Knock determination method and related device

Abstract

The invention provides a knock determination method and a related device. The method comprises the following steps: acquiring boundary conditions of a vehicle; the boundary condition comprises an accelerator signal and a driving working condition of the vehicle in a target time period, the knock judgment condition comprises that the fluctuation range of the accelerator signal is within a preset fluctuation range and the driving working condition is not in a downhill working condition, and when the boundary condition meets the knock judgment condition, the knock judgment condition is determined. Judging whether a voltage signal of the gas engine acquired by the knock sensor is larger than the first voltage signal and smaller than the second voltage signal or not; if yes, the acceleration of the vehicle is determined based on the first speed of the vehicle at the first moment, the second speed of the vehicle at the second moment, the first moment and the second moment; if the acceleration is a positive value, it is determined that knock has occurred in a gas engine of the vehicle. In a word, according to the scheme, when whether knocking occurs or not cannot be accurately judged through the voltage signal, the accuracy and timeliness of knock determination can be improved by combining the acceleration, and the gas engine can be conveniently protected in time.

Description

Technical Field

[0001] The present application relates to the field of gas engines, and in particular to a knock determination method and related devices. Background Art

[0002] A gas engine (gas engine for short) is an engine that uses gas fuel, such as natural gas. Its application in vehicles is becoming more and more popular. Gas engines meet regulatory requirements and user power and economy. Compared with diesel engines, gas engines are more economical in transportation costs and are currently showing an increasing trend of supporting them.

[0003] However, gas engines have certain knock problems. Knocking refers to the phenomenon that after the gas engine is ignited, the flame wave has not yet completely spread, and the unburned mixture spontaneously ignites due to high temperature and high pressure. The spontaneous combustion wave collides with the normal combustion wave, causing a huge pressure shock wave to be generated in the cylinder, which is reflected and repeatedly impacted on the cylinder wall.

[0004] Knock can cause the vehicle's power to drop, fuel consumption and noise to increase, emissions to worsen, and in severe cases, it can cause cylinder knocking, damage heat transfer and lubrication, and ultimately damage parts and even the gas engine. Therefore, providing a method for determining knock for a gas engine has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of this, the purpose of this application is to provide a knock determination method and related device, which combines voltage signals and acceleration to judge knock, thereby improving the accuracy and timeliness of knock determination and facilitating timely protection of gas engines. The specific scheme is as follows:

[0006] In one aspect, the present application provides a knock determination method, comprising:

[0007] Acquiring boundary conditions of the vehicle; the boundary conditions include the throttle signal and driving conditions of the vehicle within a target time period;

[0008] When the boundary condition satisfies the knock judgment condition, it is judged whether the voltage signal of the gas engine obtained by the knock sensor is greater than the first voltage signal and less than the second voltage signal; the knock judgment condition includes that the fluctuation range of the throttle signal is within the preset fluctuation range, and the driving condition is not in a downhill condition, the first voltage signal is the maximum voltage signal corresponding to the gas engine of the vehicle not having knock, and the second voltage signal is the minimum voltage signal corresponding to the gas engine of the vehicle having knock;

[0009] If yes, determining the acceleration of the vehicle based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment; the first moment is earlier than the second moment;

[0010] If the acceleration is a positive value, it is determined that the gas engine of the vehicle is knocking.

[0011] Optionally, determining the acceleration of the vehicle based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment includes:

[0012] Determine a plurality of accelerations of the vehicle over a period of time; each acceleration being calculated based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment;

[0013] If the acceleration is a positive value, determining that the gas engine of the vehicle has knocked, comprises:

[0014] If a preset number of the accelerations are all positive, it is determined that knock occurs in the gas engine of the vehicle.

[0015] Optionally, the boundary condition further includes a voltage signal collected by the knock sensor and a vehicle speed signal of the vehicle within the target time period;

[0016] The knock determination condition also includes that the voltage signal, the vehicle speed signal and the throttle signal are not abnormal.

[0017] Optionally, if the acceleration is a positive value, determining that the gas engine of the vehicle has knocked, comprises:

[0018] If the acceleration is greater than zero and less than a preset acceleration, determining that a mild knock occurs in the gas engine of the vehicle;

[0019] If the acceleration is not less than the preset acceleration, it is determined that severe knock occurs in the gas engine of the vehicle.

