Valve body control method and device, vehicle, medium and product

Abstract

The invention discloses a valve body control method and device, an electronic device, a vehicle, a computer readable storage medium and a computer program product, and the method comprises the steps: obtaining the request pressure of a valve body action object, and determining the control current of a vehicle valve body according to the request pressure, and the control current is updated according to the request pressure and the current pressure of the valve body acting object. Thus, under the condition that the control current of the vehicle valve body is determined, the control current of the vehicle valve body can be updated based on the current pressure of the valve body acting object and the request pressure of the valve body acting object, so that the control current of the vehicle valve body can be adjusted through the pressure effect corresponding to the valve body acting object; therefore, it can be guaranteed that the current pressure of the valve body acting object approaches or is equal to the request pressure, the control precision of the vehicle valve body and the actual working effect of the valve body acting object can be guaranteed, the accuracy of pressure control in the vehicle can be guaranteed, and then stable operation of the vehicle and the driving experience of a user can be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of valve body control technology, and in particular to a valve body control method, a control device, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product. Background Art

[0002] In the related art, one of the important functions of the vehicle EHS (Electronic Hybrid System) is pressure control. For example, as one of the key modules for realizing series-parallel switching in hybrid vehicles, the hydraulic module of EHS can realize the pressure change of the hydraulic system by controlling the valve body, thereby controlling the power transmission of the whole vehicle. It can be understood that the control accuracy of the valve body such as the solenoid valve directly affects the smooth operation and driving performance of the whole vehicle. However, the valve body control in the related art usually adopts a simple open-loop control method. If the pressure and current characteristics of the valve body change, it will cause the control effect to be greatly different from the expectation, which will ultimately affect the performance of the whole vehicle and the user's driving experience. Summary of the invention

[0003] The present application provides a valve body control method, a control device, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product.

[0004] The present application provides a valve body control method including:

[0005] Get the requested pressure of the valve body's action object;

[0006] determining a control current of a vehicle valve body according to the requested pressure;

[0007] The control current is updated according to the requested pressure and the current pressure of the object on which the valve body acts.

[0008] In this way, in the implementation mode of the present application, when the control current of the vehicle valve body is determined, the control current of the vehicle valve body can be updated based on the current pressure of the valve body's action object when the vehicle valve body is working with the control current, and the requested pressure of the valve body's action object previously acquired, so that the control current of the vehicle valve body can be adjusted by the pressure effect corresponding to the valve body's action object, thereby ensuring that the current pressure of the valve body's action object approaches or is equal to the requested pressure, and the control accuracy of the vehicle valve body and the actual working effect of the valve body's action object can be guaranteed, thereby ensuring the accuracy of the pressure control in the vehicle, and thus ensuring the stable operation of the vehicle and the user's driving experience.

[0009] In certain embodiments of the present application, determining the control current of the vehicle valve body according to the requested pressure includes:

[0010] The control current is determined according to the requested pressure and predetermined pressure-current mapping data.

[0011] As such, in the embodiment of the present application, the control current corresponding to the requested pressure can be determined by using the predetermined pressure-current mapping data, so that the control current can be determined efficiently.

[0012] In certain embodiments of the present application, the method further comprises:

[0013] The pressure-current mapping data is determined according to a first pressure of an object acted upon by the valve body when the vehicle valve body operates at a first preset current.

[0014] Thus, in the embodiment of the present application, the pressure-current mapping data may be determined according to the first pressure of the object acted upon by the valve body when the vehicle valve body operates at the first preset current.

[0015] In certain embodiments of the present application, the method further comprises:

[0016] The pressure-current mapping data is updated.

[0017] Thus, in the embodiment of the present application, the pressure-current mapping data can be updated to ensure the validity and reliability of the pressure-current mapping data.

[0018] In certain embodiments of the present application, updating the pressure-current mapping data includes:

[0019] When the pressure difference between the requested pressure and the current pressure is greater than a difference threshold, and / or the change in the control current before and after the update is greater than a preset amount, the pressure-current mapping data is updated.

[0020] Thus, in an embodiment of the present application, the pressure-current mapping data can be updated when the pressure difference between the requested pressure and the current pressure is greater than the difference threshold, and / or the change in the control current before and after the update is greater than a preset amount, thereby ensuring the effective update of the pressure-current mapping data.

[0021] In some embodiments of the present application, the pressure-current mapping data includes a plurality of second preset currents and a second pressure corresponding to each of the second preset currents, and updating the pressure-current mapping data includes:

[0022] Determine a control characteristic fitting function of the vehicle valve body according to a third pressure of the object acted upon by the valve body when the vehicle valve body operates at a third preset current at multiple moments, wherein the control characteristic fitting function is used to indicate a corresponding relationship between the operating current of the vehicle valve body and the pressure generated by the object acted upon by the valve body;

[0023] determining a simulated pressure corresponding to the second preset current according to the control characteristic fitting function and the third preset current;

[0024] The second pressure corresponding to the second preset current is updated according to the simulated pressure corresponding to the second preset current.

[0025] Thus, in the embodiment of the present application, the control characteristic fitting function of the vehicle valve body can be determined according to the third pressure of the valve body's action object when the vehicle valve body operates with a third preset current at multiple moments, and the simulated pressure corresponding to the second preset current can be determined according to the control characteristic fitting function and the third preset current, and the second pressure corresponding to the second preset current can be updated according to the simulated pressure corresponding to the second preset current, thereby realizing the update of the pressure-current mapping data.

[0026] In certain embodiments of the present application, determining the control characteristic fitting function of the vehicle valve body according to the third pressure of the valve body acting object when the vehicle valve body works at a third preset current at multiple moments includes:

[0027] Preprocessing the third preset current and the third pressure to determine a processed third preset current and a processed third pressure, wherein the preprocessing includes filtering processing and / or sliding average processing;

[0028] The control characteristic fitting function is determined according to the processed third preset current and the processed third pressure.

[0029] Thus, in the embodiment of the present application, the third preset current and the third pressure can be preprocessed to determine the third preset current and the third pressure after processing, and the control characteristic fitting function can be determined according to the third preset current and the third pressure after processing, so that the control characteristic fitting function can obtain reliable data support, thereby ensuring the accuracy and effectiveness of the control characteristic fitting function.

[0030] In certain embodiments of the present application, updating the pressure-current mapping data includes:

[0031] The second pressure corresponding to the target second preset current is updated to the processed third pressure corresponding to the target processed third preset current, wherein the target second preset current and the target processed third preset current are the closest second preset current and processed third preset current to each of the second preset current and each of the processed third preset current.

