Method, device, computer program product and vehicle for estimating dpf carbon loading

Abstract

The application provides a DPF carbon load estimation method, device, computer program product and vehicle, and the method comprises the following steps: converting a gas flow model of a DPF into an equivalent circuit model, wherein a gas pressure difference between two ends of the DPF in the gas flow model is equivalent to a voltage between two ends of the equivalent circuit model, an inlet flow rate of the DPF in the gas flow model is equivalent to a positive electrode current of the equivalent circuit model, and a flow resistance of the DPF in the gas flow model is equivalent to a target resistance in the equivalent circuit model; establishing a calculation formula of the voltage between the two ends and a calculation formula of the positive electrode current according to the equivalent circuit model; identifying the target resistance of the equivalent circuit model by using a recursive least square method according to the calculation formula of the voltage between the two ends and the calculation formula of the positive electrode current, so as to obtain the target resistance at a current moment; and determining the carbon load of the DPF at the current moment according to the target resistance at the current moment and a target mapping relationship, thereby solving the problem that it is difficult to accurately estimate the carbon load of the DPF in the prior art.

Description

Technical Field

[0001] This invention relates to the field of DPF carbon load estimation technology, and more specifically, to a method, apparatus, computer program product, and vehicle for estimating DPF carbon load. Background Technology

[0002] Diesel fuel filter (DPF) is used in diesel engine aftertreatment systems to capture particulate matter in exhaust gases. However, as the amount of particulate matter captured by the DPF increases, exhaust back pressure increases, eventually leading to DPF blockage and engine malfunction. To avoid this, it is necessary to estimate the cumulative carbon load in the DPF in real time, and regenerate and eliminate the carbon load when it exceeds a certain limit. Currently, the method for estimating DPF carbon load is to multiply the engine's steady-state emissions by the transient correction, then subtract the amount passively regenerated, and finally integrate to obtain the DPF carbon load. This estimation method yields a significant difference between the DPF carbon load and the actual carbon load. If the carbon load is estimated too high, it can lead to frequent DPF regeneration and increased fuel consumption; if the carbon load is estimated too low, and the actual carbon load is relatively high, there is a risk of DPF burnout during regeneration. Summary of the Invention

[0003] The main objective of this application is to provide a method, apparatus, computer program product, and vehicle for estimating DPF carbon load, so as to at least solve the problem of difficulty in accurately estimating DPF carbon load in the prior art.

[0004] To achieve the above objectives, according to one aspect of this application, a method for estimating the carbon loading of a DPF is provided, comprising: converting a gas flow model of the DPF into an equivalent circuit model, wherein the gas pressure difference across the DPF in the gas flow model is equivalent to the voltage across the equivalent circuit model, the inlet flow rate of the DPF in the gas flow model is equivalent to the positive current of the equivalent circuit model, and the flow resistance of the DPF in the gas flow model is equivalent to the target resistance in the equivalent circuit model; establishing calculation formulas for the voltage across the two ends and the positive current based on the equivalent circuit model; identifying the target resistance of the equivalent circuit model using a recursive least squares method based on the calculation formulas for the voltage across the two ends and the positive current to obtain the target resistance at the current moment; and determining the carbon loading of the DPF at the current moment based on the target resistance at the current moment and a target mapping relationship, wherein the target mapping relationship is a mapping relationship between the carbon loading of the DPF and the target resistance.

[0005] Optionally, converting the gas flow model of the DPF into an equivalent circuit model includes: treating the inlet of the DPF in the gas flow model as a positive terminal, treating the outlet of the DPF in the gas flow model as a negative terminal, treating the flow resistance formed by the inlet and outlet of the DPF in the gas flow model as a channel resistance, treating the internal flow resistance of the DPF in the gas flow model as the target resistance, and treating the gas compressibility within the DPF in the gas flow model as a circuit capacitance, wherein the gas compressibility is due to the compressibility of the gas... The gas capacity of the DPF is obtained; the target resistor and the circuit capacitor are connected in parallel to form a parallel circuit; one end of the channel resistor is electrically connected to the positive terminal, the other end of the channel resistor is electrically connected to one end of the parallel circuit, and the other end of the parallel circuit is electrically connected to the negative terminal, forming the equivalent circuit model, such that the gas pressure difference across the DPF in the gas flow model is equivalent to the voltage across the equivalent circuit model, and the air flow rate of the DPF in the gas flow model is equivalent to the positive current of the equivalent circuit model.

[0006] Optionally, establishing calculation formulas for the voltage across the terminals and the positive current based on the equivalent circuit model includes: establishing calculation formulas for the voltage across the terminals based on the equivalent circuit model. Where U is the voltage across the terminals, I is the positive current, R0 is the channel resistance, and U P The voltage across the circuit capacitor; the formula for calculating the positive current is established based on the equivalent circuit model. , where R p For the target resistance, C P The capacitance of the circuit capacitor is [capacitance value].

[0007] Optionally, the target resistance at the current moment is obtained by recursively calculating using the recursive least squares method based on the calculation formulas for the voltage across the terminals and the positive current, including: establishing an estimation formula for the voltage across the terminals based on the calculation formulas for the voltage across the terminals and the positive current. , among which, U k The k-th set of observation data matrix represents the voltage across the terminals measured in the k-th acquisition cycle. The k-th parameter matrix , The k-th parameter matrix is ​​estimated using the recursive least squares method. According to the k-th parameter matrix The target resistance R corresponding to the kth acquisition cycle is calculated from a1, a2, and a3. pIf the current time falls within the kth acquisition cycle, then the target resistance R corresponding to the kth acquisition cycle is... p The target resistance is determined to be at the current moment.