[0020] Optionally, the method further comprises:

[0021] After determining that the gas engine of the vehicle has detonated, protective measures are taken for the gas engine.

[0022] Optionally, the method further comprises:

[0023] When the voltage signal is not greater than the first voltage signal, determining that the gas engine of the vehicle does not detonate;

[0024] When the voltage signal is not less than the second voltage signal, it is determined that knock occurs in the gas engine of the vehicle.

[0025] In another aspect, an embodiment of the present application further provides a knock determination device, comprising:

[0026] An acquisition unit, used to acquire boundary conditions of the vehicle; the boundary conditions include a throttle signal and a driving condition of the vehicle within a target time period;

[0027] a judgment unit, configured to judge whether a voltage signal of the gas engine acquired by the knock sensor is greater than a first voltage signal and less than a second voltage signal when the boundary condition satisfies a knock judgment condition; the knock judgment condition includes that a fluctuation range of the throttle signal is within a preset fluctuation range, and the driving condition is not in a downhill condition, the first voltage signal is a maximum voltage signal corresponding to no knock of the gas engine of the vehicle, and the second voltage signal is a minimum voltage signal corresponding to knock of the gas engine of the vehicle;

[0028] a first determining unit, configured to determine the acceleration of the vehicle based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment, if the first moment is earlier than the second moment;

[0029] A second determination unit is configured to determine that knock occurs in the gas engine of the vehicle if the acceleration is a positive value.

[0030] Optionally, the first determining unit is configured to:

[0031] Determine a plurality of accelerations of the vehicle over a period of time; each acceleration being calculated based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment;

[0032] The second determining unit is configured to:

[0033] If a preset number of the accelerations are all positive, it is determined that knock occurs in the gas engine of the vehicle.

[0034] In another aspect, an embodiment of the present application provides a computer device, the computer device comprising a processor and a memory:

[0035] The memory is used to store program code and transmit the program code to the processor;

[0036] The processor is configured to execute the method described above according to the instructions in the program code.

[0037] On the other hand, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method described in the above aspects.

[0038] The embodiment of the present application provides a knock determination method and related device, which obtains the boundary conditions of the vehicle; the boundary conditions include the throttle signal and driving conditions of the vehicle within the target time period, and the knock judgment condition includes that the fluctuation range of the throttle signal is within the preset fluctuation range, and the driving condition is not in a downhill condition. When the boundary conditions meet the knock judgment conditions, it means that the driver has not stepped on the accelerator to accelerate, and the vehicle will not accelerate due to downhill. Continue to judge whether the voltage signal of the gas engine obtained by the knock sensor is greater than the first voltage signal and less than the second voltage signal; the first voltage signal is the maximum voltage signal corresponding to the vehicle's gas engine not having knock, and the second voltage signal is the minimum voltage signal corresponding to the vehicle's gas engine having knock, that is, if the voltage signal is between the first voltage signal and the second voltage signal, it means that it is impossible to judge whether the gas engine has knock, and further judgment based on the acceleration of the vehicle is required. If so, the acceleration of the vehicle is determined based on the first speed of the vehicle at the first moment, the second speed at the second moment, the first moment and the second moment; the first moment is earlier than the second moment; if the acceleration is a positive value, since the driver did not step on the accelerator to accelerate and the vehicle is not in a downhill condition, it means that the acceleration can only be due to the release of a large amount of energy caused by the occurrence of knock, which increases the output power of the gas engine and thus causes the acceleration of the vehicle, that is, it can be determined that the gas engine of the vehicle has knocked. In short, when the voltage signal cannot accurately determine whether the knock has occurred, the scheme can be combined with the acceleration to accurately determine, thereby improving the accuracy and timeliness of the knock determination, and facilitating the timely protection of the gas engine. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A schematic diagram of a knock determination method provided in an embodiment of the present application is shown;

[0041] Figure 2 A schematic diagram of a knock provided by an embodiment of the present application is shown;

[0042] Figure 3A structural block diagram of a knock determination device provided in an embodiment of the present application;

[0043] Figure 4 A structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below with reference to the accompanying drawings.

