when the injection state of the engine is a non-regeneration injection state, the energy conservation relationship includes a first energy conservation relationship and a second energy conservation relationship.

[0103] The first calculation unit 12 includes:

[0104] The first determination sub-unit is configured to determine a first observation equation based on the first energy conservation relationship and the second energy conservation relationship, the first energy conservation relationship is used to indicate an energy relationship between the DOC upstream and the DPF upstream, the second energy conservation relationship is used to indicate an energy relationship between the DPF upstream and the SCR upstream, the first observation equation is used to indicate a temperature relationship among the DOC upstream, the DPF upstream and the SCR upstream, the first observation equation includes a first state quantity observation value and a first observation quantity observation value, the first state quantity observation value is the DOC ambient heat dissipation observation value and the DPF ambient heat dissipation observation value, and the first observation quantity observation value is the DOC-upstream temperature observation value and the DPF-upstream temperature observation value.

[0105] The first calculation subunit is configured to process the first observation equation by using a Kalman filtering algorithm to obtain a first state quantity calculation value, wherein the first state quantity calculation value is a first environment heat calculation value of the DOC and a first environment heat calculation value of the DPF.

[0106] The second calculation subunit is configured to replace the first state quantity observation value of the first observation equation with the first state quantity calculation value to obtain a first observation quantity calculation value, wherein the first observation quantity calculation value is a first temperature calculation value upstream of the DOC and a first temperature calculation value upstream of the DPF.

[0107] In a possible implementation, when the injection state of the engine is the regeneration injection state, the energy conservation relationship includes a third energy conservation relationship and a fourth energy conservation relationship.

[0108] The first calculation unit 12 includes:

[0109] The second determination subunit is configured to determine a second observation equation based on the third energy conservation relationship and the fourth energy conservation relationship, wherein the third energy conservation relationship is used to indicate an energy relationship between upstream of the DOC and upstream of the DPF, the fourth energy conservation relationship is used to indicate an energy relationship between upstream of the DPF and upstream of the SCR, the second observation equation is used to indicate a temperature relationship among upstream of the DOC, upstream of the DPF and upstream of the SCR, and the second observation equation includes a second state quantity observation value and a second observation quantity observation value, the second state quantity observation value is a difference between an environment heat observation value of the DOC and a fuel heat release quantity of the DOC, and an environment heat observation value of the DPF, and the second observation quantity observation value is a temperature observation value upstream of the DOC and a temperature observation value upstream of the DPF.

[0110] The third calculation subunit is configured to process the second observation equation by using a Kalman filtering algorithm to obtain a second state quantity calculation value, wherein the second state quantity calculation value is a second environment heat calculation value of the DOC and a second environment heat calculation value of the DPF.

[0111] The fourth calculation subunit is configured to replace the second state quantity observation value of the second observation equation with the second state quantity calculation value to obtain a second observation quantity calculation value, wherein the second observation quantity calculation value is a second temperature calculation value upstream of the DOC and a second temperature calculation value upstream of the DPF.

[0112] In a possible implementation, the first observation equation further includes a first observation matrix and a first control matrix.

[0113] The first calculation subunit includes:

[0114] The fifth calculation subunit is used to calculate the predicted value of the first state variable based on the acquired historical first state variable calculation value, state transition matrix, control variable and the first control matrix;

[0115] The sixth calculation subunit is used to calculate the first covariance prediction matrix based on the acquired historical first covariance calculation matrix, process noise covariance matrix and the state transition matrix;

[0116] The seventh calculation subunit is used to calculate the first Kalman gain based on the acquired measurement noise covariance matrix, the first observation matrix, and the first covariance prediction matrix.

[0117] The eighth calculation subunit is used to calculate the first covariance calculation matrix based on the first Kalman gain, the first covariance prediction matrix and the first observation matrix, so as to update the historical first covariance calculation matrix.

[0118] The ninth calculation subunit is used to calculate the calculated value of the first state variable based on the first Kalman gain, the first state variable prediction value, the first observation matrix, and the first observation observation value, so as to update the historical first state variable calculation value.

[0119] This application also provides an electronic device in its embodiments. (See reference...) Figure 7 The diagram illustrates a structural schematic suitable for implementing the electronic device in the embodiments of this application. The electronic device in the embodiments of this application may include, but is not limited to, fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 7 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0120] like Figure 7 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. When the electronic device is powered on, the RAM 703 also stores various programs and data required for the operation of the electronic device. The processing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0121] Generally, the following devices can be connected to the I / O interface 705: input devices 706 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, and the like; output devices 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, and the like; storage devices 708 including, for example, a memory card, a hard disk, and the like; and communication devices 709. The communication devices 709 can allow the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 7 An electronic device having various devices is shown, but it is understood that all of the shown devices are not required to be implemented or present. More or less devices can alternatively be implemented or present.