[0008] Optionally, the k-th parameter matrix is ​​estimated using the recursive least squares method. This includes: using recursive formulas The estimation formula for the voltage across the two ends Perform recursive calculation of the k-th parameter matrix , where K k Let P be the gain matrix of the k-th group. k-1 and P k These are the covariance matrices of the (k-1)th and kth groups, respectively, Θ k-1 Let I be the (k-1)th parameter matrix, μ be the forgetting factor, and I0 be the unit diagonal matrix.

[0009] Optionally, determining the carbon loading of the DPF at the current moment based on the target resistance and target mapping relationship at the current moment includes: determining the total duration of a predetermined number of acquisition cycles as a measurement cycle; averaging the target resistances corresponding to the predetermined number of acquisition cycles within one measurement cycle to obtain the carbon loading of the DPF corresponding to one measurement cycle; determining the carbon loading of the DPF corresponding to the measurement cycle in which the current moment is located as the current target resistance; and determining the carbon loading of the DPF at the current moment based on the current target resistance and the target mapping relationship.

[0010] Optionally, before determining the carbon loading of the DPF at the current moment based on the target resistance and target mapping relationship at the current moment, the method further includes: calculating the target resistance at multiple different historical moments to obtain multiple historical target resistances; obtaining the actual carbon loading of the DPF measured at multiple historical moments; and establishing the target mapping relationship based on the multiple historical target resistances and the corresponding actual carbon loading.

[0011] According to another aspect of this application, a device for estimating the carbon loading of a DPF is provided, comprising: an equivalent unit for converting a gas flow model of the DPF into an equivalent circuit model, wherein the gas pressure difference across the DPF in the gas flow model is equivalent to the voltage across the equivalent circuit model, the inlet flow rate of the DPF in the gas flow model is equivalent to the positive current of the equivalent circuit model, and the flow resistance of the DPF in the gas flow model is equivalent to the target resistance in the equivalent circuit model; an establishment unit for establishing calculation formulas for the voltage across the two ends and the positive current based on the equivalent circuit model; a first calculation unit for identifying the target resistance of the equivalent circuit model using a recursive least squares method based on the calculation formulas for the voltage across the two ends and the positive current to obtain the target resistance at the current moment; and a determination unit for determining the carbon loading of the DPF at the current moment based on the target resistance at the current moment and a target mapping relationship, wherein the target mapping relationship is a mapping relationship between the carbon loading of the DPF and the target resistance.

[0012] According to another aspect of this application, a computer program product is provided, comprising a computer program that, when executed by a processor, implements any of the methods described.

[0013] According to another aspect of this application, a vehicle is provided, comprising: a DPF, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of the methods described.

[0014] By applying the technical solution of this application, the above-mentioned method for estimating the carbon loading of a DPF converts the gas flow model of the DPF into an equivalent circuit model, thereby transforming the gas flow problem into a circuit problem. The recursive least squares method in circuit algorithms can then be used to calculate the target resistance corresponding to the flow resistance of the DPF. Based on the mapping relationship between the carbon loading of the DPF and the target resistance, the carbon loading of the DPF can be determined. The recursive least squares method greatly improves the accuracy of the carbon loading estimation of the DPF and solves the problem of the difficulty in accurately estimating the carbon loading of the DPF in the prior art. Attached Figure Description

[0015] Figure 1 A hardware block diagram of a mobile terminal performing a DPF carbon loading estimation method according to an embodiment of this application is shown.

[0016] Figure 2 A schematic flowchart of a method for estimating DPF carbon loading according to an embodiment of this application is shown.

[0017] Figure 3 A schematic diagram of gas flow inside a DPF according to an embodiment of this application is shown;

[0018] Figure 4 A schematic diagram of an equivalent circuit model provided according to an embodiment of this application is shown;

[0019] Figure 5 An equivalent resistance R based on actual data is shown according to an embodiment of this application. p A diagram illustrating the identification results;

[0020] Figure 6 An equivalent resistance R is shown according to an embodiment of this application. p A schematic diagram of the piecewise integral mean result;

[0021] Figure 7 A structural block diagram of a DPF carbon loading estimation device provided according to an embodiment of this application is shown.

[0022] The above figures include the following reference numerals:

[0023] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0028] DPF (Diesel Particulate Filter): A diesel engine particulate filter used to reduce particulate matter emissions from diesel engine exhaust. During operation, particulate matter accumulates inside the filter, increasing exhaust back pressure. When the DPF's particulate capture exceeds a certain limit, a regeneration request is triggered, oxidizing the captured particles and restoring the DPF's ability to capture particles again.

[0029] As described in the background section, to address the difficulty in accurately estimating the carbon load of DPF in the prior art, embodiments of this application provide a method, apparatus, computer program product, and vehicle for estimating DPF carbon load.

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0031] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for estimating DPF carbon loading according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0032] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the DPF carbon loading estimation method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0033] This embodiment provides a method for estimating DPF carbon loading that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0034] Figure 2 This is a flowchart of a method for estimating DPF carbon loading according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0035] Step S201: Convert the gas flow model of the DPF into an equivalent circuit model. In the gas flow model, the gas pressure difference across the DPF is equivalent to the voltage across the equivalent circuit model. In the gas flow model, the inlet flow rate of the DPF is equivalent to the positive current of the equivalent circuit model. In the gas flow model, the flow resistance of the DPF is equivalent to the target resistance in the equivalent circuit model.