[0045] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0046] For ease of understanding, a knock determination method and related devices provided in an embodiment of the present application are described in detail below with reference to the accompanying drawings.

[0047] refer to Figure 1 As shown, it is a schematic flow chart of a knock determination method provided in an embodiment of the present application, and the method may include the following steps.

[0048] S101, obtaining boundary conditions of the vehicle; the boundary conditions include the throttle signal and driving conditions of the vehicle within a target time period.

[0049] Specifically, the boundary conditions of the vehicle can be obtained, and the boundary conditions C can include the throttle signal AP of the vehicle within the target time period, and the driving conditions within the target time period. The target time period can be any period of time, the throttle signal can be obtained by collecting the driver's accelerator pedal, and the driving conditions can be obtained by various sensors installed on the vehicle, electronic maps, etc. For example, the slope of the road currently traveled by the vehicle can be determined by a slope sensor installed on the vehicle, and the current position of the vehicle can also be obtained by comparing the current position with the electronic map to obtain the slope of the current road.

[0050] S102: When the boundary condition satisfies the knock determination condition, it is determined whether the voltage signal of the gas engine acquired by the knock sensor is greater than the first voltage signal and less than the second voltage signal.

[0051] Among them, the knock judgment conditions are some conditions that need to be met for subsequent knock judgment, and the knock judgment conditions include that the fluctuation range of the throttle signal is within the preset fluctuation range, and the driving condition is not in a downhill condition. That is to say, if the fluctuation range of the throttle signal of the vehicle is small and within the preset fluctuation range within the target time period, it can be said that the driver did not step on the accelerator to accelerate. Among them, the preset fluctuation range can be a fluctuation range caused by the fluctuation of the throttle signal due to errors or other objective factors, for example, the preset fluctuation range can be within the range of ±5% of the pedal opening.

[0052] If the boundary condition is met and the driving condition is not in a downhill condition, it means that the vehicle is not going downhill, and the vehicle will not accelerate due to the downhill. In short, by judging whether the boundary condition meets the knock judgment condition, it is possible to exclude the acceleration of the vehicle caused by the driver increasing the throttle and the vehicle going downhill, so as to facilitate the subsequent judgment of whether knock occurs based on acceleration.

[0053] After determining that the boundary conditions meet the knock judgment conditions, the voltage signal of the gas engine obtained by the knock sensor can be collected, wherein the knock sensor can be installed on the gas engine, can collect the vibration frequency, and convert the vibration frequency into a voltage signal output.

[0054] Specifically, it can be determined whether the voltage signal is between the first voltage signal and the second voltage signal, wherein the first voltage signal is the maximum voltage signal corresponding to the vehicle's gas engine without knocking, and the second voltage signal is the minimum voltage signal corresponding to the vehicle's gas engine with knocking, that is, if the voltage signal is between the two, it is impossible to accurately determine whether knocking has occurred. It is necessary to further combine the acceleration to determine. The first voltage signal and the second voltage signal can be obtained by collecting a large amount of voltage data corresponding to knocking and voltage data corresponding to no knocking.

[0055] In practical applications, the confidence level Q can be used to represent the magnitude relationship between the collected voltage signal, the first voltage signal, and the second voltage signal. If the voltage signal is greater than or equal to the second voltage signal, the confidence level Q is 2. If the voltage signal is between the first voltage signal and the second voltage signal, the confidence level Q is 1. If the voltage signal is less than or equal to the first voltage signal, the confidence level Q is 0. When the confidence level Q is 1, continue to perform the following steps to determine the vehicle acceleration.

[0056] In a possible implementation, when the voltage signal is not greater than the first voltage signal, it is determined that the gas engine of the vehicle has not experienced knock. That is, if the voltage signal is less than or equal to the first voltage signal, it can be determined that the gas engine has not experienced knock.

[0057] When the voltage signal is not less than the second voltage signal, it is determined that the vehicle's gas engine has detonated. That is, if the voltage signal is greater than or equal to the second voltage signal, it can be determined that the gas engine has detonated. Thus, when the collected voltage signal is too large or too small, it can be accurately and conveniently determined whether detonation has occurred based on the first voltage signal and the second voltage signal.

[0058] In a possible implementation, the boundary conditions may also include a voltage signal collected by the knock sensor and a vehicle speed signal V within a target time period; the knock judgment condition also includes that there are no abnormalities in the voltage signal, the vehicle speed signal, and the throttle signal.