[0122] The embodiment of the present application further provides a computer program product comprising computer readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the engine aftertreatment temperature sensor correction methods provided by the embodiments of the present application.

[0123] The embodiment of the present application further provides a computer readable storage medium, which carries one or more computer programs, when the one or more computer programs are executed by an electronic device, can cause the electronic device to implement any of the engine aftertreatment temperature sensor correction methods provided by the embodiments of the present application.

[0124] In addition, it should be noted that the device embodiments described above are merely illustrative, and the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e. they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments. In addition, the device embodiments provided in the present application, the connection relationship between the modules indicates that there is a communication connection between them, which can be implemented as one or more communication buses or signal lines.

[0125] Those skilled in the art can clearly understand that the application can be implemented by means of software plus necessary universal hardware, and of course can also be implemented by means of dedicated hardware including special integrated circuit, special CPU, special memory, special component, etc. Generally, any function completed by computer program can be easily implemented by corresponding hardware, and the specific hardware structure for implementing the same function can also be various, such as analog circuit, digital circuit or special circuit, etc. However, for the application, software program implementation is a better embodiment. Based on such understanding, the technical solution of the application or the part of the application which makes contribution to the prior art can be embodied in the form of software product, which is stored in readable storage medium, such as computer floppy disk, U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, etc., and includes a plurality of instructions for making a computer device (which can be personal computer, training device or network device, etc.) execute the method described in various embodiments of the application.

[0126] In the above embodiments, the implementation can be achieved by software, hardware, firmware or any combination thereof, entirely or partially. When implemented by software, the implementation can be in the form of computer program product.

[0127] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the flow or function described in the embodiments of the application is generated entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, training device or data center to another website, computer, training device or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be stored by the computer or a data storage device such as training device, data center, etc. integrated with one or more available media sets. The available medium can be magnetic medium (such as floppy disk, hard disk, magnetic tape), optical medium (such as DVD) or semiconductor medium (such as solid state disk (SSD)) etc.

Claims

1. A method of correction of a temperature sensor in an engine aftertreatment, characterized by, The method comprises: acquiring a temperature observation value upstream of a DOC in engine aftertreatment, a temperature observation value upstream of a DPF, a temperature observation value upstream of an SCR, an environment heat dissipation observation value of the DOC, an environment heat dissipation observation value of the DPF, and an injection state of the engine; processing the temperature observation value upstream of the SCR, the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the environment heat dissipation observation value of the DOC, and the environment heat dissipation observation value of the DPF based on a pre-constructed energy conservation relation by using a Kalman filtering algorithm according to the injection state of the engine, to obtain a temperature calculation value upstream of the DOC and a temperature calculation value upstream of the DPF; calculating a first difference value of the temperature observation value upstream of the DOC and the temperature calculation value upstream of the DOC, and a second difference value of the temperature observation value upstream of the DPF and the temperature calculation value upstream of the DPF; judging whether the first difference value conforms to a first preset range and whether the second difference value conforms to a second preset range; if the first difference value does not conform to the first preset range, correcting the temperature observation value upstream of the DOC by using the temperature calculation value upstream of the DOC, and if the second difference value does not conform to the second preset range, correcting the temperature observation value upstream of the DPF by using the temperature calculation value upstream of the DPF; When the fuel injection state of the engine is the non-renewable fuel injection state, the energy conservation relationship includes a first energy conservation relationship and a second energy conservation relationship; and the processing of the temperature observation value upstream of the SCR, the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the ambient heat dissipation observation value of the DOC and the ambient heat dissipation observation value of the DPF based on the pre-constructed energy conservation relationship by using the Kalman filtering algorithm according to the fuel injection state of the engine to obtain the calculated temperature value upstream of the DOC and the calculated temperature value upstream of the DPF includes: determining a first observation equation based on the first energy conservation relationship and the second energy conservation relationship, the first energy conservation relationship is used to indicate the energy relationship between the upstream of the DOC and the upstream of the DPF, the second energy conservation relationship is used to indicate the energy relationship between the upstream of the DPF and the upstream of the SCR, the first observation equation is used to indicate the temperature relationship among the upstream of the DOC, the upstream of the DPF and the upstream of the SCR, the first observation equation includes a first state quantity observation value and a first observation quantity observation value, the first state quantity observation value is the ambient heat dissipation observation value of the DOC and the ambient heat dissipation observation value of the DPF, and the first observation quantity observation value is the temperature observation value upstream of the DOC and the temperature observation value upstream of the DPF; processing the first observation equation by using the Kalman filtering algorithm to obtain a first state quantity calculated value, the first state quantity calculated value is a first ambient heat dissipation calculated value of the DOC and a first ambient heat dissipation calculated value of the DPF; and replacing the first state quantity observation value of the first observation equation with the first state quantity calculated value to obtain a first observation quantity calculated value, the first observation quantity calculated value is a first temperature calculated value upstream of the DOC and a first temperature calculated value upstream of the DPF. The energy conservation relationship includes a third energy conservation relationship and a fourth energy conservation relationship when the fuel injection state of the engine is the regeneration fuel injection state; the processing of the temperature observation value upstream of the SCR, the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the ambient heat dissipation observation value of the DOC and the ambient heat dissipation observation value of the DPF based on the pre-constructed energy conservation relationship by using the Kalman filtering algorithm according to the fuel injection state of the engine to obtain the temperature calculation value upstream of the DOC and the temperature calculation value upstream of the DPF includes: determining a second observation equation based on the third energy conservation relationship and the fourth energy conservation relationship, the third energy conservation relationship is used to indicate the energy relationship between the upstream of the DOC and the upstream of the DPF, the fourth energy conservation relationship is used to indicate the energy relationship between the upstream of the DPF and the upstream of the SCR, the second observation equation is used to indicate the temperature relationship among the upstream of the DOC, the upstream of the DPF and the upstream of the SCR, the second observation equation includes a second state quantity observation value and a second observation quantity observation value, the second state quantity observation value is the difference between the ambient heat dissipation observation value of the DOC and the fuel heat release of the DOC, and the ambient heat dissipation observation value of the DPF, and the second observation quantity observation value is the temperature observation value upstream of the DOC and the temperature observation value upstream of the DPF; the second observation equation is processed by using the Kalman filtering algorithm to obtain a second state quantity calculation value, the second state quantity calculation value is a second ambient heat dissipation calculation value of the DOC and a second ambient heat dissipation calculation value of the DPF; the second state quantity observation value of the second observation equation is replaced by the second state quantity calculation value to obtain a second observation quantity calculation value, the second observation quantity calculation value is a second temperature calculation value upstream of the DOC and a second temperature calculation value upstream of the DPF.