[0032] Thus, in the embodiment of the present application, the second pressure corresponding to the target second preset current can be updated to the processed third pressure corresponding to the target processed third preset current.

[0033] In certain embodiments of the present application, determining the control characteristic fitting function according to the processed third preset current and the processed third pressure includes:

[0034] Determining the parameters to be solved in the control characteristic fitting function according to the processed third pressure;

[0035] constructing a calculation matrix for solving the parameter to be solved according to the processed third pressure, the second preset current, and the second pressure;

[0036] The control characteristic fitting function is constructed according to the solution result of the calculation matrix.

[0037] Thus, in the implementation mode of the present application, the parameters to be solved in the control characteristic fitting function can be determined according to the processed third pressure, and a calculation matrix for solving the parameters to be solved can be constructed according to the processed third pressure, the second preset current, and the second pressure, and a control characteristic fitting function can be constructed according to the solution result of the calculation matrix.

[0038] In certain embodiments of the present application, determining the control current of the vehicle valve body according to the requested pressure includes:

[0039] When the requested pressure is greater than or equal to a preset pressure threshold, the control current is determined according to the requested pressure.

[0040] As such, in the embodiment of the present application, the control current may be determined according to the requested pressure when the requested pressure is greater than or equal to the preset pressure threshold, thereby ensuring robust control of the vehicle valve body.

[0041] In certain embodiments of the present application, updating the control current according to the requested pressure and the current pressure of the object on which the valve body acts includes:

[0042] When the pressure difference between the requested pressure and the current pressure is greater than a preset difference threshold, the control current is updated.

[0043] Thus, in the embodiment of the present application, the control current can be updated when the pressure difference between the requested pressure and the current pressure is greater than the preset difference threshold, thereby ensuring effective update of the control current.

[0044] In certain embodiments of the present application, when the pressure difference between the requested pressure and the current pressure is greater than a preset difference threshold, updating the control current includes:

[0045] In a case where the pressure difference is greater than the preset difference threshold, determining a feedback control current according to the pressure difference;

[0046] The control current is updated according to the feedback control current.

[0047] Thus, in the embodiment of the present application, when the pressure difference is greater than the preset difference threshold, the feedback control current can be determined according to the pressure difference, so that the control current is updated according to the feedback control current.

[0048] The present application provides a control device, including:

[0049] A transceiver unit is configured to obtain a requested pressure of an object of the valve body;

[0050] The processing unit is configured to determine a control current of a vehicle valve body according to the requested pressure, and to update the control current according to the requested pressure and a current pressure of an object of action of the valve body.

[0051] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the control method of the valve body is implemented.

[0052] An embodiment of the present application provides a vehicle, comprising the above-mentioned electronic device or the above-mentioned control device.

[0053] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the control method of the valve body is implemented.

[0054] The embodiment of the present application provides a computer program product, including a computer program / instruction, which implements the control method of the valve body when executed by a processor.

[0055] The control device, electronic device, vehicle, computer-readable storage medium and computer program product provided in the embodiments of the present application can, when determining the control current of the vehicle valve body, update the control current of the vehicle valve body based on the current pressure of the valve body's action object when the vehicle valve body is working with the control current and the previously acquired requested pressure of the valve body's action object, so that the control current of the vehicle valve body can be adjusted by the pressure effect corresponding to the valve body's action object, thereby ensuring that the current pressure of the valve body's action object approaches or is equal to the requested pressure, and the control accuracy of the vehicle valve body and the actual working effect of the valve body's action object can be guaranteed, thereby ensuring the accuracy of the pressure control in the vehicle, thereby ensuring the stable operation of the vehicle and the user's driving experience.

[0056] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0058] Figure 1 It is a schematic diagram of the open-loop control logic;

[0059] Figure 2 It is a schematic diagram of closed-loop control logic;

[0060] Figure 3 This is a flow chart of a method for controlling a valve body in certain embodiments of the present application;

[0061] Figure 4 A schematic diagram of application scenarios in certain embodiments of the present application;

[0062] Figure 5 This is a flow chart of a method for controlling a valve body in certain embodiments of the present application;

[0063] Figure 6 This is a flow chart of a method for controlling a valve body in certain embodiments of the present application;

[0064] Figure 7 This is a flow chart of a method for controlling a valve body in certain embodiments of the present application;

[0065] Figure 8 This is a flow chart of a method for controlling a valve body in certain embodiments of the present application;

[0066] Fig. 9 This is a flow chart of a method for controlling a valve body in certain embodiments of the present application;

[0067] Fig.10 This is a flow chart of a method for controlling a valve body in certain embodiments of the present application;

[0068] Fig.11 This is a flow chart of a method for controlling a valve body in certain embodiments of the present application;

[0069] Fig.12 It is a flow chart of a method for controlling a valve body in certain embodiments of the present application. DETAILED DESCRIPTION

[0070] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0071] In related technologies, in order to improve vehicle performance and help save energy and reduce emissions, vehicles can be equipped with hybrid-specific transmissions to achieve hybrid power control in the vehicle. Among them, hybrid-specific transmissions can be called (Electronic Hybrid System) or E-CVT (Electronically Controlled Continuously Variable Transmission), which can use electronic control systems to achieve high-precision speed control, thereby optimizing user driving experience and improving fuel efficiency.

[0072] It should also be noted that pressure control is one of the important functions of EHS (or hybrid-specific transmission, or E-CVT). For example, as one of the key modules for series-parallel switching of hybrid vehicles in EHS, the hydraulic module can control the clutch pressure, realize clutch separation and combination, thereby realizing different power transmissions, and can provide cooling oil to realize cooling and lubrication of components such as clutches, drive motors, generators, and shaft gears, and adjust the oil flow in each oil circuit as needed. In the process of power transmission and oil flow regulation, the hydraulic module can realize the pressure change in the system by controlling the valve body, and then complete the cooling, lubrication, and clutch action instructions under the appropriate pressure, and finally control the power transmission of the entire vehicle system.

[0073] It is understandable that the solenoid proportional valve and other valve bodies are important actuators in the hydraulic control process, and the pressure in the system is directly affected by the actuator. Therefore, the control accuracy of the solenoid proportional valve can directly affect the pressure in the hydraulic oil circuit, and further affect the cooling, lubrication and driving smoothness of the vehicle.