[0036] Step S202: Establish the calculation formulas for the voltage across the two terminals and the positive current based on the equivalent circuit model described above.

[0037] Step S203: Based on the above calculation formulas for the voltage across the two ends and the above calculation formula for the positive current, the recursive least squares method is used to identify the target resistance of the above equivalent circuit model to obtain the target resistance at the current moment.

[0038] Step S204: Determine the carbon loading of the DPF at the current time based on the target resistance and target mapping relationship at the current time. The target mapping relationship is the mapping relationship between the carbon loading of the DPF and the target resistance.

[0039] In the above-mentioned method for estimating the carbon loading of a DPF, the gas flow model of the DPF is transformed into an equivalent circuit model, thus converting the gas flow problem into a circuit problem. The recursive least squares method in circuit algorithms can then be used to calculate the target resistance corresponding to the flow resistance of the DPF. Based on the mapping relationship between the carbon loading of the DPF and the target resistance, the carbon loading of the DPF can be determined. The recursive least squares method greatly improves the accuracy of the carbon loading estimation of the DPF and solves the problem of the difficulty in accurately estimating the carbon loading of the DPF in the prior art.

[0040] To improve the similarity of equivalence, in one optional implementation, step S201 above includes:

[0041] Step S2011: In the gas flow model, the inlet end of the DPF is equivalent to the positive electrode, the outlet end of the DPF is equivalent to the negative electrode, the flow resistance formed by the inlet and outlet of the DPF is equivalent to the channel resistance, the internal flow resistance of the DPF is equivalent to the target resistance, and the gas compressibility in the DPF is equivalent to the circuit capacitance. The gas compressibility is the ability of the DPF to hold more gas due to the compressibility of the gas.

[0042] Step S2012: Connect the target resistor and the circuit capacitor in parallel to form a parallel circuit;

[0043] Step S2013: Connect one end of the channel resistor to the positive electrode, connect the other end of the channel resistor to one end of the parallel circuit, and connect the other end of the parallel circuit to the negative electrode to form the equivalent circuit model. This makes the pressure difference across the DPF in the gas flow model equivalent to the voltage across the equivalent circuit model, and the intake flow rate of the DPF in the gas flow model equivalent to the positive current of the equivalent circuit model.

[0044] In the above embodiments, in fluid mechanics, the flow resistance formula is R = ∆P / Q, where ∆P represents the pressure difference, Q represents the flow rate, and R represents the flow resistance. This formula describes the flow resistance under steady airflow conditions, calculated as the ratio of the pressure difference across the channel to the gas flow rate. This formula is similar to Ohm's law in electrical engineering. When exhaust flows through the DPF, the exhaust flow path is as follows... Figure 3 As shown, due to the internal flow resistance of the DPF, a pressure difference will form across its two ends. Simultaneously, due to the compressibility of gas, some gas will be stored inside the DPF. This is similar to how charge can be stored in a capacitor in a circuit. Therefore, based on the similarity between airflow and current, an equivalent circuit model can be established as follows: Figure 4 As shown, the pressure difference across the DPF is equivalent to the voltage U across the circuit; the exhaust volume flow rate Q is equivalent to the circuit current I; the internal flow resistance R of the DPF is divided into two parts: the flow resistance formed at the DPF inlet and outlet is equivalent to R0, and the flow resistance inside the DPF is equivalent to R. p It is related to the amount of carbon loading; the compressibility of the exhaust gas inside the DPF is equivalent to the circuit capacitance C. p Therefore, the fluid dynamics problem of exhaust gas flowing through the DPF can be transformed into an electrical problem for study. The voltage U, i.e. the pressure difference across the DPF, can be calculated using electrical theory. The compressibility of the exhaust gas inside the DPF and the flow resistance formed by the DPF inlet and outlet are taken into account, which improves the equivalence similarity.

[0045] In order to establish the circuit formula for the equivalent circuit, in one optional implementation, step S202 above includes:

[0046] Step S2021: Establish the calculation formula for the voltage across the two ends based on the above equivalent circuit model. Where U is the voltage across the two terminals, I is the positive current, R0 is the channel resistance, and U P The voltage across the capacitor in the circuit described above;

[0047] Step S2023: Establish the calculation formula for the positive current based on the equivalent circuit model described above. , where R p For the target resistance mentioned above, C P The capacitance of the circuit described above is denoted as .

[0048] In the above implementation, referring to the equivalent circuit model, it can be seen from the circuit formula that the voltage across the terminals is... Positive current .

[0049] To achieve carbon loading estimation, in one optional implementation, step S203 includes:

[0050] Step S2031: Establish an estimation formula for the voltage across the two terminals based on the above-mentioned calculation formula for the voltage across the two terminals and the above-mentioned calculation formula for the positive current. , among which, U k The k-th set of observation data matrix represents the voltage across the aforementioned terminals measured during the k-th acquisition cycle. The k-th parameter matrix , ;

[0051] Step S2032: Estimate the k-th parameter matrix using the recursive least squares method described above. ;

[0052] Step S2033, based on the above-mentioned k-th parameter matrix The target resistance R corresponding to the kth acquisition cycle is calculated from a1, a2, and a3. p ;

[0053] Step S2034: If the current time falls within the kth acquisition cycle, the target resistance R corresponding to the kth acquisition cycle is... p The target resistance is determined to be the one mentioned above at the current moment.

