Hydrostatic drive control device and vehicle control method

Abstract

The invention provides a hydrostatic drive control device and a vehicle control method. The hydrostatic drive control device comprises a power collection module, the power collection module is connected with a power transmission structure of the vehicle and used for collecting power of the power transmission structure to obtain power information, and the power information is used for representing power information of the power transmission structure of the vehicle under hydrostatic drive; the whole vehicle control module is connected with the power collection module and used for receiving the power information and determining the adjusting displacement of the power transmission structure according to the power information, and the adjusting displacement comprises the pump adjusting displacement and the motor adjusting displacement; and the execution module is connected with the whole vehicle control module and used for receiving the adjustment displacement and controlling a power transmission structure based on the adjustment displacement so as to be matched with the optimal transmission amount in the vehicle control process, and the technical problems that an engine is reversely dragged and the hydrostatic driving efficiency is reduced are solved.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular to a hydrostatic drive control device and a vehicle control method. Background Art

[0002] Hydrostatic transmission uses hydraulic oil to directly transmit power, and its main components are: electric proportional hydraulic pump, electric proportional hydraulic motor, gearbox and control device, etc. At present, construction machinery using hydrostatic transmission technology is usually equipped with two to three gears, and the defects of its control method include: the acceleration process is unstable due to the engine speed, the mismatch between the system flow and the motor speed causes frustration, the deceleration process is too small to cause the engine to drag back, the low gear has a large traction force, the high gear has a high speed, and the driving speed mismatch causes driving shock.

[0003] Therefore, the use of the hydrostatic driving method in the prior art inevitably leads to the technical problems of engine back-drag and reduced hydrostatic driving efficiency. Summary of the invention

[0004] In view of this, the present application provides a hydrostatic drive control device and a vehicle control method, which solve the technical problems of engine back-drag and reduced hydrostatic drive efficiency.

[0005] As a first aspect of the present application, the present application provides a hydrostatic drive control device, comprising: a power acquisition module, the power acquisition module is connected to the power transmission structure of the vehicle, and is used to acquire the power of the power transmission structure to obtain power information, and the power information is used to characterize the power information of the power transmission structure of the vehicle under hydrostatic drive; a vehicle control module, the vehicle control module is connected to the power acquisition module, and is used to receive the power information, and determine the adjustment displacement of the power transmission structure according to the power information, wherein the adjustment displacement includes the pump adjustment displacement and the motor adjustment displacement; an execution module, the execution module is connected to the vehicle control module, and is used to receive the adjustment displacement, and control the power transmission structure based on the adjustment displacement to match the optimal transmission amount during the vehicle control process.

[0006] In a possible implementation of the present application, the power acquisition module includes: an engine speed sensor, a hydraulic motor speed sensor and an axle speed sensor, wherein the engine speed sensor is connected to the engine, and is used to collect the speed information of the engine to obtain the engine speed information; the hydraulic motor speed sensor is connected to the electric proportional hydraulic motor, and is used to collect the speed information of the electric proportional hydraulic motor to obtain the hydraulic motor speed information; the axle speed sensor is connected to the axle, and is used to collect the speed information of the axle to obtain the axle speed information.

[0007] In a possible implementation of the present application, the power transmission structure includes at least an electric proportional hydraulic pump and an electric proportional hydraulic motor of the vehicle, and the execution module is also used to: in response to receiving a pump-adjusted displacement, control the electric proportional hydraulic pump based on the pump-adjusted displacement; in response to receiving a motor-adjusted displacement, control the electric proportional hydraulic motor based on the motor-adjusted displacement.

[0008] As a second aspect of the present application, the present application also provides a vehicle control method, including: collecting power of a vehicle power transmission structure to obtain power information of the vehicle, the power information being used to characterize the power information of the vehicle's power transmission structure under hydrostatic drive; determining an adjustment displacement of the power transmission structure based on the power information, wherein the adjustment displacement includes a motor adjustment displacement of a pump adjustment displacement; and controlling the power transmission structure based on the adjustment displacement to match the optimal transmission amount during vehicle control.

[0009] In a possible implementation of the present application, the power information includes at least an accelerator pedal opening value, an actual motor speed value, and an actual engine speed value. According to the power information, the adjustment displacement of the power transmission structure is determined, including: obtaining an expected motor speed value of the vehicle, wherein the expected motor speed value is obtained by multiplying the maximum motor speed value and the accelerator pedal opening value; if the expected motor speed value is greater than the actual motor speed value, determining a first required motor speed of the vehicle, wherein the first required motor speed is determined by adding the actual motor speed value to the preset adjustment motor speed value and obtaining a sum value, and the actual motor speed value is obtained by the hydraulic motor speed sensor to the electric The speed information of the proportional hydraulic motor is collected; if the first required motor speed is greater than the preset motor speed, the first pump adjustment displacement and the first motor adjustment displacement are determined, wherein the preset motor speed is used to characterize the quotient obtained by dividing the maximum delivery flow of the electric proportional hydraulic pump by the maximum displacement of the motor, and the maximum delivery flow is determined by multiplying the actual engine speed value by the product of the maximum displacement of the pump, and the actual engine speed value is obtained by collecting the engine speed information through the engine speed sensor; based on the first pump adjustment displacement, the vehicle's electric proportional hydraulic pump is controlled, and based on the first motor adjustment displacement, the vehicle's electric proportional hydraulic pump is controlled to accelerate the vehicle.

[0010] In a possible implementation of the present application, if the first required motor speed is greater than the preset motor speed, the first pump regulated displacement and the first motor regulated displacement are determined, including: determining the maximum pump displacement as the first pump regulated displacement; obtaining the quotient obtained by dividing the maximum delivery flow by the first required motor speed, and determining the quotient as the first motor regulated displacement.