[0074] It is understandable that the pressure-current characteristic (or PI characteristic) of electromagnetic valves such as electromagnetic proportional valves has good linearity within a certain working range. Therefore, when the control performance requirements are low, a simpler PID (Proportional-Integral-Derivative Control Algorithm) control algorithm can basically meet the requirements. Furthermore, in order to accurately calibrate the pressure-current characteristics of the valve body, the relevant technology usually uses a simple open-loop control logic to control the valve body, such as Figure 1 As shown, Figure 1 Schematic diagram of open-loop control logic.

[0075] And, the related technology also adopts Figure 2 The closed-loop control process shown in Figure 2For example, in a related technology, a system for adjusting the return flow of hydraulic oil is proposed. The system controls the opening of the electromagnetic proportional valve based on the flow control error, which is similar to a proportional control method and is similar to Figure 2 However, this related technology may have a problem of steady-state error, and thus the control accuracy cannot be guaranteed.

[0076] In summary, although the related technologies involve valve control in the hydraulic oil circuit, they basically only adopt a single closed-loop control logic or open-loop control logic. When the consistency of the system is poor, it is difficult to achieve a fast and accurate pressure control solution.

[0077] Based on the above problems you may encounter, please refer to Figure 3 , the embodiment of the present application provides a valve body control method, including:

[0078] 01: Get the requested pressure of the valve body object;

[0079] 02: Determine a control current of a vehicle valve body according to the requested pressure;

[0080] 03: Update the control current according to the requested pressure and the current pressure of the object on which the valve body acts.

[0081] The embodiment of the present application provides a control device for a valve body. The control method of the valve body of the embodiment of the present application can be implemented by the control device for the valve body of the embodiment of the present application. Specifically, the control device includes a transceiver unit and a processing unit. The transceiver unit is configured to obtain a requested pressure of an object of the valve body. The processing unit is configured to determine a control current of the vehicle valve body according to the requested pressure, and update the control current according to the requested pressure and the current pressure of the object of the valve body.

[0082] The embodiment of the present application also provides an electronic device, which includes a memory and a processor. The control method of the valve body of the embodiment of the present application can be implemented by the electronic device of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to obtain the requested pressure of the object of the valve body, and determine the control current of the vehicle valve body according to the requested pressure, and update the control current according to the requested pressure and the current pressure of the object of the valve body.

[0083] Specifically, in the embodiment of the present application, the vehicle (or the control device in the vehicle, or the electronic device in the vehicle) can obtain the requested pressure of the valve body object, that is, the liquid pressure or gas pressure that the valve body object expects to reach. Then, the vehicle can determine the control current of the vehicle valve body based on the requested pressure and apply the control current to the vehicle valve body. Then, the vehicle can update the control current applied to the vehicle valve body at the current moment according to the requested pressure of the valve body object and the current pressure actually reached by the valve body object after the control current is applied to the vehicle valve body, so that the current pressure of the valve body object after adjustment can be adapted to the requested pressure.

[0084] To more clearly illustrate the implementation of this application, please refer to Figure 4 , Figure 4 This is a schematic diagram of an application scenario in some embodiments of the present application, that is, Figure 4 In one example shown, the vehicle may firstly adjust the pressure according to the required pressure P of the valve body object. T , determine the feedforward control current I corresponding to the solenoid valve (i.e., the vehicle valve body) F , and the feedforward control current I F As the total control current I T Then, based on the pressure sensor, the actual pressure P of the object acting on the valve body is detected. N (i.e. current pressure). Then, according to the actual pressure P N and the requested pressure P T , calculate the feedback control current I B , and the total control current I T On the basis of the additional I B The current of the magnitude, or in other words, the total control current I applied to the solenoid valve T Since I F Updated to I F +I B , thereby making the actual pressure P of the valve body N Approaching or equal to the requested pressure P T .

[0085] In this way, in the implementation mode of the present application, when the control current of the vehicle valve body is determined, the control current of the vehicle valve body can be updated based on the current pressure of the valve body's action object when the vehicle valve body is working with the control current, and the requested pressure of the valve body's action object previously acquired, so that the control current of the vehicle valve body can be adjusted by the pressure effect corresponding to the valve body's action object, thereby ensuring that the current pressure of the valve body's action object approaches or is equal to the requested pressure, and the control accuracy of the vehicle valve body and the actual working effect of the valve body's action object can be guaranteed, thereby ensuring the accuracy of the pressure control in the vehicle, and thus ensuring the stable operation of the vehicle and the user's driving experience.

[0086] In one example, the vehicle valve body includes a valve body such as a proportional solenoid valve.

[0087] In one example, the object of the valve body can be set according to the actual situation. For example, in a hydraulic brake system, the object of the valve body can be understood as a component with a liquid storage cavity structure, such as a liquid storage pot, a master cylinder, and a piston cylinder. Accordingly, the requested pressure of the valve body object can be understood as the desired hydraulic pressure in the cavity, and the current pressure of the valve body object can be understood as the actual hydraulic pressure in the cavity at the current moment. It can also be understood that the valve body object can also be a vehicle component with gas storage capacity. Accordingly, the requested pressure of the valve body object can be understood as the desired air pressure, and the current pressure of the valve body object can be understood as the actual air pressure at the current moment.

[0088] In certain embodiments of the present application, step 02 includes:

[0089] The control current is determined according to the requested pressure and predetermined pressure-current mapping data.

[0090] The processing unit of the embodiment of the present application is configured to determine the control current according to the requested pressure and predetermined pressure-current mapping data.

[0091] The processor of the embodiment of the present application is further configured to determine the control current according to the requested pressure and predetermined pressure-current mapping data.

[0092] Specifically, in order to reduce the difficulty of determining the control current and improve the efficiency of determining the control current, in an embodiment of the present application, the vehicle can also determine the current value that has a mapping relationship with the requested pressure in the pressure-current mapping data based on the requested pressure and the predetermined pressure-current mapping data, and apply a current of the same value to the vehicle valve body.

[0093] In one example, the pressure-current mapping data is a mapping table. Specifically, please refer to Table 1, which is the pressure-current mapping data in some embodiments of the present application.

[0094] Table 1

[0095] Current <![CDATA[I1]]> <![CDATA[I2]]> <![CDATA[I3]]> <![CDATA[I4]]> … <![CDATA[I N ]]> pressure <![CDATA[P1]]> <![CDATA[P2]]> <![CDATA[P3]]> <![CDATA[P4]]> … <![CDATA[P N ]]>

[0096] Further, in one example, if the requested pressure P T If the current is the same as P1, the vehicle can obtain I1 associated with P1 through the index of Table 1, and determine I1 as the control current of the vehicle valve body. In other words, the vehicle can apply a current of I1 to the vehicle valve body, so that the valve body object generates P under the action of the vehicle valve body.T Or pressure of P1 size.