[0054] In the above implementation, the Laplace transform of the formulas for calculating the voltage across the terminals and the positive current yields: United The system transfer function is: Since the sampled data is discrete, the system transfer function is discretized using... The transformation will be based on The equation of coordinates is mapped to Coordinates, coordinate transformation uses The bilinear transform method, in which It is the data sampling time interval. Coordinate transformation yields: ,in, In the above system of equations , , They can be used separately , , After parsing, we get Expanding the transfer function of the z-coordinate transformation, we get: + = + According to the real displacement theorem, do The inverse transform of the transformation yields: + = + ,make The above equation is transformed into = + Define the system's observation data matrix and parameter matrix ,but = ,in, =[ , , ]=[ , , ], = The above system of equations under known input , , and output Under the premise that the parameters can be estimated , , The k-th parameter matrix is ​​estimated using the recursive least squares method described above. Based on the above k-th parameter matrix The target resistance R corresponding to the kth acquisition cycle is calculated from a1, a2, and a3. p Given the current acquisition period, the value of k is taken to correspond to the acquisition period, thus obtaining the target resistance R at the current moment. p .

[0055] To improve the reliability of the estimation, in an optional implementation, step S2032 above includes:

[0056] Step S20321, using the recursive formula The above formula for estimating the voltage across the two ends Perform recursive calculation of the k-th parameter matrix mentioned above. , where K k Let P be the gain matrix of the k-th group. k-1 and P k These are the covariance matrices of the (k-1)th and kth groups, respectively, Θ k-1 Let I be the (k-1)th parameter matrix, μ be the forgetting factor, and I0 be the unit diagonal matrix.

[0057] In the above embodiments, since DPF capture of carbon particles is a slow and continuous heuristic system, the traditional recursive least squares method is difficult to obtain stable and reliable estimation results, so a recursive least squares method with a forgetting factor is adopted. = The recursive formula is: , For the first Group gain matrix, and The first and Group covariance matrix, and For the first Group observation data matrix parameter matrix, and The first and Group parameter matrix, The forgetting factor ranges approximately from 0.93 to 0.98. The parameters can be estimated using recursive least squares with the forgetting factor. , , . = , Using the above two formulas, we can calculate... , , Since the forgetting factor can reduce the influence of earlier acquisition cycles on the current acquisition cycle and enhance the influence of similar acquisition cycles on the current acquisition cycle, the reliability of the estimation results is enhanced.

[0058] To enhance stability, in an optional implementation, step S204 includes:

[0059] Step S2041: Determine the total duration of the predetermined number of the above-mentioned acquisition cycles as the measurement cycle;

[0060] Step S2042: Average the target resistance corresponding to the predetermined number of acquisition cycles within one measurement cycle to obtain the carbon loading of the DPF corresponding to one measurement cycle.

[0061] Step S2043: Determine the carbon loading of the DPF corresponding to the measurement cycle at the current time as the current target resistance;

[0062] Step S2044: Determine the carbon loading of the DPF at the current moment based on the current target resistance and the target mapping relationship.

[0063] In the above embodiments, due to The equivalent resistance of the internal flow resistance of the DPF is related to the amount of carbon loading; therefore, this scheme utilizes... To estimate the carbon loading inside the DPF. In practical applications, due to changes in operating conditions, The identification results may fluctuate, potentially leading to false alarms about excessive carbon loading. The equivalent resistance R based on actual data... p The identification results are as follows Figure 5As shown, the horizontal axis represents time, and the vertical axis represents the equivalent resistance R. p The resistance value is adjusted to increase system stability. The identification results are processed by segmented integration and mean calculation (e.g., the mean is calculated every 100 seconds) to establish... The correspondence between the integral mean result and the actual carbon loading weighing result (relationship table, etc.), equivalent resistance R p The piecewise integral mean is as follows Figure 6 As shown, the horizontal axis represents time, and the vertical axis represents the equivalent resistance R. p The resistance value. In practical applications, it is only necessary to obtain the equivalent resistance. The average integral result can be used to determine the current carbon loading.

[0064] For ease of reference, in an optional implementation, before determining the carbon loading of the DPF at the current time based on the target resistance and target mapping relationship at the current time, the method further includes:

[0065] Step S301: Calculate the target resistance at multiple different historical moments to obtain multiple historical target resistances;

[0066] Step S302: Obtain the actual carbon loading of the DPF measured at multiple historical times mentioned above;

[0067] Step S303: Establish the target mapping relationship based on the multiple historical target resistors and the corresponding actual carbon loading.

[0068] In the above embodiments, by obtaining multiple sets of historical target resistors and the actual carbon loading of the corresponding DPF, a target mapping relationship can be established, such as a MAP table, to facilitate subsequent table lookup to obtain the carbon loading of the DPF corresponding to the target resistor.

[0069] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0070] This application also provides a device for estimating DPF carbon loading. It should be noted that this device can be used to execute the DPF carbon loading estimation method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0071] The following describes the DPF carbon loading estimation device provided in the embodiments of this application.

[0072] Figure 7 This is a structural block diagram of a DPF carbon loading estimation device according to an embodiment of this application. Figure 7 As shown, the device includes:

[0073] Equivalent unit 10 is used to convert the gas flow model of DPF into an equivalent circuit model. In the gas flow model, the gas pressure difference across the DPF is equivalent to the voltage across the equivalent circuit model. In the gas flow model, the inlet flow rate of the DPF is equivalent to the positive current of the equivalent circuit model. In the gas flow model, the flow resistance of the DPF is equivalent to the target resistance in the equivalent circuit model.

