CN115478579A - Vehicle control method and device, ECU and vehicle - Google Patents
Vehicle control method and device, ECU and vehicle Download PDFInfo
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- CN115478579A CN115478579A CN202211327227.8A CN202211327227A CN115478579A CN 115478579 A CN115478579 A CN 115478579A CN 202211327227 A CN202211327227 A CN 202211327227A CN 115478579 A CN115478579 A CN 115478579A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000009471 action Effects 0.000 claims abstract description 132
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- 238000002347 injection Methods 0.000 claims description 10
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- 150000001875 compounds Chemical class 0.000 claims description 8
- 239000000446 fuel Substances 0.000 claims description 6
- 238000011217 control strategy Methods 0.000 abstract description 5
- 230000000875 corresponding effect Effects 0.000 description 54
- 230000001276 controlling effect Effects 0.000 description 22
- 238000009412 basement excavation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000003921 oil Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 239000002131 composite material Substances 0.000 description 4
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- 239000010720 hydraulic oil Substances 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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- Steering Control In Accordance With Driving Conditions (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The application discloses a control method and a control device of a vehicle, an ECU and the vehicle, wherein in the method, a pilot pressure signal generated by pilot pressure of a hydraulic system of the vehicle is obtained, the pilot pressure signal is used for representing an action corresponding to the pilot pressure, and the action is an action executed by the hydraulic system to drive the vehicle; determining an engine parameter based on the pilot pressure signal and operating information of the vehicle, the operating information being indicative of an operating condition of the vehicle; a control signal is generated based on an engine parameter, the control signal being used to control an engine of the vehicle. In this way, by accurately obtaining a pilot pressure signal corresponding to the pilot pressure of the hydraulic system in which each operation of the vehicle is reflected, the operation to be executed by the vehicle is intelligently identified, so that a more optimal control strategy is executed on the engine of the vehicle based on the identified operation, and the delay control such as tuning after the vehicle executes the operation is avoided.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method and an apparatus for controlling a vehicle, an Electronic Control Unit (ECU), and a vehicle.
Background
For vehicles, such as excavators, in which a control system and a controlled system are respectively deployed, the controlled system is generally controlled by a control signal output by the control system to perform a corresponding operation. At present, a control system of a vehicle generally determines a control signal according to an actual motion of the vehicle and controls an engine parameter of the vehicle according to the control signal. However, in this control method, the adjustment and control of the hysteresis are often performed after poor actual operation of the controlled system of the vehicle occurs, and not only is the effect poor, but also the problem that engine performance of the vehicle is affected such as stalling is very likely to occur.
Disclosure of Invention
The application provides a control method and device of a vehicle, an ECU and the vehicle, the action to be executed of the vehicle can be identified based on a pilot pressure signal of a hydraulic system, engine parameters are controlled reasonably by combining the identified action, intelligent control of the vehicle is achieved, the dynamic property and the economical efficiency of the vehicle are improved, and therefore the experience of a user in using the vehicle is improved.
In a first aspect, the present application provides a control method of a vehicle, applied to an ECU belonging to the vehicle, the method including:
obtaining a pilot pressure signal generated by pilot pressure of a hydraulic system of the vehicle, wherein the pilot pressure signal is used for representing an action corresponding to the pilot pressure, and the action is an action executed by the hydraulic system for driving the vehicle;
determining an engine parameter based on the pilot pressure signal and operating information of the vehicle, the operating information being indicative of an operating condition of the vehicle;
generating a control signal based on the engine parameter, the control signal for controlling an engine of the vehicle.
Optionally, the obtaining a pilot pressure signal generated by a pilot pressure of a hydraulic system of the vehicle includes:
obtaining a first pilot pressure of a first action corresponding to a first actuating mechanism of the hydraulic system;
if the first pilot pressure meets the preset condition, setting a signal on a first position as a first value, wherein the pilot pressure signal comprises a plurality of signal positions, the signal positions comprise the first position, the first position corresponds to the first action of the first executing mechanism, and the first value is used for indicating that the action corresponding to the signal position is about to be executed by the vehicle.