[0097] As such, in the embodiment of the present application, the control current corresponding to the requested pressure can be determined by using the predetermined pressure-current mapping data, so that the control current can be determined efficiently.

[0098] In certain embodiments of the present application, the valve body control method further includes:

[0099] The pressure-current mapping data is determined according to a first pressure of an object acted upon by the valve body when the vehicle valve body operates at a first preset current.

[0100] The processing unit of the embodiment of the present application is configured to determine the pressure-current mapping data according to a first pressure of an object acted upon by the valve body when the vehicle valve body operates at a first preset current.

[0101] The processor of the embodiment of the present application is also used to determine the pressure-current mapping data according to a first pressure of an object acted upon by the valve body when the vehicle valve body operates at a first preset current.

[0102] Specifically, in an embodiment of the present application, the vehicle can determine the pressure-current mapping data by applying a first preset current to the vehicle valve body at multiple times and a first pressure of an object acted upon by the valve body when the vehicle valve body operates with the first preset current.

[0103] Specifically, the vehicle may apply a current of magnitude I1 (or a first preset current) to the vehicle valve body, so that after the vehicle valve body works with the first preset current, the current pressure of the valve body's action object is collected to obtain P1, and I1 and P1 are used together as a set of data in the pressure-current mapping data. Similarly, the vehicle may apply currents of different magnitudes to the vehicle valve body at different times, so as to obtain the first pressure of the valve body's action object corresponding to the vehicle valve body when the vehicle valve body works with the first preset currents of different magnitudes, thereby obtaining multiple sets of data in the pressure-current mapping data as shown in Table 1.

[0104] Thus, in the embodiment of the present application, the pressure-current mapping data may be determined according to the first pressure of the object acted upon by the valve body when the vehicle valve body operates at the first preset current.

[0105] See also Figure 5 In certain embodiments of the present application, the control method of the valve body further includes:

[0106] 04: Update the pressure-current mapping data.

[0107] The processing unit of the embodiment of the present application is configured to update the pressure-current mapping data.

[0108] The processor according to the embodiment of the present application is configured to update the pressure-current mapping data.

[0109] Specifically, in order to ensure the reliability and effectiveness of the pressure-current mapping data, in the implementation mode of the present application, the pressure-current mapping data can be updated periodically or irregularly to ensure the timeliness of the pressure-current mapping data, thereby adapting to the PI characteristics of the vehicle valve body that change with working time, remaining life and other factors.

[0110] In one example, the vehicle may update the pressure-current mapping data every preset period of time.

[0111] In one example, the vehicle may apply currents of different magnitudes to the vehicle valve body, and detect the pressure of the valve body's acting object when the vehicle valve body works with currents of different magnitudes through devices such as pressure sensors, such as the pressure P1' of the valve body's acting object when the vehicle valve body works with a current of magnitude I1, the pressure P2' of the valve body's acting object when the vehicle valve body works with a current of magnitude I2, the pressure P3' of the valve body's acting object when the vehicle valve body works with a current of magnitude I3, etc. Then, P1 corresponding to I1 in Table 1 is updated to P1', P2 corresponding to I2 is updated to P2', P3 corresponding to I3 is updated to P3', etc. In other words, P1 corresponding to I1 is assigned to P1', P2 corresponding to I2 is assigned to P2', P3 corresponding to I3 is assigned to P3', etc., thereby completing the update of the pressure-current mapping data.

[0112] Thus, in the embodiment of the present application, the pressure-current mapping data can be updated to ensure the validity and reliability of the pressure-current mapping data.

[0113] In certain embodiments of the present application, updating the pressure-current mapping data includes:

[0114] When the pressure difference between the requested pressure and the current pressure is greater than a difference threshold, and / or the change in the control current before and after the update is greater than a preset amount, the pressure-current mapping data is updated.

[0115] The processing unit of the embodiment of the present application is configured to update the pressure-current mapping data when the pressure difference between the requested pressure and the current pressure is greater than a difference threshold, and / or the change in the control current before and after the update is greater than a preset amount.

[0116] The processor of the embodiment of the present application is also used to update the pressure-current mapping data when the pressure difference between the requested pressure and the current pressure is greater than a difference threshold, and / or the change in the control current before and after the update is greater than a preset amount.

[0117] Specifically, in order to ensure the effective update of the pressure-current mapping data, in an embodiment of the present application, when the pressure difference between the requested pressure and the current pressure is greater than the difference threshold, and the change in the control current before and after the update is greater than a preset amount, it can be determined that there is a large error in the pressure-current mapping data at the current moment, and the pressure-current mapping data can be updated once.

[0118] It can be understood that when the pressure difference between the requested pressure and the current pressure is greater than the difference threshold, it means that after the vehicle determines the control current of the vehicle valve body according to the requested pressure and applies it to the vehicle valve body, the actual pressure (or the current pressure) generated by the valve body's action object is significantly different from the requested pressure. Therefore, it can be determined that there is a large error in the pressure-current mapping data, and the pressure-current mapping data can be updated.

[0119] It can also be understood that after the control current is updated according to the requested pressure and current pressure of the valve body's object, if the change in the control current before and after the update is greater than the preset amount, it means that after the vehicle determines the control current of the vehicle valve body according to the requested pressure and applies it to the vehicle valve body, the vehicle needs to make a larger adjustment to the control current of the valve body before the valve body's object can produce the expected pressure (i.e., target pressure). Therefore, it can be determined that there is a large error in the pressure-current mapping data, and the pressure-current mapping data can be updated.

[0120] Thus, in an embodiment of the present application, the pressure-current mapping data can be updated when the pressure difference between the requested pressure and the current pressure is greater than the difference threshold, and / or the change in the control current before and after the update is greater than a preset amount, thereby ensuring the effective update of the pressure-current mapping data.