[0074] Establishment unit 20 is used to establish the calculation formulas for the voltage across the two ends and the positive current based on the equivalent circuit model described above.

[0075] The first calculation unit 30 is used to identify the target resistance of the equivalent circuit model using the recursive least squares method according to the calculation formula of the voltage across the two ends and the calculation formula of the positive current, so as to obtain the target resistance at the current moment.

[0076] The determining unit 40 is used to determine the carbon loading of the DPF at the current time based on the target resistance and target mapping relationship at the current time, wherein the target mapping relationship is the mapping relationship between the carbon loading of the DPF and the target resistance.

[0077] In the aforementioned device for estimating the carbon loading of a DPF, the gas flow model of the DPF is converted into an equivalent circuit model, thus transforming the gas flow problem into a circuit problem. The recursive least squares method in circuit algorithms can then be used to calculate the target resistance corresponding to the flow resistance of the DPF. Based on the mapping relationship between the carbon loading of the DPF and the target resistance, the carbon loading of the DPF can be determined. The recursive least squares method greatly improves the accuracy of the carbon loading estimation of the DPF and solves the problem of the difficulty in accurately estimating the carbon loading of the DPF in the prior art.

[0078] To improve the similarity of equivalence, in one optional implementation, the equivalent unit includes:

[0079] The first equivalent module is used to treat the inlet end of the DPF in the gas flow model as a positive electrode, the outlet end of the DPF in the gas flow model as a negative electrode, the flow resistance formed by the inlet and outlet of the DPF in the gas flow model as a channel resistance, the internal flow resistance of the DPF in the gas flow model as a target resistance, and the gas compressibility in the DPF in the gas flow model as a circuit capacitance. The gas compressibility is the ability of the DPF to hold more gas due to the compressibility of the gas.

[0080] The second equivalent module is used to connect the target resistor and the circuit capacitor in parallel to form a parallel circuit.

[0081] The third equivalent module is used to electrically connect one end of the channel resistor to the positive electrode, the other end of the channel resistor to one end of the parallel circuit, and the other end of the parallel circuit to the negative electrode, forming the equivalent circuit model. This makes the pressure difference across the DPF in the gas flow model equivalent to the voltage across the equivalent circuit model, and the intake flow rate of the DPF in the gas flow model equivalent to the positive current of the equivalent circuit model.

[0082] In the above embodiments, in fluid mechanics, the flow resistance formula is R = ∆P / Q, where ∆P represents the pressure difference, Q represents the flow rate, and R represents the flow resistance. This formula describes the flow resistance under steady airflow conditions, calculated as the ratio of the pressure difference across the channel to the gas flow rate. This formula is similar to Ohm's law in electrical engineering. When exhaust flows through the DPF, the exhaust flow path is as follows... Figure 3 As shown, due to the internal flow resistance of the DPF, a pressure difference will form across its two ends. Simultaneously, due to the compressibility of gas, some gas will be stored inside the DPF. This is similar to how charge can be stored in a capacitor in a circuit. Therefore, based on the similarity between airflow and current, an equivalent circuit model can be established as follows: Figure 4 As shown, the pressure difference across the DPF is equivalent to the voltage U across the circuit; the exhaust volume flow rate Q is equivalent to the circuit current I; the internal flow resistance R of the DPF is divided into two parts: the flow resistance formed at the DPF inlet and outlet is equivalent to R0, and the flow resistance inside the DPF is equivalent to R. p It is related to the amount of carbon loading; the compressibility of the exhaust gas inside the DPF is equivalent to the circuit capacitance C. p Therefore, the fluid dynamics problem of exhaust gas flowing through the DPF can be transformed into an electrical problem for study. The voltage U, i.e. the pressure difference across the DPF, can be calculated using electrical theory. The compressibility of the exhaust gas inside the DPF and the flow resistance formed by the DPF inlet and outlet are taken into account, which improves the equivalence similarity.

[0083] In one optional implementation, to establish the circuit formula for the equivalent circuit, the establishment unit includes:

[0084] The first module is used to establish the calculation formula for the voltage across the two ends based on the equivalent circuit model described above. Where U is the voltage across the two terminals, I is the positive current, R0 is the channel resistance, and U P The voltage across the capacitor in the circuit described above;

[0085] The second module is used to establish the calculation formula for the positive current based on the equivalent circuit model described above. , where R p For the target resistance mentioned above, C P The capacitance of the circuit mentioned above.

[0086] In the above implementation, referring to the equivalent circuit model, it can be seen from the circuit formula that the voltage across the terminals is... Positive current .

[0087] To achieve carbon loading estimation, in one optional implementation, the first calculation unit includes:

[0088] The first calculation module is used to establish an estimation formula for the voltage across the two terminals based on the calculation formulas for the voltage across the two terminals and the positive current. , among which, U k The k-th set of observation data matrix represents the voltage across the aforementioned terminals measured during the k-th acquisition cycle. The k-th parameter matrix , ;

[0089] The second calculation module is used to estimate the k-th parameter matrix using the recursive least squares method described above. ;

[0090] The third calculation module is used to calculate the k-th parameter matrix mentioned above. The target resistance R corresponding to the kth acquisition cycle is calculated from a1, a2, and a3. p ;

[0091] The first determining module is used to determine the target resistance R corresponding to the kth acquisition cycle when the current time is within the kth acquisition cycle. p The target resistance is determined to be the one mentioned above at the current moment.