[0011] In a possible implementation of the present application, the method also includes: if the expected motor speed value is not greater than the actual motor speed value, determining the second required motor speed of the vehicle, wherein the second required motor speed is determined by subtracting the preset adjustment motor speed value from the actual motor speed value; if the second required motor speed is not greater than the preset motor speed, determining the second pump adjustment displacement and the second motor adjustment displacement; wherein the second pump adjustment displacement is obtained by multiplying the second required motor speed by the maximum motor displacement to obtain the product, and is determined based on the quotient obtained by dividing the product by the actual engine speed value; the second motor adjustment displacement is determined by the maximum motor displacement; based on the second pump adjustment displacement, the vehicle's electric proportional hydraulic pump is controlled, and based on the second motor adjustment displacement, the vehicle's electric proportional hydraulic pump is controlled to decelerate the vehicle.

[0012] In a possible implementation of the present application, the power information also includes an actual axle speed value, and the adjustment displacement of the power transmission structure is determined based on the power information, and also includes: in response to receiving a shift request from the vehicle, switching the current gear of the vehicle to a neutral state, and obtaining a third required motor speed, wherein the third required motor speed is represented by the product of the actual axle speed value multiplied by the requested gear ratio, and the actual axle speed value is obtained by collecting the axle speed information through the axle speed sensor, and the shift request includes a target requested gear; if the third required motor speed is greater than the preset motor speed, determining the third pump adjustment displacement and the third motor adjustment displacement, wherein the third pump adjustment displacement It is determined by the maximum displacement of the pump, and the adjustable displacement of the third motor is determined by the quotient obtained by dividing the maximum delivery flow of the electric proportional hydraulic pump by the third required motor speed; it is determined whether the absolute value of the difference obtained by subtracting the third required motor speed from the actual motor speed value is less than the preset allowable speed difference for gear shifting; if the absolute value of the difference is less than the preset allowable speed difference for gear shifting, the vehicle is controlled to accelerate or decelerate after the neutral state of the vehicle is switched to the target requested gear; if the absolute value of the difference is not less than the preset allowable speed difference for gear shifting, the vehicle is controlled to accelerate or decelerate; if the absolute value of the difference is not less than the preset allowable speed difference for gear shifting, the vehicle is jumped back to re-acquire the nth required motor speed and execute subsequent steps until the absolute value of the difference obtained by subtracting the nth required motor speed from the actual motor speed value is less than the preset allowable speed difference for gear shifting.

[0013] In a possible implementation of the present application, the method also includes: if the third required motor speed is not greater than the preset motor speed, determining the fourth pump adjustment displacement and the fourth motor adjustment displacement, wherein: the maximum fluid flow of the electric proportional hydraulic motor is obtained according to the product of the third required motor speed and the maximum displacement of the motor; the quotient obtained by dividing the maximum fluid flow by the actual engine speed value is obtained, and the quotient is determined as the fourth pump adjustment displacement; the maximum displacement of the motor is determined as the fourth motor adjustment displacement.

[0014] As a third aspect of the present application, the present application further provides a mechanical vehicle, the mechanical vehicle comprising any one of the above-mentioned hydrostatic drive control devices, and the hydrostatic drive control device is used to execute any one of the above-mentioned vehicle control methods.

[0015] As a fourth aspect of the present application, the present application also provides a computer-readable storage medium, the storage medium stores a computer program, and the computer program is used to execute any one of the above-mentioned vehicle control methods.

[0016] The hydrostatic drive control device provided by the present application includes: a power acquisition module, which is connected to the power transmission structure of the vehicle and is used to collect the power of the power transmission structure to obtain power information, and the power information is used to characterize the power information of the power transmission structure of the vehicle under hydrostatic drive; a vehicle control module, which is connected to the power acquisition module and is used to receive the power information, and determine the adjustment displacement of the power transmission structure according to the power information, wherein the adjustment displacement includes the pump adjustment displacement and the motor adjustment displacement; an execution module, which is connected to the vehicle control module and is used to receive the adjustment displacement, and control the power transmission structure based on the adjustment displacement to match the optimal transmission amount in the vehicle control process. It is easy to notice that the vehicle control module receives the power information collected by the power acquisition module, and calculates the power information to obtain the adjustment displacement of the power transmission structure, thereby realizing the control of the power transmission structure based on the adjustment displacement to match the optimal transmission amount in the vehicle control process. Since the adjusted displacement is obtained by calculating the power information, the adjusted displacement of the power transmission structure under hydrostatic drive can respond to the actual vehicle speed in real time, so as to accurately match the actual vehicle speed and the adjusted displacement, thereby effectively reducing the impact of driving and the back-drag of the engine, thereby achieving the technical effect of improving the efficiency of the hydrostatic drive, thereby solving the technical problem of engine back-drag and reduced hydrostatic drive efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0018] Figure 1 Shown is a schematic diagram of a hydrostatic drive control device provided in one embodiment of the present application.

[0019] Figure 2 Shown is a schematic structural diagram of a hydrostatic drive control provided in one embodiment of the present application.

[0020] Figure 3 Shown is a flow chart of a vehicle control method provided in one embodiment of the present application.

[0021] Figure 4 Shown is a flow chart of vehicle acceleration and deceleration control provided by an embodiment of the present application.

[0022] Figure 5 The figure is a control flow chart of a vehicle shifting process provided by an embodiment of the present application.

[0023] Figure 6 Shown is a device block diagram of a mechanical vehicle provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically limited. In the embodiment of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom ...) are only used to explain the relative position relationship, motion conditions, etc. between the components under a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their deformations are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units are not limited to the steps or units listed, but optionally also include the steps or units not listed, or optionally also include other steps or units inherent to these processes, methods, products or equipment.

[0025] In addition, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0026] Exemplary Devices

[0027] As a first aspect of the present application, the present application provides a hydrostatic drive control device, Figure 1 FIG. 1 is a schematic diagram of a hydrostatic drive control device provided by an embodiment of the present application. Figure 1 As shown, the control device includes:

[0028] A power collection module 101, which is connected to a power transmission structure 104 of the vehicle and is used to collect power from the power transmission structure to obtain power information, where the power information is used to characterize the power information of the power transmission structure of the vehicle under hydrostatic drive;

[0029] Specifically, the above-mentioned power information can be used to represent the information collected by the vehicle under hydrostatic drive. For example, the above-mentioned power information includes but is not limited to the accelerator pedal opening value, the actual motor speed value, the actual engine speed value and the actual axle speed value.