2. The method of calibrating a temperature sensor in an engine aftertreatment system according to claim 1, wherein, The first observation equation further includes a first observation matrix and a first control matrix; The processing of the first observation equation by using the Kalman filtering algorithm to obtain the first state quantity calculation value includes: The first state quantity prediction value is calculated based on the obtained historical first state quantity calculation value, a state transition matrix, a control quantity and the first control matrix; The first covariance prediction matrix is calculated based on the obtained measurement noise covariance matrix, the first observation matrix and the first covariance prediction matrix; The first Kalman gain is calculated based on the measurement noise covariance matrix, the first observation matrix and the first covariance prediction matrix; The first covariance calculation matrix is calculated based on the first Kalman gain, the first covariance prediction matrix and the first observation matrix to update the historical first covariance calculation matrix; The first state quantity calculation value is calculated based on the first Kalman gain, the first state quantity prediction value, the first observation matrix and the first observation quantity observation value to update the historical first state quantity calculation value.

3. A correction device for a temperature sensor in an engine aftertreatment for performing the method of claim 1 or claim 2, characterized in that The first observation equation further includes a first observation matrix and a first control matrix; The processing of the first observation equation by using the Kalman filtering algorithm to obtain the first state quantity calculation value includes: The first state quantity prediction value is calculated based on the obtained historical first state quantity calculation value, a state transition matrix, a control quantity and the first control matrix; The first covariance prediction matrix is calculated based on the obtained measurement noise covariance matrix, the first observation matrix and the first covariance prediction matrix; The first Kalman gain is calculated based on the measurement noise covariance matrix, the first observation matrix and the first covariance prediction matrix; The first covariance calculation matrix is calculated based on the first Kalman gain, the first covariance prediction matrix and the first observation matrix to update the historical first covariance calculation matrix; The first state quantity calculation value is calculated based on the first Kalman gain, the first state quantity prediction value, the first observation matrix and the first observation quantity observation value to update the historical first state quantity calculation value. The acquisition unit is configured to acquire a temperature observation value upstream of a DOC in engine aftertreatment, a temperature observation value upstream of a DPF, a temperature observation value upstream of a SCR, an environment heat dissipation observation value of the DOC, an environment heat dissipation observation value of the DPF, and an injection state of the engine; The first calculation unit is configured to process the temperature observation value upstream of the SCR, the temperature observation value upstream of the DOC, the temperature observation value upstream of the DPF, the environment heat dissipation observation value of the DOC, and the environment heat dissipation observation value of the DPF based on a pre-constructed energy conservation relationship by using a Kalman filtering algorithm according to the injection state of the engine, to calculate a temperature calculation value upstream of the DOC and a temperature calculation value upstream of the DPF; The second calculation unit is configured to calculate a first difference value between the temperature observation value upstream of the DOC and the temperature calculation value upstream of the DOC, and a second difference value between the temperature observation value upstream of the DPF and the temperature calculation value upstream of the DPF; The judgment unit is configured to judge whether the first difference value meets a first preset range and whether the second difference value meets a second preset range; The correction unit is configured to correct the temperature observation value upstream of the DOC by using the temperature calculation value upstream of the DOC if the first difference value does not meet the first preset range, and correct the temperature observation value upstream of the DPF by using the temperature calculation value upstream of the DPF if the second difference value does not meet the second preset range.