[0092] In the above implementation, the Laplace transform of the formulas for calculating the voltage across the terminals and the positive current yields: United The system transfer function is: Since the sampled data is discrete, the system transfer function is discretized using... The transformation will be based on The equation of coordinates is mapped to Coordinates, coordinate transformation uses The bilinear transform method, in which It is the data sampling time interval. Coordinate transformation yields: ,in, In the above system of equations , , They can be used separately , , After parsing, we get Expanding the transfer function of the z-coordinate transformation, we get: + = + According to the real displacement theorem, do The inverse transform of the transformation yields: + = + ,make The above equation is transformed into = + Define the system's observation data matrix and parameter matrix ,but = ,in, =[ , , ]=[ , , ], = The above system of equations under known input , , and output Under the premise that the parameters can be estimated , , The k-th parameter matrix is ​​estimated using the recursive least squares method described above. Based on the above k-th parameter matrix The target resistance R corresponding to the kth acquisition cycle is calculated from a1, a2, and a3. p Given the current acquisition period, the value of k is taken to correspond to the acquisition period, thus obtaining the target resistance R at the current moment. p .

[0093] To improve the reliability of the estimation, in one optional implementation, the second calculation module includes:

[0094] The calculation submodule is used to apply recursive formulas. The above formula for estimating the voltage across the two ends Perform recursive calculation of the k-th parameter matrix mentioned above. , where K k Let P be the gain matrix of the k-th group. k-1 and P k These are the covariance matrices of the (k-1)th and kth groups, respectively, Θ k-1 Let I be the (k-1)th parameter matrix, μ be the forgetting factor, and I0 be the unit diagonal matrix.

[0095] In the above embodiments, since DPF capture of carbon particles is a slow and continuous heuristic system, the traditional recursive least squares method is difficult to obtain stable and reliable estimation results, so a recursive least squares method with a forgetting factor is adopted. = The recursive formula is: , For the first Group gain matrix, and The first and Group covariance matrix, and For the first Group observation data matrix parameter matrix, and The first and Group parameter matrix, The forgetting factor ranges approximately from 0.93 to 0.98. The parameters can be estimated using recursive least squares with the forgetting factor. , , . = , Using the above two formulas, we can calculate... , , Since the forgetting factor can reduce the influence of earlier acquisition cycles on the current acquisition cycle and enhance the influence of similar acquisition cycles on the current acquisition cycle, the reliability of the estimation results is enhanced.

[0096] To enhance stability, in one optional implementation, the determining unit includes:

[0097] The second determining module is used to determine the total duration of a predetermined number of the above-mentioned acquisition cycles as the measurement cycle;

[0098] The fourth calculation module is used to average the target resistance corresponding to the predetermined number of acquisition cycles within one measurement cycle to obtain the carbon loading of the DPF corresponding to one measurement cycle.

[0099] The third determining module is used to determine the carbon loading of the DPF corresponding to the measurement cycle at the current time as the current target resistance.

[0100] The fourth determining module is used to determine the carbon loading of the DPF at the current moment based on the current target resistance and the target mapping relationship.

[0101] In the above embodiments, due to The equivalent resistance of the internal flow resistance of the DPF is related to the amount of carbon loading; therefore, this scheme utilizes... To estimate the carbon loading inside the DPF. In practical applications, due to changes in operating conditions, The identification results may fluctuate, potentially leading to false alarms about excessive carbon loading. The equivalent resistance R based on actual data... p The identification results are as follows Figure 5 As shown, the horizontal axis represents time, and the vertical axis represents the equivalent resistance R. p The resistance value is adjusted to increase system stability. The identification results are processed by segmented integration and mean calculation (e.g., the mean is calculated every 100 seconds) to establish... The correspondence between the integral mean result and the actual carbon loading weighing result (relationship table, etc.), equivalent resistance R p The piecewise integral mean is as follows Figure 6 As shown, the horizontal axis represents time, and the vertical axis represents the equivalent resistance R. p The resistance value. In practical applications, it is only necessary to obtain the equivalent resistance. The average integral result can be used to determine the current carbon loading.

[0102] For ease of reference, in an optional embodiment, the above-mentioned device further includes:

[0103] The second calculation unit is used to calculate the target resistance at multiple different historical times before determining the carbon loading of the DPF at the current time based on the target resistance and target mapping relationship at the current time, and to obtain multiple historical target resistances.

[0104] The acquisition unit is used to acquire the actual carbon loading of the DPF measured at multiple historical moments mentioned above.

[0105] The generation unit is used to establish the target mapping relationship based on multiple historical target resistances and the corresponding actual carbon loadings.

[0106] In the above embodiments, by obtaining multiple sets of historical target resistors and the actual carbon loading of the corresponding DPF, a target mapping relationship can be established, such as a MAP table, to facilitate subsequent table lookup to obtain the carbon loading of the DPF corresponding to the target resistor.

[0107] The aforementioned DPF carbon loading estimation device includes a processor and a memory. The equivalent unit, establishment unit, first calculation unit, and determination unit are all stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. All of the above modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0108] The processor contains a core, which retrieves the corresponding program unit from memory. One or more cores can be configured, and adjusting core parameters can address the difficulty in accurately estimating the carbon loading of the DPF in existing technologies.

[0109] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0110] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the DPF carbon loading estimation method.