[0121] See also Figure 6 In some embodiments of the present application, the pressure-current mapping data includes a plurality of second preset currents and a second pressure corresponding to each of the second preset currents. Then, step 04 includes:

[0122] 040: Determine a control characteristic fitting function of the vehicle valve body according to a third pressure of the object acted upon by the valve body when the vehicle valve body operates at a third preset current at multiple moments, wherein the control characteristic fitting function is used to indicate a corresponding relationship between the operating current of the vehicle valve body and the pressure generated by the object acted upon by the valve body;

[0123] 041: Determine a simulated pressure corresponding to the second preset current according to the control characteristic fitting function and the third preset current;

[0124] 042: Update the second pressure corresponding to the second preset current according to the simulated pressure corresponding to the second preset current.

[0125] The processing unit of the embodiment of the present application is configured to determine a control characteristic fitting function of the vehicle valve body according to a third pressure of the valve body's acting object when the vehicle valve body operates with a third preset current at multiple moments, determine a simulated pressure corresponding to the second preset current according to the control characteristic fitting function and the third preset current, and update a second pressure corresponding to the second preset current according to the simulated pressure corresponding to the second preset current, wherein the control characteristic fitting function is used to indicate the correspondence between the working current of the vehicle valve body and the pressure generated by the valve body's acting object.

[0126] The processor of the embodiment of the present application is also used to determine the control characteristic fitting function of the vehicle valve body according to the third pressure of the valve body's action object when the vehicle valve body operates with a third preset current at multiple moments, and to determine the simulated pressure corresponding to the second preset current according to the control characteristic fitting function and the third preset current, and to update the second pressure corresponding to the second preset current according to the simulated pressure corresponding to the second preset current, wherein the control characteristic fitting function is used to indicate the correspondence between the working current of the vehicle valve body and the pressure generated by the valve body's action object.

[0127] Specifically, in the embodiment of the present application, the control characteristic fitting function f of the vehicle valve body can be obtained by collecting the third pressure of the valve body's action object when the vehicle valve body works with currents of different magnitudes (i.e., the third preset current) at multiple moments. Then, according to the control characteristic fitting function f and the multiple second preset currents I in the pressure-current mapping data, the simulated pressure f(I) corresponding to each second preset current is determined. Finally, according to the simulated pressure f(I) corresponding to each second preset current, the pressure P (i.e., the second pressure) corresponding to each second preset current I in the pressure-current mapping data is updated.

[0128] In one example, the control characteristic fitting function f is approximately a linear function, satisfying I=a1P+a0, where a0 and a1 are calibration coefficients.

[0129] In one example, the control characteristic fitting function f is approximated as a cubic polynomial function, satisfying I = a0 + a1P + a2P 2 +a3P 3 , a0, a1, a2, and a3 are all calibration coefficients.

[0130] Thus, in the embodiment of the present application, the control characteristic fitting function of the vehicle valve body can be determined according to the third pressure of the valve body's action object when the vehicle valve body operates with a third preset current at multiple moments, and the simulated pressure corresponding to the second preset current can be determined according to the control characteristic fitting function and the third preset current, and the second pressure corresponding to the second preset current can be updated according to the simulated pressure corresponding to the second preset current, thereby realizing the update of the pressure-current mapping data.

[0131] See also Figure 7 In some embodiments of the present application, step 040 includes:

[0132] 0400: preprocessing the third preset current and the third pressure to determine a processed third preset current and a processed third pressure, wherein the preprocessing includes filtering processing and / or sliding average processing;

[0133] 0401: Determine the control characteristic fitting function according to the third preset current after the processing and the third pressure after the processing.

[0134] The processing unit of the embodiment of the present application is configured to pre-process the third preset current and the third pressure, determine the processed third preset current and the processed third pressure, and determine the control characteristic fitting function according to the processed third preset current and the processed third pressure, and the pre-processing includes filtering processing and / or sliding average processing.

[0135] The processor of the embodiment of the present application is also used to pre-process the third preset current and the third pressure, determine the processed third preset current and the processed third pressure, and determine the control characteristic fitting function based on the processed third preset current and the processed third pressure, and the pre-processing includes filtering processing and / or sliding average processing.

[0136] Specifically, in order to ensure that the updating process of the pressure-current mapping data can obtain reliable data support, and to ensure the effectiveness and reliability of the control characteristic fitting function, in an embodiment of the present application, each third preset current and the third pressure corresponding to each third preset current can be preprocessed, thereby obtaining the preprocessed third preset current and the third pressure, that is, the processed third preset current and the processed third pressure. Therefore, the subsequent control characteristic fitting function determination process and the pressure-current mapping data update process can be carried out according to the processed third preset current and the processed third pressure.

[0137] In one example, the third preset current and the third pressure may be preprocessed using a low-pass filter, as shown in formula (1) and formula (2), that is:

[0138] I f (k) = αI(k-1) + (1-α)I f (k-1) (1)

[0139] P f (k) = βP(k-1) + (1-β)P f (k-1) (2)

[0140] Among them, I f (k) represents the filtered current at the kth moment (or the third preset current after processing), I(k-1) represents the third preset current at the k-1th moment, P f (k) represents the filtered pressure at the kth moment (or called the third pressure after processing), P(k-1) represents the third pressure at the k-1th moment, and α and β are both filtering coefficients less than 1.

[0141] In one example, the third preset current and the third pressure may be preprocessed using a low-pass filter and a sliding average algorithm. The low-pass filter may refer to the above formula (1) and formula (2), and the sliding average algorithm may refer to formula (3) and formula (4), that is:

[0142]

[0143]

[0144] Among them, K I and K P is the calibration factor.

[0145] In one example, the vehicle may first use the low-pass filter shown in the above formula to filter the third preset current and the third pressure respectively, and then use the sliding average algorithm shown in the above formula to calculate the filtered third preset current and the filtered third pressure respectively, and use the calculation results as the final processed third preset current and processed third pressure.

[0146] Thus, in the embodiment of the present application, the third preset current and the third pressure can be preprocessed to determine the third preset current and the third pressure after processing, and the control characteristic fitting function can be determined according to the third preset current and the third pressure after processing, so that the control characteristic fitting function can obtain reliable data support, thereby ensuring the accuracy and effectiveness of the control characteristic fitting function.

[0147] In certain embodiments of the present application, step 04 includes:

[0148] The second pressure corresponding to the target second preset current is updated to the processed third pressure corresponding to the target processed third preset current, wherein the target second preset current and the target processed third preset current are the closest second preset current and processed third preset current to each of the second preset current and each of the processed third preset current.

[0149] The processing unit of the embodiment of the present application is configured to update the second pressure corresponding to the target second preset current to the processed third pressure corresponding to the target processed third preset current, wherein the target second preset current and the target processed third preset current are the closest second preset current and processed third preset current to each of the second preset current and each of the processed third preset current.