[0059] In this way, if the boundary conditions meet the knock judgment conditions, it means that there is no abnormality in the voltage signal collected by the knock sensor, the knock sensor is working normally and can continue to be used subsequently, and there is no abnormality in the vehicle speed and the accelerator pedal is also used normally, thereby facilitating the accuracy of the voltage signal, vehicle speed signal and throttle signal.

[0060] S103: If yes, determine the acceleration of the vehicle based on the first speed of the vehicle at the first moment, the second speed of the vehicle at the second moment, the first moment, and the second moment.

[0061] Specifically, if the voltage signal of the knock sensor is between the first voltage signal and the second voltage signal, the first speed V1 of the vehicle at the first moment T1 and the second speed V2 at the second moment T2 can be obtained, and the acceleration A of the vehicle can be calculated by (V2-V1) / (T2-T1). The first moment is earlier than the second moment, that is, T2-T1 is greater than 0.

[0062] S104: If the acceleration is a positive value, it is determined that the gas engine of the vehicle has knocked.

[0063] Specifically, if the acceleration is a positive value, it means that the vehicle is accelerating. Since the boundary conditions of the vehicle meet the knock judgment conditions, it means that the acceleration of the vehicle caused by the driver stepping on the accelerator and the vehicle going downhill is excluded, and the acceleration can only be caused by knock.

[0064] This is because when detonation occurs, the combustion pressure in the cylinder increases, and the torque output at this time is greater than the torque when detonation does not occur. At this time, the increase in output torque will be reflected in the acceleration of the entire vehicle, that is, the vehicle accelerates. Therefore, when the boundary conditions of the vehicle meet the detonation judgment conditions and the acceleration of the vehicle is positive, it means that the gas engine has detonation.

[0065] In summary, when the voltage signal cannot accurately determine whether knock occurs, this solution can accurately determine it by combining acceleration, thereby improving the accuracy and timeliness of knock determination and facilitating timely protection of the gas engine.

[0066] In one possible implementation, the acceleration of the vehicle is determined based on the first speed of the vehicle at the first moment, the second speed of the vehicle at the second moment, the first moment, and the second moment. Specifically, multiple accelerations of the vehicle over a period of time are determined; each acceleration is calculated based on the first speed of the vehicle at the first moment, the second speed of the vehicle at the second moment, the first moment, and the second moment; then, if the acceleration is a positive value, it is determined that the gas engine of the vehicle has detonated. Specifically, if a preset number of accelerations are all positive values, it is determined that the gas engine of the vehicle has detonated.

[0067] Specifically, in order to improve the accuracy of knock determination, multiple accelerations of the vehicle within a period of time can be obtained, wherein each acceleration is determined based on the vehicle speed at adjacent moments (i.e., the first moment and the second moment), thereby obtaining multiple continuous accelerations within a period of time, which can be recorded as A1, A2, A3...An.

[0068] Furthermore, if the number of positive accelerations among the multiple accelerations reaches a certain number, that is, meets the preset number, it means that the acceleration calculation is relatively stable and accurate, and it can be determined that the vehicle's gas engine has detonated, thereby further improving the accuracy of detonation determination.

[0069] In one possible implementation, if the acceleration is a positive value, it is determined that the vehicle's gas engine has detonation. Specifically, if the acceleration is greater than zero and less than a preset acceleration, it is determined that the vehicle's gas engine has a mild detonation; if the acceleration is not less than the preset acceleration, it is determined that the vehicle's gas engine has a severe detonation.

[0070] Specifically, knock can include mild knock and severe knock, see Figure 2 As shown, it is a knock schematic diagram provided by an embodiment of the present application, the horizontal axis is the crankshaft angle (°CA), the vertical axis is the cylinder pressure p (MPa), which shows the spark ignition time at 10°CA, and multiple curves respectively show the curve of normal combustion, the curve of the knock boundary point, the curve of mild knock, the curve of severe knock and the curve of super knock, and super knock is not judged here. If the cylinder pressure corresponding to severe knock is greater than the cylinder pressure corresponding to mild knock, the acceleration generated by severe knock will be greater.