[0030] The above-mentioned power transmission structure at least includes the vehicle's engine, electric proportional hydraulic pump, electric proportional hydraulic motor and axle and other structures.

[0031] The power acquisition module at least includes an engine speed sensor for acquiring the speed of the engine, a hydraulic motor speed sensor for acquiring the speed of the electric proportional hydraulic motor, and an axle speed sensor for acquiring the speed of the axle.

[0032] Applied to the embodiment of the present application, during the hydrostatic drive control of the vehicle, the power of the power transmission structure connected thereto can be collected through the power collection module to obtain power information, wherein the power information includes but is not limited to the above-mentioned accelerator pedal opening value, actual motor speed value, actual engine speed value, and actual axle speed value, etc., to facilitate subsequent processing of the power information.

[0033] The vehicle control module 102 is connected to the power acquisition module and is used to receive power information and determine the adjustment displacement of the power transmission structure according to the power information, wherein the adjustment displacement includes the pump adjustment displacement and the motor adjustment displacement;

[0034] Specifically, the above-mentioned adjustment displacement can be used to adjust the displacement of the electric proportional hydraulic cylinder and the electric proportional hydraulic motor of the vehicle under hydrostatic drive.

[0035] Generally, for an electric proportional hydraulic pump, the electric proportional current is linearly related to the pump displacement. The displacement of the hydraulic pump is controlled by adjusting the current of the electric proportional valve. The smaller the current, the smaller the displacement, and the larger the current, the larger the displacement. The hydraulic pump is usually powered by an engine.

[0036] For electric proportional hydraulic motors, the electric proportional current is linearly related to the motor displacement. The displacement of the hydraulic motor can be controlled by adjusting the current of the electric proportional valve. The smaller the current, the larger the displacement, and the larger the current, the smaller the displacement. The hydraulic motor is usually connected to the drive unit to provide power for the drive axle.

[0037] The above-mentioned vehicle control module has a built-in control program, and its control program can achieve: calculating the received power information to obtain the adjustment displacement of the power transmission structure, specifically, the pump adjustment displacement of the electric proportional hydraulic pump and the motor adjustment displacement of the electric proportional hydraulic motor.

[0038] In an optional embodiment, the vehicle control module is connected to the power acquisition module so that after the power acquisition module acquires the power information, the vehicle control module receives the above power information and processes the received power information based on the built-in control program to obtain the adjustment displacement of the power transmission structure, and then directly control the electric proportional hydraulic pump and the electric proportional hydraulic motor to realize the adjustment of the pump displacement and the motor displacement.

[0039] The execution module 103 is connected to the vehicle control module and is used to receive the adjusted displacement and control the power transmission structure based on the adjusted displacement to match the optimal transmission amount in the vehicle control process.

[0040] Specifically, by setting up an execution module to be connected with the vehicle control module, that is, after the execution module receives the adjusted displacement sent by the vehicle control module, the power transmission mechanism can be controlled based on the received adjusted displacement, that is, the displacement of the electric proportional hydraulic pump is adjusted by the pump adjusting displacement, and the displacement of the electric proportional hydraulic motor is adjusted by the motor adjusting displacement, so that the displacement of the adjusted electric proportional hydraulic pump and the electric proportional hydraulic motor matches the optimal transmission amount in the vehicle control process.

[0041] For example, during the hydrostatic driving of the vehicle, if the vehicle needs to accelerate, after the driver steps on the accelerator pedal, the accelerator pedal opening can be obtained, and multiple power information collected by the power acquisition module can be obtained at the same time. By calculating the collected accelerator pedal opening and power information, the adjusted displacement of the power transmission structure can be obtained. The adjusted displacement is used to respond to the vehicle speed after the driver steps on the accelerator pedal, that is, by collecting the real-time speed of the vehicle and responding quickly to the real-time speed, the displacement of the electric proportional hydraulic pump and the electric proportional hydraulic motor after acceleration can be obtained, thereby achieving accurate matching of the actual vehicle speed and the adjusted displacement during the vehicle driving process, thereby effectively reducing the impact of driving and the back-drag of the engine.

[0042] Figure 2 FIG. 1 is a schematic diagram of a structure of a hydrostatic drive control system according to an embodiment of the present application. Figure 2 As shown, the hydrostatic drive control structure includes the following:

[0043] Accelerator pedal, vehicle controller, shift handle, engine speed sensor, hydraulic motor speed sensor, axle speed sensor, engine, electric proportional hydraulic pump, electric proportional hydraulic motor, multi-speed gearbox and axle.

[0044] Specifically, the vehicle controller receives the signal of the accelerator pedal and obtains the accelerator pedal opening. At the same time, the vehicle controller receives the actual engine speed value collected by the engine speed sensor, receives the actual motor speed value collected by the hydraulic motor speed sensor, and receives the actual axle speed value collected by the axle speed sensor. The vehicle controller calculates the received accelerator pedal opening, actual engine speed value, actual motor speed value, and actual axle speed value through a built-in control algorithm, and can obtain the adjusted displacement of the power transmission structure, wherein the adjusted displacement includes the pump adjusted displacement and the motor adjusted displacement, and then the electric proportional hydraulic pump is adjusted based on the pump adjusted displacement, and the electric proportional hydraulic motor is adjusted based on the motor adjusted displacement, so as to achieve accurate matching of the actual vehicle speed and the adjusted displacement during the vehicle driving process, thereby effectively reducing the impact of driving and the engine.

[0045] In addition, based on Figure 2 As shown, the vehicle controller can also receive the signal of the shift handle to obtain the target requested gear. After receiving the shift request, the received accelerator pedal opening, actual engine speed value, actual motor speed value and actual axle speed value can be calculated through the built-in control algorithm to obtain the adjusted displacement of the power transmission structure, and then based on the actual motor speed value obtained after adjusting the electric proportional hydraulic pump and the electric proportional hydraulic motor by the adjusted displacement, the vehicle controller determines whether the shift request is allowed according to the actual motor speed value, and sends a shift permission signal to the multi-speed transmission if allowed. After receiving the shift permission signal, the multi-speed transmission switches the current gear to the target requested gear, so as to match the optimal motor speed during the vehicle shifting process.