[0150] The processor of the embodiment of the present application is also used to update the second pressure corresponding to the target second preset current to the processed third pressure corresponding to the target processed third preset current, wherein the target second preset current and the target processed third preset current are the closest second preset current and processed third preset current to each of the second preset current and each of the processed third preset current.

[0151] Specifically, in order to further improve the accuracy and effectiveness of the control characteristic fitting function, in the embodiment of the present application, a set of data with the smallest error in the pressure-current mapping data can be adjusted, thereby reducing the error in the subsequent control characteristic fitting function.

[0152] Specifically, taking the above Table 1 as an example, and assuming that the third preset current after processing is I f , after processing, the third voltage is I p , the second preset current is I m , the second pressure is P m , the integer range of m is [1, N], then: for each third preset current I after processing f , Vehicle Computing I f with I m The error e I In one example, e I =|I f -I m |.

[0153] Then, for M×L e I The smallest e I_min , determine the e I_min The corresponding target second preset current I f_T and the third preset current I after target processing m_T (i.e. I_min =|I f_T -I m_T |) and change “I m_T The corresponding second pressure P m " is assigned to "I f_T The corresponding second pressure P f ”.

[0154] Thus, in the embodiment of the present application, the second pressure corresponding to the target second preset current can be updated to the processed third pressure corresponding to the target processed third preset current.

[0155] See also Figure 8 In some embodiments of the present application, step 0401 includes:

[0156] 04010: Determine the parameters to be solved in the control characteristic fitting function according to the processed third pressure;

[0157] 04011: constructing a calculation matrix for solving the parameter to be solved according to the processed third pressure, the second preset current, and the second pressure;

[0158] 04012: Construct the control characteristic fitting function according to the solution result of the calculation matrix.

[0159] The processing unit of the implementer of the embodiment of the present application is configured to determine the parameters to be solved in the control characteristic fitting function according to the processed third pressure, and to construct a calculation matrix for solving the parameters to be solved according to the processed third pressure, the second preset current, and the second pressure, and to construct the control characteristic fitting function according to the solution result of the calculation matrix.

[0160] The processor of the implementer of the embodiment of the present application is also used to determine the parameters to be solved in the control characteristic fitting function according to the processed third pressure, and to construct a calculation matrix for solving the parameters to be solved according to the processed third pressure, the second preset current, and the second pressure, and to construct the control characteristic fitting function according to the solution result of the calculation matrix.

[0161] Specifically, in the implementation mode of the present application, the unknowns in the control characteristic fitting function can be determined according to the processed third pressure, and a matrix for solving the unknowns can be constructed by the processed third pressure, the second preset current, and the second pressure. Finally, the construction of the control characteristic fitting function can be completed based on the matrix solution result.

[0162] In one example, when When , it can be determined that the control characteristic fitting function f is approximately a linear function, satisfying I = a1P + a0, where a0 and a1 are the parameters to be solved, and When the control characteristic fitting function f is determined to be approximately a cubic polynomial function, it satisfies I = a0 + a1P + a2P 2 +a3P 3 , the parameters to be solved are a0, a1, a2, and a3.

[0163] Furthermore, the calculation matrix used to solve a0 and a1 includes Pcal and I cal Among them, when When P cal and I cal As shown in formulas (5) and (6), respectively:

[0164]

[0165] I cal =[I1,I2] T (6)

[0166] In contrast, When P cal and I cal As shown in formulas (7) and (8), respectively:

[0167]

[0168] I cal =[I1,I2,…,I N ] T (8)

[0169] It can be understood that after constructing the calculation matrix shown in formulas (5) and (6), or after constructing the calculation matrix shown in formulas (7) and (8), the calculation matrix can be solved to obtain P cal The value of I cal The value of .

[0170] It is also understandable that after obtaining P cal The value of I cal The value of P can be determined by cal The value of I cal The value of determines the value of the parameter a to be solved. y is the serial number of a, When y takes the value range of {0, 1}, and when The value range of y is {0, 1, 2, 3}.

[0171] It is understandable that in getting each a y After the value of , we can substitute it into the above formula I = a1P + a0 or I = a0 + a1P + a2P 2 +a3P 3 Thus, the construction of the control characteristic fitting function f is completed.

[0172] It can also be understood that after the control characteristic fitting function f is constructed, the pressure-current mapping data can be updated using the control characteristic fitting function f. For example, when the pressure-current mapping data is as shown in Table 1, I1 can be brought into the characteristic fitting function f to obtain the simulated pressure f(I1), and P1 can be updated to f(I1).

[0173] In one example, the vehicle may solve the above calculation matrix by a least square method.

[0174] Thus, in the implementation mode of the present application, the parameters to be solved in the control characteristic fitting function can be determined according to the processed third pressure, and a calculation matrix for solving the parameters to be solved can be constructed according to the processed third pressure, the second preset current, and the second pressure, and a control characteristic fitting function can be constructed according to the solution result of the calculation matrix.

[0175] In certain embodiments of the present application, step 02 includes:

[0176] When the requested pressure is greater than or equal to a preset pressure threshold, the control current is determined according to the requested pressure.

[0177] The processing unit of the embodiment of the present application is configured to determine the control current according to the requested pressure when the requested pressure is greater than or equal to a preset pressure threshold.

[0178] The processor of the embodiment of the present application is configured to determine the control current according to the requested pressure when the requested pressure is greater than or equal to a preset pressure threshold.

[0179] Specifically, in order to avoid the effectiveness of the control current, in an embodiment of the present application, the vehicle may determine the control current of the vehicle valve body according to the requested pressure when the requested pressure of the valve body's action object is greater than or equal to a preset pressure threshold.

[0180] It is understandable that the preset pressure threshold may be set according to actual conditions. For example, in one example, the vehicle may determine the control current corresponding to the requested pressure when the requested pressure is greater than or equal to 420 Pa.

[0181] As such, in the embodiment of the present application, the control current may be determined according to the requested pressure when the requested pressure is greater than or equal to the preset pressure threshold, thereby ensuring robust control of the vehicle valve body.

[0182] See also Fig. 9 In certain embodiments of the present application, step 03 includes:

[0183] 030: When the pressure difference between the requested pressure and the current pressure is greater than a preset difference threshold, update the control current.

[0184] The processing unit of the embodiment of the present application is configured to update the control current when the pressure difference between the requested pressure and the current pressure is greater than a preset difference threshold.