Optionally, the plurality of signal bits further include a second bit corresponding to a second action of a second actuator, and the obtaining a pilot pressure signal generated by a pilot pressure of a hydraulic system of the vehicle further includes:
obtaining a second pilot pressure of the second action corresponding to the second actuating mechanism of the hydraulic system;
and if the second pilot pressure meets the preset condition, setting the signal on the second position as the first value.
Optionally, the pilot pressure signal is used to instruct the vehicle to perform a compound action, the compound action comprising the first action and the second action.
Optionally, the preset condition includes: the first pilot pressure is greater than a first threshold value within a preset time length, the difference between the first pilot pressure and a third pilot pressure is greater than a second threshold value, and the third pilot pressure is a pilot pressure generated in a previous period generated by the first pilot pressure.
Alternatively,
the control signal is used for controlling the fuel injection quantity of the engine; and/or the presence of a gas in the gas,
the control signal is used for controlling the actual rotating speed of the engine; and/or the presence of a gas in the atmosphere,
the control signal is used to control whether the engine discontinues a stall strategy.
The vehicle may be an excavator, for example.
In a second aspect, the present application also provides a control apparatus of a vehicle applied to an ECU belonging to the vehicle, the apparatus including:
the obtaining unit is used for obtaining a pilot pressure signal generated by the pilot pressure of a hydraulic system of the vehicle, the pilot pressure signal is used for representing an action corresponding to the pilot pressure, and the action is an action executed by the hydraulic system driving the vehicle;
a determination unit for determining an engine parameter based on the pilot pressure signal and operating information of the vehicle, the operating information being indicative of an operating condition of the vehicle;
a generating unit configured to generate a control signal for controlling an engine of the vehicle based on the engine parameter.
Optionally, the obtaining unit includes:
the first obtaining subunit is used for obtaining a first pilot pressure of a first action corresponding to a first actuating mechanism of the hydraulic system;
the first setting subunit is configured to set a signal on a first bit to a first value if the first pilot pressure meets a preset condition, where the pilot pressure signal includes a plurality of signal bits, the plurality of signal bits include the first bit, the first bit corresponds to the first action of the first execution mechanism, and the first value is used to indicate that the action corresponding to the signal bit where the first value is located is to be executed by the vehicle.
Optionally, the plurality of signal bits further include a second bit, where the second bit corresponds to a second action of a second actuator, and the obtaining unit further includes:
a second obtaining subunit configured to obtain a second pilot pressure of the second action corresponding to the second actuator of the hydraulic system;
and the second setting subunit is configured to set the signal at the second position to the first value if the second pilot pressure satisfies the preset condition.
Optionally, the pilot pressure signal is used to instruct the vehicle to perform a compound action, the compound action comprising the first action and the second action.
Optionally, the preset condition includes: the first pilot pressure is greater than a first threshold value within a preset time length, the difference between the first pilot pressure and a third pilot pressure is greater than a second threshold value, and the third pilot pressure is a pilot pressure generated in a previous period generated by the first pilot pressure.
Alternatively,
the control signal is used for controlling the fuel injection quantity of the engine; and/or the presence of a gas in the atmosphere,
the control signal is used for controlling the actual rotating speed of the engine; and/or the presence of a gas in the atmosphere,
the control signal is used to control whether the engine discontinues a stall strategy.
The vehicle may be, for example, an excavator.
In a third aspect, the present application further provides an ECU belonging to a vehicle, the vehicle further comprising a hydraulic system and an engine,
the ECU is configured to execute the method according to any one of the implementations of the first aspect to generate a control signal for controlling the engine according to the pilot pressure of the hydraulic system.
In a fourth aspect, the present application further provides a vehicle comprising a hydraulic system, an engine and the ECU of the third aspect, that is, the ECU is configured to execute the method of any one of the implementations of the first aspect according to the pilot pressure of the hydraulic system, and generate a control signal for controlling the engine.
The vehicle in the third aspect or the fourth aspect may be an excavator, for example.