[0046] The hydrostatic drive control device provided by the present application includes: a power acquisition module, which is connected to the power transmission structure of the vehicle and is used to collect the power of the power transmission structure to obtain power information, and the power information is used to characterize the power information of the power transmission structure of the vehicle under hydrostatic drive; a vehicle control module, which is connected to the power acquisition module and is used to receive the power information, and determine the adjustment displacement of the power transmission structure according to the power information, wherein the adjustment displacement includes the pump adjustment displacement and the motor adjustment displacement; an execution module, which is connected to the vehicle control module and is used to receive the adjustment displacement, and control the power transmission structure based on the adjustment displacement to match the optimal transmission amount in the vehicle control process. It is easy to notice that the vehicle control module receives the power information collected by the power acquisition module, and calculates the power information to obtain the adjustment displacement of the power transmission structure, thereby realizing the control of the power transmission structure based on the adjustment displacement to match the optimal transmission amount in the vehicle control process. Since the adjusted displacement is obtained by calculating the power information, the adjusted displacement of the power transmission structure under hydrostatic drive can respond to the actual vehicle speed in real time, so as to accurately match the actual vehicle speed and the adjusted displacement, thereby effectively reducing the impact of driving and the back-drag of the engine, thereby achieving the technical effect of improving the efficiency of the hydrostatic drive, thereby solving the technical problem of engine back-drag and reduced hydrostatic drive efficiency.

[0047] In a possible implementation of the present application, the power acquisition module includes: an engine speed sensor, a hydraulic motor speed sensor and an axle speed sensor, wherein the engine speed sensor is connected to the engine, and is used to collect the speed information of the engine to obtain the engine speed information; the hydraulic motor speed sensor is connected to the electric proportional hydraulic motor, and is used to collect the speed information of the electric proportional hydraulic motor to obtain the hydraulic motor speed information; the axle speed sensor is connected to the axle, and is used to collect the speed information of the axle to obtain the axle speed information.

[0048] Specifically, if Figure 2 As shown, the engine speed sensor is connected to the engine, and can collect the speed information of the engine to obtain the engine speed information; the hydraulic motor speed sensor is connected to the electric proportional hydraulic motor, and can collect the speed information of the electric proportional hydraulic motor to obtain the hydraulic motor speed information; the axle speed sensor is connected to the axle, and can collect the speed information of the axle to obtain the axle speed information.

[0049] In a possible implementation of the present application, the power transmission structure includes at least an electric proportional hydraulic pump and an electric proportional hydraulic motor of the vehicle, and the execution module is also used to: in response to receiving a pump-adjusted displacement, control the electric proportional hydraulic pump based on the pump-adjusted displacement; in response to receiving a motor-adjusted displacement, control the electric proportional hydraulic motor based on the motor-adjusted displacement.

[0050] Specifically, since the adjustable displacement includes the pump adjustable displacement and the motor adjustable displacement, in the process of controlling the power transmission structure based on the adjustable displacement, after receiving the pump adjustable displacement, the electric proportional hydraulic pump can be adjusted by the pump adjustable displacement, and after receiving the motor adjustable displacement, the electric proportional hydraulic motor can be adjusted by the motor adjustable displacement, thereby realizing the power transmission structure controlled based on the adjustable displacement.

[0051] Exemplary Methods

[0052] As a second aspect of the present application, the present application also provides a vehicle control method. Figure 3 FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 3 As shown, the method includes:

[0053] S301, collecting power of a power transmission structure of a vehicle to obtain power information of the vehicle, where the power information is used to characterize power information of the power transmission structure of the vehicle under hydrostatic drive;

[0054] Specifically, hydrostatic transmission uses hydraulic oil to directly transmit power. Its main components are: electric proportional hydraulic pump, electric proportional hydraulic motor, gearbox and control device.

[0055] Applied to the embodiments of the present application, during the process of performing hydrostatic control on the vehicle, the power of the vehicle's power transmission structure can be collected, that is, the power of the power transmission structure such as the engine, the electric proportional hydraulic motor and the axle can be collected to obtain the vehicle's power information. The vehicle's power information includes but is not limited to the accelerator pedal opening value, the actual motor speed value, the actual engine speed value and the actual axle speed value.

[0056] Specifically, after the driver steps on the accelerator pedal, the above-mentioned accelerator pedal opening value can be obtained. At the same time, the engine speed can be collected through the engine speed sensor to obtain the above-mentioned actual engine speed value, the speed of the electric proportional hydraulic motor can be collected through the hydraulic motor speed sensor to obtain the above-mentioned actual motor speed value, and the speed of the axle can be collected through the axle speed sensor to obtain the above-mentioned actual axle speed value, etc.

[0057] S302, determining an adjustment displacement of the power transmission structure according to the power information, wherein the adjustment displacement includes a motor adjustment displacement of a pump adjustment displacement;

[0058] Specifically, the above-mentioned pump displacement adjustment can be used to adjust the displacement of an electric proportional hydraulic pump, and the above-mentioned motor displacement adjustment can be used to adjust the displacement of an electric proportional hydraulic motor.

[0059] In an optional embodiment, during the hydrostatic driving of the vehicle, after the driver steps on the accelerator pedal, the accelerator pedal opening can be obtained, and at the same time, multiple power information collected by the power acquisition module can be obtained. By calculating the collected accelerator pedal opening and power information, the adjusted displacement of the power transmission structure can be obtained. The adjusted displacement is used to respond to the vehicle speed after the driver steps on the accelerator pedal, that is, by collecting the real-time speed of the vehicle and quickly responding to the real-time speed, the displacement of the electric proportional hydraulic pump and the electric proportional hydraulic motor that meets the acceleration can be obtained.

[0060] S303, controlling the power transmission structure based on the adjusted displacement to match the optimal transmission amount in the vehicle control process.