[0185] The processor of the embodiment of the present application is also used to update the control current when the pressure difference between the requested pressure and the current pressure is greater than a preset difference threshold.

[0186] Specifically, to ensure effective updating of the control current, in the embodiment of the present application, the vehicle may, when there is a large difference between the requested pressure and the current pressure of the valve body's object, or in other words, when the pressure difference between the requested pressure and the current pressure is greater than a preset difference threshold, determine that when the vehicle valve body is operating with the control current at the current moment, the valve body's object cannot generate the expected pressure. Therefore, the vehicle may update the control current at the current moment, so that the vehicle valve body operates with the updated control current, and when the vehicle valve body operates with the updated control current, the valve body's object can generate a pressure close to or equal to the requested pressure.

[0187] Thus, in the embodiment of the present application, the control current can be updated when the pressure difference between the requested pressure and the current pressure is greater than the preset difference threshold, thereby ensuring effective update of the control current.

[0188] See also Fig.10 In certain embodiments of the present application, step 030 includes:

[0189] 0300: when the pressure difference is greater than the preset difference threshold, determining a feedback control current according to the pressure difference;

[0190] 0301: Update the control current according to the feedback control current.

[0191] The processing unit of the embodiment of the present application is configured to determine a feedback control current according to the pressure difference when the pressure difference is greater than the preset difference threshold, and update the control current according to the feedback control current.

[0192] The processor of the embodiment of the present application is also used to determine a feedback control current according to the pressure difference when the pressure difference is greater than the preset difference threshold, and to update the control current according to the feedback control current.

[0193] Specifically, in the implementation manner of the present application, when the pressure difference between the requested pressure and the current pressure is greater than a preset difference threshold, the feedback control current can be determined according to the pressure difference, and the control current can be updated according to the feedback control current.

[0194] To more clearly illustrate the implementation method of this application, please refer to Figure 4 , that is, Figure 4 In one example shown, the vehicle may firstly adjust the pressure according to the required pressure P of the valve body object. T , determine the feedforward control current I of the vehicle valve body F , and the feedforward control current I F As the total control current I T After being applied to the solenoid valve, if the vehicle is based on a pressure sensor, the actual pressure P of the valve body is detected N (i.e. current pressure) and the requested pressure P T If the pressure difference E is greater than the preset difference threshold, the feedback control current I is calculated based on E. B , and the total control current I T On the basis of the additional I B The current of the magnitude, or in other words, the total control current I applied to the solenoid valve T Since I F Updated to I F +I B , thereby making the actual pressure P of the valve body N Approaching or equal to the requested pressure P T .

[0195] In contrast, in another example, when the actual pressure P of the valve body is N With the requested pressure P T When the pressure difference E is less than or equal to the preset difference threshold, the feedback control current I B Assign a value of 0, or in other words, make the total control current I applied to the solenoid valve T constant.

[0196] In one example, the pressure difference E is calculated by formula (9), that is:

[0197] E=P * -P (9)

[0198] Among them, P * represents the requested pressure and P represents the current pressure.

[0199] In one example, the feedback control current I B The calculation process can be expressed as B =g(h(E)). Wherein, g() and h() are preset functions used to calculate the feedback control current.

[0200] In one example, the feedback control current I B The calculation process can be expressed as Among them, k represents the sampling time, k p , k i , k d All are calibration coefficients.

[0201] In one example, the feedback control current I B Available Calculated.

[0202] Thus, in the embodiment of the present application, when the pressure difference is greater than the preset difference threshold, the feedback control current can be determined according to the pressure difference, so that the control current is updated according to the feedback control current.

[0203] Please also read Fig.11 and Fig.12 , Fig.11 and Fig.12 This is a flow chart of a control method of a valve body in certain embodiments of the present application, that is, Fig.11 As shown, in certain embodiments of the present application, the process of determining the valve body control current may include:

[0204] As shown in step 11, when the requested pressure of the valve body object is less than the threshold value (the value of the threshold value depends on the valve body pressure control scenario), it means that there is no pressure request at this time, and the valve body control current is zero, that is, I = 0. Conversely, when the requested pressure of the valve body object is greater than or equal to the preset pressure threshold value, step 12 is entered.

[0205] As shown in step 12, according to the requested pressure, the pressure-current mapping data shown in Table 1 is queried. It can be understood that the pressure-current mapping data shown in Table 1 satisfies the valve body response pressure and control current mapping relationship I2=f(P * ). And, by looking up the table, the feedforward control current I F Then enter 13.

[0206] As shown in step 13, according to the current pressure P and the requested pressure P * And the above formula (9), the pressure difference E is calculated. Further, when |E| is greater than the preset difference threshold E0 (this value is set according to the valve body application scenario), different error information combinations can be used to calculate the feedback control current I1 = g(h(E)), that is, the controller form is not limited. In one example, and Determine the feedback control current. Conversely, when |E| is less than or equal to the preset difference threshold E0, the feedback control current I B Assign a value of 0. Determine the feedback control current I B Then go to step 14.

[0207] As shown in step 14, calculate the total control current I, I = IF +I B In one example, the total control current I may be amplitude-limited so that the total control current I is limited to [0, max] according to the material properties of the valve body, where max is the upper limit of the controlled current supported by the valve body.

[0208] Finally, as shown in steps 15 and 16, the vehicle controller sends the calculated total control current I to apply the total control current I to the valve body, so that the valve body responds to the total control current I to operate.

[0209] like Fig.12 As shown, in some embodiments of the present application, the updating process of the pressure-current mapping data includes:

[0210] As shown in step 21, when the feedback control current |I B When |≠0, and |E| is greater than the preset value E1, execute steps 22 and 23.

[0211] As shown in steps 22 and 23, according to the above formulas (1) and (2), the collected total control current I and the actual pressure P of the valve body under the control current I are low-pass filtered, and then the filtered I and P are sliding averaged through the above formulas (3) and (4) to complete the preprocessing.

[0212] As shown in step 24, when When , it can be determined that the control characteristic fitting function f is approximately a linear function, satisfying I = a1P + a0, where a0 and a1 are the parameters to be solved, and When the control characteristic fitting function f is determined to be approximately a cubic polynomial function, it satisfies I = a0 + a1P + a2P 2 +a3P 3 , the parameters to be solved are a0, a1, a2, and a3.