Therefore, the embodiment of the application has the following beneficial effects:
the embodiment of the application provides a control method of a vehicle, which is applied to an ECU (electronic control unit), wherein the ECU belongs to the vehicle, the vehicle comprises a hydraulic system and an engine, and the method can comprise the following steps: obtaining a pilot pressure signal generated by pilot pressure of a hydraulic system of the vehicle, wherein the pilot pressure signal is used for representing an action corresponding to the pilot pressure, and the action is an action executed by the hydraulic system for driving the vehicle; determining an engine parameter based on the pilot pressure signal and operating information of the vehicle, the operating information being indicative of an operating condition of the vehicle; generating a control signal based on the engine parameter, the control signal for controlling an engine of the vehicle. Considering that a control system and a controlled system in a vehicle of an excavator are separately deployed, a hydraulic system in the control system utilizes the pascal law in hydrostatic mechanics to transmit pressure generated by a hydraulic pump through hydraulic oil to drive a hydraulic motor or a hydraulic cylinder to perform a specified action, and it can be understood that the hydraulic system of the vehicle drives a larger execution pressure through a smaller control pressure to perform the specified action, and considering that a change (namely, a pilot pressure) of the "control pressure" generated by the hydraulic system is prior to the excavator executing a corresponding action, the method provided by the application can intelligently identify an action to be executed by the vehicle by accurately obtaining a pilot pressure signal corresponding to the pilot pressure of the hydraulic system in each action of the vehicle, so that a better control strategy is executed on an engine of the vehicle based on the identified action, hysteresis control such as tuning is avoided after the vehicle executes the action, not only poor use experience of a user of the vehicle is influenced, but also the use life of components on the vehicle is influenced, that the method provided by the application not only improves use experience of the vehicle, but also can realize the intelligent use experience of the control of the components on the vehicle, and the use life of the vehicle is improved.
Drawings
Fig. 1 is a schematic flowchart of a control method for a vehicle according to an embodiment of the present disclosure;
fig. 2 is a logic diagram of an example of S101 provided in the embodiment of the present application;
fig. 3 is a logic diagram of an example of S102 and S103 according to an embodiment of the present disclosure;
fig. 4 is a logic diagram of another example of S102 and S103 provided in the embodiment of the present application;
fig. 5 is a schematic structural diagram of a control device 500 of a vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures and detailed description thereof are described in further detail below. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application. It should be noted that, for the convenience of description, only a part related to the present application is shown in the drawings, and not all structures are shown.
The vehicle of this application embodiment refers to, includes hydraulic system and engine. The hydraulic system utilizes the Pascal law in fluid statics to transmit the pressure generated by the hydraulic pump through hydraulic oil so as to drive the hydraulic motor or the hydraulic cylinder to perform specified actions. The power source of the hydraulic system is an engine of the vehicle, and the power output of the hydraulic system is an action executing mechanism of the vehicle. The motion actuators of the vehicle include, but are not limited to: the excavator comprises a movable arm, a bucket rod, a bucket, a rotary motor and left and right walking crawler belts.
The ECU is a controller that performs calculation, processing, and determination based on signals input from the sensors, and outputs a command (or may be referred to as a control signal) to control the operation of the actuator. The engine is one of actuators controlled by the ECU, and the control method of the vehicle provided in the embodiment of the present application refers to the control of the engine by the ECU.
At present, a control system of a vehicle generally determines a control signal according to an actual motion of the vehicle, and controls an engine parameter in a controlled system of the vehicle according to the control signal. For example, an excavator generally adopts a method of reducing the rotation speed of an engine to reduce the oil consumption of the excavator during normal operation, which is called as a speed dropping strategy, the speed dropping strategy reasonably reduces the rotation speed of the engine during operation according to the load of the engine and the target rotation speed, and the speed dropping strategy is proved to be capable of effectively reducing the oil consumption of the excavator during normal operation. In one case, the speed dropping strategy may be an active speed dropping strategy, that is, the engine is controlled to actively reduce the actual rotating speed, so that the actual rotating speed of the engine falls into a preset optimal fuel-saving rotating speed region; in another case, the stall strategy may be a passive stall strategy, that is, when the excavator has a large load (for example, performs an excavation operation), the engine may have a large stall, and the actual rotational speed of the engine deviates from the target rotational speed too much, and if the "stall strategy" is still activated at this time, the "stall" or even flameout may occur easily, so that the dynamic performance and the maneuverability of the engine of the vehicle are affected, a bad driving feeling is brought to a customer, and the product quality is affected. Either the active or passive stall strategy is a hysteresis adjustment after the actual engine speed is output. Similar problems exist with respect to control of other engine parameters.