[0061] Specifically, after determining the adjustment displacement of the power transmission structure, the electric proportional hydraulic pump can be adjusted based on the pump adjustment displacement, and the electric proportional hydraulic motor can be adjusted based on the motor adjustment displacement, so as to achieve precise matching of the actual vehicle speed and the adjustment displacement during the vehicle's driving process, thereby effectively reducing the impact of driving and the engine.

[0062] The vehicle control method provided in this embodiment includes: collecting the power of the vehicle power transmission structure to obtain the power information of the vehicle, the power information is used to characterize the power information of the vehicle power transmission structure under hydrostatic drive; determining the adjustment displacement of the power transmission structure according to the power information, wherein the adjustment displacement includes the motor adjustment displacement of the pump adjustment displacement; and controlling the power transmission structure based on the adjustment displacement to match the optimal transmission amount in the vehicle control process. It is easy to notice that by calculating the power information to obtain the adjustment displacement of the power transmission structure, the power transmission structure is controlled based on the adjustment displacement to match the optimal transmission amount in the vehicle control process. Since the adjustment displacement is obtained by calculating the power information, the real-time response of the adjustment displacement of the power transmission structure under hydrostatic drive to the actual vehicle speed is achieved, so as to accurately match the actual vehicle speed and the adjustment displacement, thereby effectively reducing the impact of driving and the purpose of the engine's reverse drag, thereby achieving the technical effect of improving the hydrostatic drive efficiency, thereby solving the technical problem of engine reverse drag and reduced hydrostatic drive efficiency.

[0063] In a possible implementation of the present application, the power information includes at least an accelerator pedal opening value, an actual motor speed value, and an actual engine speed value. According to the power information, the adjustment displacement of the power transmission structure is determined, including: obtaining an expected motor speed value of the vehicle, wherein the expected motor speed value is obtained by multiplying the maximum motor speed value and the accelerator pedal opening value; if the expected motor speed value is greater than the actual motor speed value, determining a first required motor speed of the vehicle, wherein the first required motor speed is determined by adding the actual motor speed value to the preset adjustment motor speed value and obtaining a sum value, and the actual motor speed value is obtained by the hydraulic motor speed sensor to the electric The speed information of the proportional hydraulic motor is collected; if the first required motor speed is greater than the preset motor speed, the first pump adjustment displacement and the first motor adjustment displacement are determined, wherein the preset motor speed is used to characterize the quotient obtained by dividing the maximum delivery flow of the electric proportional hydraulic pump by the maximum displacement of the motor, and the maximum delivery flow is determined by multiplying the actual engine speed value by the product of the maximum displacement of the pump, and the actual engine speed value is obtained by collecting the engine speed information through the engine speed sensor; based on the first pump adjustment displacement, the vehicle's electric proportional hydraulic pump is controlled, and based on the first motor adjustment displacement, the vehicle's electric proportional hydraulic pump is controlled to accelerate the vehicle.

[0064] Specifically, the above-mentioned accelerator pedal opening value can be determined by the opening degree of the accelerator pedal depressed by the driver.

[0065] The above-mentioned actual motor speed value can be determined by collecting the speed of the electric proportional hydraulic motor through the hydraulic motor sensor to obtain the speed value.

[0066] The above-mentioned actual engine speed value can be determined by collecting the engine speed through the engine speed sensor to obtain the speed value.

[0067] The above-mentioned expected motor speed value can be obtained by calculating the accelerator pedal opening value, that is, by multiplying the maximum motor speed value and the accelerator pedal opening value, the expected motor speed value can be obtained.

[0068] The above-mentioned maximum motor speed value can be used to indicate the maximum allowable speed value of the electric proportional hydraulic motor. Generally, the maximum motor speed value can be obtained through factory calibration. The maximum motor speed value is not specifically limited here and can be determined according to actual conditions.

[0069] The above-mentioned preset adjustment motor speed value can be used to represent the pre-set value for increasing or decreasing the motor speed. Generally, it can be 500 rpm or 600 rpm, etc. The preset adjustment motor speed value is not specifically limited here and can be adjusted according to actual conditions.

[0070] The above-mentioned preset motor displacement can be used to represent the product obtained by multiplying the actual engine speed value by the maximum pump displacement, and is determined by dividing the product by the maximum motor displacement.

[0071] The above-mentioned maximum pump displacement can be used to indicate the maximum displacement allowed by the electric proportional hydraulic pump. Generally, it can be obtained through factory calibration and is not specifically limited here.

[0072] The above-mentioned maximum motor displacement can be used to indicate the maximum displacement allowed by the electric proportional hydraulic motor. Generally, it can be obtained through factory calibration and is not specifically limited here.

[0073] In an optional embodiment, Figure 4 The flowchart of vehicle acceleration and deceleration control provided by an embodiment of the present application is shown. In the process of determining the adjustment displacement of the power transmission structure according to the power information, as shown in FIG. Figure 4 As shown, the expected motor speed value of the vehicle can be determined by the product of the maximum motor speed value and the accelerator pedal opening value, and then it is determined whether the expected motor speed value is greater than the actual motor speed value. If the expected motor speed value is greater than the actual motor speed value, the first required motor speed of the vehicle is determined, that is, the first required motor speed is determined by the sum of the actual motor speed value and the preset adjustment motor speed value, and then it is determined whether the first required motor speed is greater than the preset motor speed, wherein the preset motor speed can be determined by the product obtained by multiplying the actual engine speed value by the maximum pump displacement, and by the quotient obtained by dividing the product by the maximum motor displacement, that is, it is determined whether the first required motor speed is greater than the quotient obtained by multiplying the actual engine speed value by the maximum pump displacement and dividing the motor maximum displacement. If the first required motor speed is greater than the quotient obtained by multiplying the actual engine speed value by the maximum pump displacement and dividing the motor maximum displacement, the first pump adjustment displacement and the first motor adjustment displacement are determined.

[0074] Furthermore, after obtaining the first pump adjusted displacement and the first motor adjusted displacement, the vehicle's electric proportional hydraulic pump can be controlled based on the first pump adjusted displacement, and the vehicle's electric proportional hydraulic pump can be controlled based on the first motor adjusted displacement to perform acceleration control on the vehicle.