[0111] Specifically, methods for estimating DPF carbon loading include:

[0112] Step S201: Convert the gas flow model of the DPF into an equivalent circuit model. In the gas flow model, the gas pressure difference across the DPF is equivalent to the voltage across the equivalent circuit model. In the gas flow model, the inlet flow rate of the DPF is equivalent to the positive current of the equivalent circuit model. In the gas flow model, the flow resistance of the DPF is equivalent to the target resistance in the equivalent circuit model.

[0113] Step S202: Establish the calculation formulas for the voltage across the two terminals and the positive current based on the equivalent circuit model described above.

[0114] Step S203: Based on the above calculation formulas for the voltage across the two ends and the positive current, the recursive least squares method is used to perform recursive calculations to obtain the target resistance at the current moment.

[0115] Step S204: Determine the carbon loading of the DPF at the current time based on the target resistance and target mapping relationship at the current time. The target mapping relationship is the mapping relationship between the carbon loading of the DPF and the target resistance.

[0116] This invention provides a processor for running a program, wherein the program executes the DPF carbon loading estimation method.

[0117] Specifically, methods for estimating DPF carbon loading include:

[0118] Step S201: Convert the gas flow model of the DPF into an equivalent circuit model. In the gas flow model, the gas pressure difference across the DPF is equivalent to the voltage across the equivalent circuit model. In the gas flow model, the inlet flow rate of the DPF is equivalent to the positive current of the equivalent circuit model. In the gas flow model, the flow resistance of the DPF is equivalent to the target resistance in the equivalent circuit model.

[0119] Step S202: Establish the calculation formulas for the voltage across the two terminals and the positive current based on the equivalent circuit model described above.

[0120] Step S203: Based on the above calculation formulas for the voltage across the two ends and the positive current, the recursive least squares method is used to perform recursive calculations to obtain the target resistance at the current moment.

[0121] Step S204: Determine the carbon loading of the DPF at the current time based on the target resistance and target mapping relationship at the current time. The target mapping relationship is the mapping relationship between the carbon loading of the DPF and the target resistance.

[0122] This invention provides a vehicle including a DPF, a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0123] Step S201: Convert the gas flow model of the DPF into an equivalent circuit model. In the gas flow model, the gas pressure difference across the DPF is equivalent to the voltage across the equivalent circuit model. In the gas flow model, the inlet flow rate of the DPF is equivalent to the positive current of the equivalent circuit model. In the gas flow model, the flow resistance of the DPF is equivalent to the target resistance in the equivalent circuit model.

[0124] Step S202: Establish the calculation formulas for the voltage across the two terminals and the positive current based on the equivalent circuit model described above.

[0125] Step S203: Based on the above calculation formulas for the voltage across the two ends and the positive current, the recursive least squares method is used to perform recursive calculations to obtain the target resistance at the current moment.

[0126] Step S204: Determine the carbon loading of the DPF at the current time based on the target resistance and target mapping relationship at the current time. The target mapping relationship is the mapping relationship between the carbon loading of the DPF and the target resistance.

[0127] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0128] Step S201: Convert the gas flow model of the DPF into an equivalent circuit model. In the gas flow model, the gas pressure difference across the DPF is equivalent to the voltage across the equivalent circuit model. In the gas flow model, the inlet flow rate of the DPF is equivalent to the positive current of the equivalent circuit model. In the gas flow model, the flow resistance of the DPF is equivalent to the target resistance in the equivalent circuit model.

[0129] Step S202: Establish the calculation formulas for the voltage across the two terminals and the positive current based on the equivalent circuit model described above.

[0130] Step S203: Based on the above calculation formulas for the voltage across the two ends and the positive current, the recursive least squares method is used to perform recursive calculations to obtain the target resistance at the current moment.

[0131] Step S204: Determine the carbon loading of the DPF at the current time based on the target resistance and target mapping relationship at the current time. The target mapping relationship is the mapping relationship between the carbon loading of the DPF and the target resistance.

[0132] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0133] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0134] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0135] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0136] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0137] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0138] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0139] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0140] It should also be noted that 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 process, method, article, or apparatus. Unless otherwise specified, 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 that element.

[0141] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0142] 1) In the method for estimating the carbon loading of DPF in this application, the gas flow model of DPF is converted into an equivalent circuit model, thus transforming the gas flow problem into a circuit problem. The recursive least squares method in the circuit algorithm can be used to calculate the target resistance corresponding to the flow resistance of DPF. Based on the mapping relationship between the carbon loading of DPF and the target resistance, the carbon loading of DPF can be determined. The recursive least squares method greatly improves the accuracy of DPF carbon loading estimation and solves the problem of difficulty in accurately estimating the carbon loading of DPF in the prior art.

[0143] 2) In the DPF carbon loading estimation device of this application, by converting the gas flow model of DPF into an equivalent circuit model, the gas flow problem is transformed into a circuit problem. The recursive least squares method in the circuit algorithm can be used to calculate the target resistance corresponding to the flow resistance of DPF. Thus, the carbon loading of DPF is determined according to the mapping relationship between carbon loading of DPF and target resistance. The recursive least squares method greatly improves the accuracy of DPF carbon loading estimation and solves the problem of difficulty in accurately estimating carbon loading of DPF in the prior art.