[0071] Therefore, if the acceleration is relatively large, greater than the preset acceleration, it means that the gas engine has produced severe knock, and if the acceleration is relatively small, less than the preset acceleration, it means that the gas engine has produced mild knock, wherein the preset acceleration can be preset. By distinguishing mild knock from severe knock by the magnitude of the acceleration, the type of knock can be finely distinguished, and the accuracy of knock determination can be improved.

[0072] In a possible implementation, after it is determined that the gas engine of the vehicle has detonated, protective measures are taken for the gas engine. Specifically, after it is determined that the gas engine of the vehicle has detonated, the information can be transmitted to the controller, and the controller takes protective measures for the gas engine based on the information, such as delaying the ignition angle.

[0073] Based on the above knock determination method, the present application embodiment also provides a knock determination device, referring to Figure 3 FIG. 1 is a block diagram of a knock determination device provided in an embodiment of the present application, and the device may include:

[0074] The acquisition unit 201 is used to acquire the boundary conditions of the vehicle; the boundary conditions include the throttle signal and driving conditions of the vehicle within the target time period;

[0075] The judgment unit 202 is used to judge whether the voltage signal of the gas engine obtained by the knock sensor is greater than the first voltage signal and less than the second voltage signal when the boundary condition meets the knock judgment condition; the knock judgment condition includes that the fluctuation range of the throttle signal is within the preset fluctuation range, and the driving condition is not in a downhill condition, the first voltage signal is the maximum voltage signal corresponding to the gas engine of the vehicle not having knock, and the second voltage signal is the minimum voltage signal corresponding to the gas engine of the vehicle having knock;

[0076] A first determining unit 203 is configured to determine the acceleration of the vehicle based on a first speed of the vehicle at the first moment, a second speed of the vehicle at the second moment, the first moment, and the second moment if the first moment is earlier than the second moment;

[0077] The second determination unit 204 is configured to determine that knock occurs in the gas engine of the vehicle if the acceleration is a positive value.

[0078] Optionally, the first determining unit is configured to:

[0079] Determining a plurality of accelerations of the vehicle over a period of time; each acceleration being calculated based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment;

[0080] The second determining unit is configured to:

[0081] If a preset number of accelerations are all positive, it is determined that the gas engine of the vehicle has knocked.

[0082] Optionally, the boundary condition also includes a voltage signal collected by the knock sensor and a vehicle speed signal of the vehicle within the target time period;

[0083] The knock judgment conditions also include that there are no abnormalities in the voltage signal, vehicle speed signal and throttle signal.

[0084] Optionally, the second determining unit is used to:

[0085] If the acceleration is greater than zero and less than a preset acceleration, determining that a mild knock occurs in the gas engine of the vehicle;

[0086] If the acceleration is not less than the preset acceleration, it is determined that severe knock occurs in the gas engine of the vehicle.

[0087] Optionally, the device further comprises:

[0088] A protection unit is used to take protection measures for the gas engine after determining that the gas engine of the vehicle has detonated.

[0089] Optionally, the device further comprises:

[0090] a third determination unit, configured to determine that no knock occurs in the gas engine of the vehicle when the voltage signal is not greater than the first voltage signal;

[0091] A fourth determination unit is used to determine that knock occurs in the gas engine of the vehicle when the voltage signal is not less than the second voltage signal.

[0092] In summary, when the voltage signal cannot accurately determine whether knock occurs, this solution can accurately determine it by combining acceleration, thereby improving the accuracy and timeliness of knock determination and facilitating timely protection of the gas engine.

[0093] In another aspect, the present application provides a computer device, referring to Figure 4 , which is a structural diagram of a computer device provided in an embodiment of the present application, wherein the computer device includes a processor 310 and a memory 320:

[0094] The memory 320 is used to store program codes and transmit the program codes to the processor 310;

[0095] The processor 310 is used to execute the method provided in the above embodiment according to the instructions in the program code.

[0096] The computer device may include a terminal device or a server, and the aforementioned apparatus may be configured in the computer device.

[0097] On the other hand, an embodiment of the present application further provides a storage medium, wherein the storage medium is used to store a computer program, and the computer program is used to execute the method provided by the above embodiment.