4. The correction device for a temperature sensor in an engine aftertreatment according to claim 3, characterized in that When the injection state of the engine is a non-regeneration injection state, the energy conservation relationship includes a first energy conservation relationship and a second energy conservation relationship; The first calculation unit includes: The first determination sub-unit is configured to determine a first observation equation based on the first energy conservation relationship and the second energy conservation relationship, the first energy conservation relationship is used to indicate an energy relationship between the upstream of the DOC and the upstream of the DPF, the second energy conservation relationship is used to indicate an energy relationship between the upstream of the DPF and the upstream of the SCR, the first observation equation is used to indicate a temperature relationship among the upstream of the DOC, the upstream of the DPF, and the upstream of the SCR, the first observation equation includes a first state quantity observation value and a first observation quantity observation value, the first state quantity observation value is the environment heat dissipation observation value of the DOC and the environment heat dissipation observation value of the DPF, and the first observation quantity observation value is the temperature observation value upstream of the DOC and the temperature observation value upstream of the DPF; The first calculation sub-unit is configured to process the first observation equation by using a Kalman filtering algorithm to calculate a first state quantity calculation value, the first state quantity calculation value is a first environment heat dissipation calculation value of the DOC and a first environment heat dissipation calculation value of the DPF. The second calculation subunit is configured to replace the first state quantity observation value of the first observation equation with the first state quantity calculation value to calculate a first observation quantity calculation value, wherein the first observation quantity calculation value comprises a first temperature calculation value upstream of the DOC and a first temperature calculation value upstream of the DPF.

5. The correction device for a temperature sensor in an engine aftertreatment according to claim 3, characterized in that, When the fuel injection state of the engine is the regeneration fuel injection state, the energy conservation relationship comprises a third energy conservation relationship and a fourth energy conservation relationship; The first calculation unit comprises: The second determination subunit is configured to determine a second observation equation based on the third energy conservation relationship and the fourth energy conservation relationship, wherein the third energy conservation relationship is configured to indicate an energy relationship between the upstream of the DOC and the upstream of the DPF, the fourth energy conservation relationship is configured to indicate an energy relationship between the upstream of the DPF and the upstream of the SCR, the second observation equation is configured to indicate a temperature relationship among the upstream of the DOC, the upstream of the DPF and the upstream of the SCR, the second observation equation comprises a second state quantity observation value and a second observation quantity observation value, the second state quantity observation value comprises a difference between an ambient heat dissipation observation value of the DOC and a fuel heat release value of the DOC, and an ambient heat dissipation observation value of the DPF, and the second observation quantity observation value comprises a temperature observation value upstream of the DOC and a temperature observation value upstream of the DPF; The third calculation subunit is configured to process the second observation equation by using a Kalman filtering algorithm to calculate a second state quantity calculation value, wherein the second state quantity calculation value comprises a second ambient heat dissipation calculation value of the DOC and a second ambient heat dissipation calculation value of the DPF; The fourth calculation subunit is configured to replace the second state quantity observation value of the second observation equation with the second state quantity calculation value to calculate a second observation quantity calculation value, wherein the second observation quantity calculation value comprises a second temperature calculation value upstream of the DOC and a second temperature calculation value upstream of the DPF.

6. A computer program product, characterised in that, The computer readable instructions, when executed on an electronic device, cause the electronic device to implement the method for correcting a temperature sensor in engine after-treatment according to any one of claims 1 to 2.

7. An electronic device, comprising: The memory is configured to store computer programs. The processor is configured to execute the computer programs to enable the electronic device to implement the method for correcting a temperature sensor in engine after-treatment according to any one of claims 1 to 2. The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the method for correcting a temperature sensor in engine after-treatment according to any one of claims 1 to 2.

8. A computer storage medium, characterized in that ​

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