[0075] In a possible implementation of the present application, if the first required motor speed is greater than the preset motor speed, the first pump regulated displacement and the first motor regulated displacement are determined, including: determining the maximum pump displacement as the first pump regulated displacement; obtaining the quotient obtained by dividing the maximum delivery flow by the first required motor speed, and determining the quotient as the first motor regulated displacement.

[0076] Specifically, if Figure 4As shown, the above-mentioned first pump regulated displacement can be determined by the maximum displacement of the pump, and the above-mentioned first motor regulated displacement can be determined by the quotient obtained by dividing the maximum delivery flow by the first required motor speed. Since the maximum delivery flow is determined by multiplying the actual engine speed value by the product of the maximum displacement of the pump, the first motor regulated displacement can be determined by multiplying the actual engine speed value by the product of the maximum displacement of the pump and dividing the product by the first required motor speed.

[0077] In a possible implementation of the present application, the method also includes: if the expected motor speed value is not greater than the actual motor speed value, determining the second required motor speed of the vehicle, wherein the second required motor speed is determined by subtracting the preset adjustment motor speed value from the actual motor speed value; if the second required motor speed is not greater than the preset motor speed, determining the second pump adjustment displacement and the second motor adjustment displacement; wherein the second pump adjustment displacement is obtained by multiplying the second required motor speed by the maximum motor displacement to obtain the product, and is determined based on the quotient obtained by dividing the product by the actual engine speed value; the second motor adjustment displacement is determined by the maximum motor displacement; based on the second pump adjustment displacement, the vehicle's electric proportional hydraulic pump is controlled, and based on the second motor adjustment displacement, the vehicle's electric proportional hydraulic pump is controlled to decelerate the vehicle.

[0078] Specifically, if Figure 4 As shown, in the process of judging whether the expected motor speed value is greater than the actual motor speed value, if the expected motor speed value is not greater than the actual motor speed value, the second required motor speed of the vehicle can be determined, that is, the second required motor speed is determined by the difference obtained by subtracting the preset adjustment motor speed value from the actual motor speed value, and then in the process of judging whether the second required motor speed is greater than the quotient obtained by multiplying the actual engine speed value by the maximum pump displacement and dividing it by the maximum motor displacement, if the second required motor speed is not greater than the quotient obtained by multiplying the actual engine speed value by the maximum pump displacement and dividing it by the maximum motor displacement, then the second pump adjustment displacement and the second motor adjustment displacement are determined.

[0079] After obtaining the second pump adjusted displacement and the second motor adjusted displacement, the vehicle's electric proportional hydraulic pump can be controlled based on the second pump adjusted displacement, and the vehicle's electric proportional hydraulic pump can be controlled based on the second motor adjusted displacement to perform acceleration control on the vehicle.

[0080] In the process of determining the second pump adjustment displacement and the second motor adjustment displacement, if Figure 4 As shown, the second pump adjusted displacement can be determined by multiplying the second required motor speed by the maximum motor displacement and dividing the product by the actual engine speed to obtain a quotient value. The second motor adjusted displacement can be determined by the maximum motor displacement.

[0081] In a possible implementation of the present application, the power information also includes an actual axle speed value, and the adjustment displacement of the power transmission structure is determined based on the power information, and also includes: in response to receiving a shift request from the vehicle, switching the current gear of the vehicle to a neutral state, and obtaining a third required motor speed, wherein the third required motor speed is represented by the product of the actual axle speed value multiplied by the requested gear ratio, and the actual axle speed value is obtained by collecting the axle speed information through the axle speed sensor, and the shift request includes a target requested gear; if the third required motor speed is greater than the preset motor speed, determining the third pump adjustment displacement and the third motor adjustment displacement, wherein the third pump adjustment displacement It is determined by the maximum displacement of the pump, and the adjustable displacement of the third motor is determined by the quotient obtained by dividing the maximum delivery flow of the electric proportional hydraulic pump by the third required motor speed; it is determined whether the absolute value of the difference obtained by subtracting the third required motor speed from the actual motor speed value is less than the preset allowable speed difference for gear shifting; if the absolute value of the difference is less than the preset allowable speed difference for gear shifting, the vehicle is controlled to accelerate or decelerate after the neutral state of the vehicle is switched to the target requested gear; if the absolute value of the difference is not less than the preset allowable speed difference for gear shifting, the vehicle is controlled to accelerate or decelerate; if the absolute value of the difference is not less than the preset allowable speed difference for gear shifting, the vehicle is jumped back to re-acquire the nth required motor speed and execute subsequent steps until the absolute value of the difference obtained by subtracting the nth required motor speed from the actual motor speed value is less than the preset allowable speed difference for gear shifting.

[0082] Specifically, the actual axle speed value mentioned above can be determined by a speed value obtained by collecting the speed of the axle through an axle speed sensor.

[0083] The above-mentioned gear shift request can be determined by a signal generated by a gear shift handle, that is, the driver can generate a gear shift request by operating the gear shift handle, wherein the gear shift request includes a target requested gear position.

[0084] The above-mentioned requested gear ratio can be determined by the target requested gear, that is, one requested gear corresponds to one gear ratio. The requested gear ratio is not specifically limited here and can be determined by the target requested gear.

[0085] The above-mentioned preset gear shifting allowable speed difference can be used to indicate the motor speed difference allowed in the preset vehicle gear shifting process. The preset gear shifting allowable speed difference is not specifically limited here and can be adjusted according to actual conditions.