[0213] As shown in step 24, calculate e respectively I =|I f -I m |, m = 1, 2, ..., N, and correct the value of the storage location where the absolute error minimum point in Table 1 is located to (I f ,P f Specifically, taking the above Table 1 as an example, let the third preset current after processing be I f , after processing, the third voltage is I p , the second preset current is I m , the second pressure is P m , the integer range of m is [1, N], then: for each third preset current I after processing f , Vehicle Computing I f with I mThe error e I In one example, e I =|I f -I m |. Then, for M×L e I The smallest e I_min , determine the e I_min The corresponding target second preset current I f_T and the third preset current I after target processing m_T (i.e. I_min =|I f_T -I m_T |) and change “I m_T The corresponding second pressure P m " is assigned to "I f_T The corresponding second pressure P f ”.

[0214] Then, when When , the calculation matrix shown in the above formulas (5) and (6) is constructed, and when When , the calculation matrix shown in formulas (7) and (8) is constructed.

[0215] Next, solve the calculation matrix to get P cal The value of I cal After the value of P is determined, cal The value of I cal The value of the parameter a is to be solved. y is the serial number of a, When y takes the value range of {0, 1}, and when The value range of y is {0, 1, 2, 3}.

[0216] As shown in steps 25 and 26, based on the obtained characteristic coefficient a y And each current I in Table 1, each current I is used to calculate the pressure value P' using the characteristic fitting function f, and after the P' value is updated to Table 1, the PI characteristic self-correction enable is turned off.

[0217] It is understandable that based on Fig.11The control logic shown, the implementation method of the present application can adopt a feedforward-feedback composite control structure, obtain the feedforward control current from the PI characteristic, and then use feedback control to compensate for the impact caused by the inaccurate PI characteristic. And, when the PI characteristic is inaccurate and feedback control intervenes, the PI characteristic is corrected according to the actual response situation. In addition, the implementation method of the present application can also segment the valve body characteristics, respectively use a linear function and a cubic polynomial function for fitting, and then construct an operation matrix and use the least squares method to determine the polynomial coefficients that determine the valve body characteristics. It can also be understood that compared with the relevant technology, the implementation method of the present application avoids the disadvantages of single open-loop control (i.e., through PI table lookup) or single feedback control, thereby improving the control accuracy.

[0218] An embodiment of the present application also provides a vehicle, comprising the above-mentioned control device or electronic device.

[0219] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the control method of the valve body is implemented.

[0220] The embodiment of the present application also provides a computer program product, which includes a computer program / instructions, and when the computer program / instructions are executed by a processor, the control method of the valve body is implemented.

[0221] In the description of this specification, the descriptions with reference to the terms "specifically", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0222] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0223] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling a valve body, characterized in that: include: Get the requested pressure of the valve body's action object; determining a control current of a vehicle valve body according to the requested pressure; The control current is updated according to the requested pressure and the current pressure of the object on which the valve body acts.

2. The method according to claim 1, characterized in that The step of determining a control current of a vehicle valve body according to the requested pressure includes: The control current is determined according to the requested pressure and predetermined pressure-current mapping data.

3. The method according to claim 1, characterized in that The method further comprises: The pressure-current mapping data is determined according to a first pressure of an object acted upon by the valve body when the vehicle valve body operates at a first preset current.

4. The method according to claim 3, characterized in that The method further comprises: The pressure-current mapping data is updated.

5. The method according to claim 4, characterized in that The updating of the pressure-current mapping data comprises: When the pressure difference between the requested pressure and the current pressure is greater than a difference threshold, and / or the change in the control current before and after the update is greater than a preset amount, the pressure-current mapping data is updated.

6. The method according to claim 4, characterized in that The pressure-current mapping data includes a plurality of second preset currents and a second pressure corresponding to each of the second preset currents, and updating the pressure-current mapping data includes: Determine a control characteristic fitting function of the vehicle valve body according to a third pressure of the object acted upon by the valve body when the vehicle valve body operates at a third preset current at multiple moments, wherein the control characteristic fitting function is used to indicate a corresponding relationship between the operating current of the vehicle valve body and the pressure generated by the object acted upon by the valve body; determining a simulated pressure corresponding to the second preset current according to the control characteristic fitting function and the third preset current; The second pressure corresponding to the second preset current is updated according to the simulated pressure corresponding to the second preset current.

7. The method according to claim 6, characterized in that The determining of the control characteristic fitting function of the vehicle valve body according to the third pressure of the object acted upon by the valve body when the vehicle valve body works at a third preset current at multiple moments includes: Preprocessing the third preset current and the third pressure to determine a processed third preset current and a processed third pressure, wherein the preprocessing includes filtering processing and / or sliding average processing; The control characteristic fitting function is determined according to the processed third preset current and the processed third pressure.

8. The method according to claim 7, characterized in that The updating of the pressure-current mapping data comprises: The second pressure corresponding to the target second preset current is updated to the processed third pressure corresponding to the target processed third preset current, wherein the target second preset current and the target processed third preset current are the closest second preset current and processed third preset current to each of the second preset current and each of the processed third preset current.

9. The method according to claim 7, characterized in that: The determining the control characteristic fitting function according to the processed third preset current and the processed third pressure includes: Determining the parameters to be solved in the control characteristic fitting function according to the processed third pressure; constructing a calculation matrix for solving the parameter to be solved according to the processed third pressure, the second preset current, and the second pressure; The control characteristic fitting function is constructed according to the solution result of the calculation matrix.

10. The method according to claim 1, characterized in that The step of determining a control current of a vehicle valve body according to the requested pressure includes: When the requested pressure is greater than or equal to a preset pressure threshold, the control current is determined according to the requested pressure.

11. The method according to claim 1, characterized in that: The updating of the control current according to the requested pressure and the current pressure of the object on which the valve body acts comprises: When the pressure difference between the requested pressure and the current pressure is greater than a preset difference threshold, the control current is updated.

12. The method according to claim 11, characterized in that When the pressure difference between the requested pressure and the current pressure is greater than a preset difference threshold, updating the control current includes: In a case where the pressure difference is greater than the preset difference threshold, determining a feedback control current according to the pressure difference; The control current is updated according to the feedback control current.

13. A control device, characterized in that: include: A transceiver unit is configured to obtain a requested pressure of an object of the valve body; The processing unit is configured to determine a control current of a vehicle valve body according to the requested pressure, and to update the control current according to the requested pressure and a current pressure of an object of action of the valve body.

14. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 12 is implemented.

15. A vehicle, characterized in that: Includes the device shown in claim 13 or 14.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 12 is implemented.

17. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 12 is implemented.

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