[0098] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by program instruction hardware, and the above program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the above storage medium can be at least one of the following media: read-only memory (English: Read-only Memory, abbreviated: ROM), RAM, magnetic disk or optical disk, etc. Various media that can store program codes.

[0099] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0100] The above is only a preferred implementation of the present application. Although the present application has been disclosed as a preferred embodiment, it is not intended to limit the present application. Any technician familiar with the art can use the above disclosed methods and technical contents to make many possible changes and modifications to the technical solution of the present application without departing from the scope of the technical solution of the present application, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still falls within the scope of protection of the technical solution of the present application.

Claims

1. A knock determination method, characterized in that: include: Acquiring boundary conditions of the vehicle; the boundary conditions include the throttle signal and driving conditions of the vehicle within a target time period; When the boundary condition satisfies the knock judgment condition, it is judged whether the voltage signal of the gas engine obtained by the knock sensor is greater than the first voltage signal and less than the second voltage signal; the knock judgment condition includes that the fluctuation range of the throttle signal is within the preset fluctuation range, and the driving condition is not in a downhill condition, the first voltage signal is the maximum voltage signal corresponding to the gas engine of the vehicle not having knock, and the second voltage signal is the minimum voltage signal corresponding to the gas engine of the vehicle having knock; If yes, determining the acceleration of the vehicle based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment; The first moment is earlier than the second moment; If the acceleration is a positive value, it is determined that the gas engine of the vehicle is knocking.

2. The method according to claim 1, characterized in that Determining an acceleration of the vehicle based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment, includes: Determine a plurality of accelerations of the vehicle over a period of time; each acceleration being calculated based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment; If the acceleration is a positive value, determining that the gas engine of the vehicle has knocked, comprises: If a preset number of the accelerations are all positive, it is determined that knock occurs in the gas engine of the vehicle.

3. The method according to claim 1 or 2, characterized in that: The boundary condition also includes a voltage signal collected by the knock sensor and a vehicle speed signal of the vehicle within the target time period; The knock determination condition also includes that the voltage signal, the vehicle speed signal and the throttle signal are not abnormal.

4. The method according to claim 1, characterized in that: If the acceleration is a positive value, determining that the gas engine of the vehicle has knocked, comprises: If the acceleration is greater than zero and less than a preset acceleration, determining that a mild knock occurs in the gas engine of the vehicle; If the acceleration is not less than the preset acceleration, it is determined that severe knock occurs in the gas engine of the vehicle.

5. The method according to claim 1, characterized in that The method further comprises: After determining that the gas engine of the vehicle has detonated, protective measures are taken for the gas engine.

6. The method according to claim 1, characterized in that The method further comprises: When the voltage signal is not greater than the first voltage signal, determining that the gas engine of the vehicle does not detonate; When the voltage signal is not less than the second voltage signal, it is determined that knock occurs in the gas engine of the vehicle.

7. A knock determination device, characterized in that: include: An acquisition unit, used to acquire boundary conditions of the vehicle; the boundary conditions include a throttle signal and a driving condition of the vehicle within a target time period; a judgment unit, configured to judge whether a voltage signal of the gas engine acquired by the knock sensor is greater than a first voltage signal and less than a second voltage signal when the boundary condition satisfies a knock judgment condition; the knock judgment condition includes that a fluctuation range of the throttle signal is within a preset fluctuation range, and the driving condition is not in a downhill condition, the first voltage signal is a maximum voltage signal corresponding to no knock of the gas engine of the vehicle, and the second voltage signal is a minimum voltage signal corresponding to knock of the gas engine of the vehicle; a first determining unit, configured to, if yes, determine the acceleration of the vehicle based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment; The first moment is earlier than the second moment; A second determination unit is configured to determine that knock occurs in the gas engine of the vehicle if the acceleration is a positive value.

8. The device according to claim 7, characterized in that The first determining unit is configured to: Determine a plurality of accelerations of the vehicle over a period of time; each acceleration being calculated based on a first speed of the vehicle at a first moment, a second speed of the vehicle at a second moment, the first moment, and the second moment; The second determining unit is configured to: If a preset number of the accelerations are all positive, it is determined that knock occurs in the gas engine of the vehicle.

9. A computer device, characterized in that: The computer device comprises a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute the method according to any one of claims 1 to 6 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 6.

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