[0086] In an optional embodiment, Figure 5 The control flow chart of the vehicle shifting process provided by an embodiment of the present application is shown. In the process of determining the adjustment displacement of the power transmission structure according to the power information, as shown in FIG. Figure 5As shown, after receiving the gear shift request, the current gear of the vehicle is switched to the neutral state, and the third required motor speed is obtained, wherein the third required motor speed can be determined by multiplying the actual axle speed value by the requested gear gear ratio to obtain the product, and then determine whether the third required motor speed is greater than the preset motor speed. Since the preset motor speed is the product obtained by multiplying the actual engine speed value by the maximum pump displacement, and is determined by the quotient obtained by dividing the product by the maximum motor displacement, it is equivalent to determining whether the third required motor speed is greater than the quotient obtained by multiplying the actual engine speed value by the maximum pump displacement and dividing the quotient obtained by dividing the motor maximum displacement. If the third required motor speed is greater than the quotient obtained by multiplying the actual engine speed value by the maximum pump displacement and dividing the motor maximum displacement, then determine the third pump adjustment displacement and the third motor adjustment displacement, wherein the third pump adjustment displacement can be determined by the maximum pump displacement, and the third motor adjustment displacement is determined by multiplying the actual engine speed value by the maximum pump displacement and dividing the quotient obtained by the third required motor speed.

[0087] Then, it is determined whether the absolute value of the difference between the actual motor speed value and the third required motor speed value is less than the preset gear shift allowable speed difference. If the absolute value of the difference between the actual motor speed value and the third required motor speed value is less than the preset gear shift allowable speed difference, the gear connection is performed, that is, the vehicle's neutral state is controlled to be switched to the target requested gear, and the vehicle is accelerated or decelerated; conversely, if the absolute value of the difference between the actual motor speed value and the third required motor speed value is not less than the preset gear shift allowable speed difference, the control is switched back to re-acquire the nth required motor speed and execute subsequent steps until the absolute value of the difference between the actual motor speed value and the nth required motor speed value is less than the preset gear shift allowable speed difference.

[0088] In a possible implementation of the present application, the method also includes: if the third required motor speed is not greater than the preset motor speed, determining the fourth pump adjustment displacement and the fourth motor adjustment displacement, wherein: the maximum fluid flow of the electric proportional hydraulic motor is obtained according to the product of the third required motor speed and the maximum displacement of the motor; the quotient obtained by dividing the maximum fluid flow by the actual engine speed value is obtained, and the quotient is determined as the fourth pump adjustment displacement; the maximum displacement of the motor is determined as the fourth motor adjustment displacement.

[0089] Specifically, in the process of judging whether the third required motor speed is greater than the preset motor speed, if the third required motor speed is not greater than the preset motor speed, the fourth pump adjusted displacement and the fourth motor adjusted displacement are determined, wherein the fourth pump adjusted displacement can be determined by multiplying the third required motor speed by the maximum motor displacement and dividing the product by the actual engine speed value to obtain a quotient, and the fourth motor adjusted displacement can be determined by the maximum motor displacement.

[0090] In summary, the hydrostatic drive control device is used to achieve precise matching of actual vehicle speed and adjusted displacement during hydrostatic drive, effectively reducing driving impact and engine back-drag. At the same time, the hydrostatic drive control device can also be used to achieve gear shifting during driving. The gear shifting time only has the response time of the electric proportional hydraulic pump and the electric proportional hydraulic motor, which makes the hydrostatic drive of the vehicle smoother.

[0091] Example Vehicles

[0092] As a third aspect of the present application, the present application further provides a mechanical vehicle, the mechanical vehicle comprising any one of the above-mentioned hydrostatic drive control devices, and the hydrostatic drive control device is used to execute any one of the above-mentioned vehicle control methods.

[0093] Figure 6 Shown is a device block diagram of a mechanical vehicle provided in one embodiment of the present application.

[0094] like Figure 6 As shown, the mechanical vehicle includes one or more processors 61 and memory 62 .

[0095] The processor 61 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the forklift to perform desired functions.

[0096] The memory 62 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on a computer-readable storage medium, and a processor may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0097] In one example, the mechanical vehicle may further include an input device 63 and an output device 64 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0098] When the mechanical vehicle is a stand-alone device, the input device 63 may be a communication network connector for receiving collected input signals from the first device and the second device.

[0099] In addition, the input device 63 may also include, for example, a keyboard, a mouse, etc.

[0100] The output device 64 can output various information to the outside, including the determined distance information, direction information, etc. The output device 64 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0101] Of course, to simplify, Figure 6 Only some of the components in the mechanical vehicle related to the present application are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the mechanical vehicle may further include any other appropriate components according to specific application conditions.

[0102] Exemplary computer-readable storage media

[0103] As a fourth aspect of the present application, the present application provides a computer-readable storage medium, the storage medium storing a computer program, the computer program being used to perform the following steps:

[0104] S1, collecting power of a power transmission structure of a vehicle to obtain power information of the vehicle, where the power information is used to characterize power information of the power transmission structure of the vehicle under hydrostatic drive;

[0105] S2, determining the adjustment displacement of the power transmission structure according to the power information, wherein the adjustment displacement includes the motor adjustment displacement of the pump adjustment displacement;

[0106] S3, controlling the power transmission structure based on adjusting the displacement to match the optimal transmission quantity in the vehicle control process.

[0107] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program information, which, when executed by a processor, enables the processor to execute the steps of the vehicle control method according to various embodiments of the present application described in this specification.

[0108] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0109] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program information is stored. When the computer program information is executed by a processor, the processor executes the steps of the vehicle control method in accordance with various embodiments of the present application described in this specification.

[0110] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0111] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0112] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0113] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

Claims

1. A hydrostatic drive control device, characterized in that: include: A power collection module, the power collection module is connected to the power transmission structure of the vehicle, and is used to collect power from the power transmission structure to obtain power information, wherein the power information is used to characterize the power information of the power transmission structure of the vehicle under hydrostatic drive; A vehicle control module, the vehicle control module is connected to the power acquisition module, and is used to receive the power information and determine the adjustment displacement of the power transmission structure according to the power information, wherein the adjustment displacement includes the pump adjustment displacement and the motor adjustment displacement; An execution module is connected to the vehicle control module and is used to receive the adjustment displacement and control the power transmission structure based on the adjustment displacement to match the optimal transmission amount in the vehicle control process.