[0144] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for estimating DPF carbon loading, characterized in that, include: The gas flow model of the DPF is converted into an equivalent circuit model. In the gas flow model, the gas pressure difference across the DPF is equivalent to the voltage across the equivalent circuit model. In the gas flow model, the inlet flow rate of the DPF is equivalent to the positive current of the equivalent circuit model. In the gas flow model, the flow resistance of the DPF is equivalent to the target resistance in the equivalent circuit model. Based on the equivalent circuit model, establish the calculation formulas for the voltage across the two terminals and the positive current. The target resistance of the equivalent circuit model is identified using the recursive least squares method based on the calculation formulas for the voltage across the two ends and the positive current, so as to obtain the target resistance at the current moment. The carbon loading of the DPF at the current moment is determined based on the target resistance and the target mapping relationship at the current moment, wherein the target mapping relationship is the mapping relationship between the carbon loading of the DPF and the target resistance; Converting the gas flow model of a DPF to an equivalent circuit model includes: treating the inlet of the DPF in the gas flow model as a positive terminal; treating the outlet of the DPF in the gas flow model as a negative terminal; treating the flow resistance formed by the inlet and outlet of the DPF in the gas flow model as a channel resistance; treating the internal flow resistance of the DPF in the gas flow model as the target resistance; and treating the gas compressibility within the DPF in the gas flow model as a circuit capacitance, where the gas compressibility is determined by the compressibility of the gas... The DPF has the capacity to hold a large amount of gas; the target resistor and the circuit capacitor are connected in parallel to form a parallel circuit; one end of the channel resistor is electrically connected to the positive terminal, the other end of the channel resistor is electrically connected to one end of the parallel circuit, and the other end of the parallel circuit is electrically connected to the negative terminal, forming the equivalent circuit model, such that the gas pressure difference across the DPF in the gas flow model is equivalent to the voltage across the equivalent circuit model, and the inlet flow rate of the DPF in the gas flow model is equivalent to the positive current of the equivalent circuit model; The calculation formulas for the voltage across the two terminals and the positive current are established based on the equivalent circuit model, including: establishing the calculation formula for the voltage across the two terminals based on the equivalent circuit model. Where U is the voltage across the terminals, I is the positive current, R0 is the channel resistance, and U P The voltage across the circuit capacitor; the formula for calculating the positive current is established based on the equivalent circuit model. , where R p For the target resistance, C P The capacitance of the circuit capacitor; The target resistance of the equivalent circuit model is identified using the recursive least squares method based on the calculation formulas for the voltage across the terminals and the positive current, to obtain the target resistance at the current moment. This includes: establishing an estimation formula for the voltage across the terminals based on the calculation formulas for the voltage across the terminals and the positive current. , among which, U k The k-th set of observation data matrix represents the voltage across the terminals measured in the k-th acquisition cycle. The k-th parameter matrix , The k-th parameter matrix is ​​estimated using the recursive least squares method. According to the k-th parameter matrix The target resistance R corresponding to the kth acquisition cycle is calculated from a1, a2, and a3. p If the current time falls within the kth acquisition cycle, then the target resistance R corresponding to the kth acquisition cycle is... p The target resistance at the current moment is determined; The k-th parameter matrix is ​​estimated using the recursive least squares method. This includes: using recursive formulas The estimation formula for the voltage across the two ends Perform recursive calculation of the k-th parameter matrix , where K k Let P be the gain matrix of the k-th group. k-1 and P k These are the covariance matrices of the (k-1)th and kth groups, respectively, Θ k-1 Let I be the (k-1)th parameter matrix, μ be the forgetting factor, and I0 be the unit diagonal matrix.

2. The method according to claim 1, characterized in that, Determining the carbon loading of the DPF at the current moment based on the target resistance and target mapping relationship at the current moment includes: The total duration of a predetermined number of acquisition cycles is defined as the measurement cycle; The carbon loading of the DPF corresponding to the predetermined number of acquisition cycles within one measurement cycle is obtained by averaging the target resistance. The carbon loading of the DPF corresponding to the measurement period in which the current moment is located is determined as the current target resistance; The carbon loading of the DPF at the current moment is determined based on the current target resistance and the target mapping relationship.

3. The method according to claim 1 or 2, characterized in that, Before determining the carbon loading of the DPF at the current moment based on the target resistance and target mapping relationship at the current moment, the method further includes: The target resistance is calculated at multiple different historical moments to obtain multiple historical target resistances; The actual carbon loading of the DPF was measured at multiple historical moments. The target mapping relationship is established based on multiple historical target resistances and the corresponding actual carbon loading.

4. A device for estimating DPF carbon loading by performing the method according to any one of claims 1 to 3, characterized in that, include: An equivalent unit is used to convert the gas flow model of the DPF into an equivalent circuit model. In the gas flow model, the gas pressure difference across the DPF is equivalent to the voltage across the equivalent circuit model. In the gas flow model, the inlet flow rate of the DPF is equivalent to the positive current of the equivalent circuit model. In the gas flow model, the flow resistance of the DPF is equivalent to the target resistance in the equivalent circuit model. A calculation unit is established based on the equivalent circuit model to calculate the voltage across the terminals and the positive current. The first calculation unit is used to identify the target resistance of the equivalent circuit model using the recursive least squares method according to the calculation formula of the voltage across the two ends and the calculation formula of the positive current, so as to obtain the target resistance at the current moment. A determining unit is configured to determine the carbon loading of the DPF at the current time based on the target resistance and target mapping relationship at the current time, wherein the target mapping relationship is the mapping relationship between the carbon loading of the DPF and the target resistance.

5. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 3.

6. A vehicle, characterized in that, include: A DPF, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising methods for performing any one of claims 1 to 3.

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