2. The hydrostatic drive control device according to claim 1, characterized in that: The power acquisition module includes: an engine speed sensor, a hydraulic motor speed sensor and an axle speed sensor, wherein: The engine speed sensor is connected to the engine and is used to collect engine speed information to obtain engine speed information; The hydraulic motor speed sensor is connected to the electric proportional hydraulic motor and is used to collect the speed information of the electric proportional hydraulic motor to obtain the speed information of the hydraulic motor; The axle speed sensor is connected to the axle and is used to collect the speed information of the axle to obtain the axle speed information.

3. The hydrostatic drive control device according to claim 1, characterized in that: The power transmission structure at least includes an electric proportional hydraulic pump and an electric proportional hydraulic motor of the vehicle, and the execution module is also used for: in response to receiving the pump adjusted displacement, controlling the electric proportional hydraulic pump based on the pump adjusted displacement; In response to receiving the motor adjusted displacement, the electric proportional hydraulic motor is controlled based on the motor adjusted displacement.

4. A vehicle control method, characterized in that: The method is applied to the hydrostatic drive control device according to any one of claims 1 to 3, and the method comprises: The power of the vehicle power transmission structure is collected to obtain power information of the vehicle, wherein the power information is used to characterize the power information of the vehicle power transmission structure under hydrostatic drive; Determining, according to the power information, an adjustment displacement of the power transmission structure, wherein the adjustment displacement includes a motor adjustment displacement of a pump adjustment displacement; The power transmission structure is controlled based on the adjusted displacement to match the optimal transmission amount during vehicle control.

5. The vehicle control method according to claim 4, characterized in that: The power information at least includes an accelerator pedal opening value, an actual motor speed value, and an actual engine speed value. According to the power information, determining the adjustment displacement of the power transmission structure includes: Acquiring an expected motor speed value of the vehicle, wherein the expected motor speed value is calculated by multiplying the maximum motor speed value and the accelerator pedal opening value; If the expected motor speed value is greater than the actual motor speed value, determining a first required motor speed of the vehicle, wherein the first required motor speed is determined by adding the actual motor speed value to a preset adjusted motor speed value, and the actual motor speed value is obtained by collecting speed information of an electric proportional hydraulic motor through a hydraulic motor speed sensor; If the first required motor speed is greater than a preset motor speed, determining a first pump adjustment displacement and a first motor adjustment displacement, wherein the preset motor speed is used to characterize a quotient obtained by dividing a maximum delivery flow of the electric proportional hydraulic pump by a maximum motor displacement, and the maximum delivery flow is determined by multiplying the actual engine speed value by the maximum pump displacement, and the actual engine speed value is obtained by collecting engine speed information through an engine speed sensor; The electric proportional hydraulic pump of the vehicle is controlled by adjusting the displacement of the first pump, and the electric proportional hydraulic pump of the vehicle is controlled by adjusting the displacement of the first motor to accelerate the vehicle.

6. The vehicle control method according to claim 5, characterized in that: If the first required motor speed is greater than a preset motor speed, determining a first pump adjustment displacement and a first motor adjustment displacement includes: determining the maximum displacement of the pump as the adjusted displacement of the first pump; A quotient obtained by dividing the maximum delivery flow rate by the first required motor speed is obtained, and the quotient is determined as the first motor adjustment displacement.

7. The vehicle control method according to claim 5, characterized in that: The method further comprises: If the expected motor speed value is not greater than the actual motor speed value, determining a second required motor speed of the vehicle, wherein the second required motor speed is determined by subtracting the preset adjusted motor speed value from the actual motor speed value; If the second required motor speed is not greater than the preset motor speed, determining a second pump adjusted displacement and a second motor adjusted displacement; The second pump adjustment displacement is determined based on a quotient obtained by multiplying the second required motor speed by the maximum motor displacement and dividing the product by the actual engine speed; the second motor adjustment displacement is determined by the maximum motor displacement; The electric proportional hydraulic pump of the vehicle is controlled based on the displacement adjustment of the second pump, and the electric proportional hydraulic pump of the vehicle is controlled based on the displacement adjustment of the second motor to decelerate the vehicle.

8. The vehicle control method according to claim 5, characterized in that: The power information also includes an actual axle speed value, and determining the adjustment displacement of the power transmission structure according to the power information also includes: In response to receiving a gear shift request from the vehicle, the current gear of the vehicle is switched to a neutral state, and a third required motor speed is obtained, wherein the third required motor speed is represented by a product of the actual axle speed value multiplied by the gear ratio of the requested gear, the actual axle speed value is obtained by collecting axle speed information through an axle speed sensor, and the gear shift request includes a target requested gear; If the third required motor speed is greater than the preset motor speed, determining the third pump adjustment displacement and the third motor adjustment displacement, wherein the third pump adjustment displacement is determined by the maximum pump displacement, and the third motor adjustment displacement is determined by the quotient obtained by dividing the maximum delivery flow of the electric proportional hydraulic pump by the third required motor speed; Determining whether an absolute value of a difference between an actual motor speed value and a third required motor speed value is less than a preset shifting allowable speed difference; If the absolute value of the difference is less than the preset shifting allowable speed difference, controlling the neutral state of the vehicle to be switched to the target requested gear position, and then performing acceleration and deceleration control on the vehicle; If the absolute value of the difference is not less than the preset gear shift allowable speed difference, jump back to re-acquire the nth required motor speed and execute subsequent steps until the absolute value of the difference obtained by subtracting the nth required motor speed from the actual motor speed value is less than the preset gear shift allowable speed difference.

9. The vehicle control method according to claim 8, characterized in that: The method further comprises: If the third required motor speed is not greater than the preset motor speed, the fourth pump adjustment displacement and the fourth motor adjustment displacement are determined, wherein: Obtaining a maximum fluid flow rate of the electric proportional hydraulic motor according to a product obtained by multiplying the third required motor speed by the maximum motor displacement; Obtaining a quotient obtained by dividing the maximum fluid flow rate by an actual engine speed value, and determining the quotient as the fourth pump adjusted displacement; The maximum motor displacement is determined as the fourth motor adjusted displacement.

10. A mechanical vehicle, comprising the hydrostatic drive control device according to any one of claims 1 to 3, and the hydrostatic drive control device is used to execute the vehicle control method according to any one of claims 4 to 9.

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