Based on this, it is considered that the power source of the hydraulic system of the vehicle is the engine, but the hydraulic system drives the larger execution pressure to perform the specified action through the smaller control pressure, when the control pressure is subjected to the control operation, the corresponding change occurs, the partially changed pressure is the pilot pressure, and the change of the pilot pressure is prior to the controlled system of the vehicle to perform the corresponding action, namely, the pilot pressure of the hydraulic system can reflect the action which is actually performed by the vehicle. Therefore, the control method of the vehicle provided by the embodiment of the application is applied to the ECU, the ECU belongs to the vehicle, the vehicle comprises a hydraulic system and an engine, and the method can comprise the following steps: obtaining a pilot pressure signal generated by pilot pressure of a hydraulic system of the vehicle, wherein the pilot pressure signal is used for representing an action corresponding to the pilot pressure, and the action is an action which is executed by the hydraulic system for driving the vehicle; determining an engine parameter based on the pilot pressure signal and operating information of the vehicle, the operating information being indicative of an operating condition of the vehicle; generating a control signal based on the engine parameter, the control signal for controlling an engine of the vehicle.
In this way, considering that in a vehicle such as an excavator, the pilot pressure generated by a hydraulic system is sensed by the ECU in preference to the actual action to be executed by the vehicle, the method provided by the present application intelligently identifies the action to be executed by the vehicle by accurately obtaining the pilot pressure signal corresponding to the pilot pressure of each action of the vehicle reflected in the hydraulic system, so as to execute a better control strategy for the engine of the vehicle based on the identified action, avoid performing delay control such as tuning after the vehicle executes the action, not only give a poor use experience to a user of the vehicle, but also influence the service life of components on the vehicle.
The main body for realizing the embodiment of the present application may be a device having a control function of a vehicle, for example, a control device 500 of a vehicle shown in fig. 5 described below.
The vehicle control method according to the embodiment of the present invention may be applied to a vehicle control system, and may be applied to any other vehicle control system as long as a pilot pressure signal corresponding to a pilot pressure of a hydraulic system representing each operation of a vehicle can be accurately obtained, and the action to be executed by the vehicle can be intelligently identified, so that a more optimal control strategy can be executed on the engine of the vehicle based on the identified action.
To facilitate understanding of specific implementation of the control method for a vehicle provided in the embodiments of the present application, the following description is made with reference to the accompanying drawings.
Referring to fig. 1, the figure is a schematic flow chart of a control method of a vehicle according to an embodiment of the present application. The method is applied to an ECU belonging to the vehicle, which further comprises a hydraulic system and an engine. As shown in fig. 1, the following S101 to S103 may be included:
s101, obtaining a pilot pressure signal generated by the pilot pressure of a hydraulic system of the vehicle, wherein the pilot pressure signal is used for representing an action corresponding to the pilot pressure, and the action is an action executed by the hydraulic system driving the vehicle.
The vehicle may be, for example, an excavator. The actuating mechanism of the excavator comprises but is not limited to: a boom, an arm, a bucket, a swing motor, left and right traveling crawler belts, and the like. When the excavator hydraulic system drives two or more than two actuating mechanisms to act, the action can be taken as a composite action of the excavator, and for example, the action executed by the excavator comprises the following actions: when the boom is lowered, the bucket is retracted, and the arm is retracted, it can be determined that the excavator performs the corresponding operation of excavation.
Note that, the actions in the embodiments of the present application may refer to a single action or may refer to a combination of actions. Each actuator of the vehicle may correspond to at least two actions, one action of one actuator corresponding to one type of pilot pressure, e.g. boom down may be denoted as pilot pressure a and boom up may be denoted as pilot pressure b.
In a specific implementation, S101 may include: obtaining a corresponding pilot pressure for an action of each actuator; judging whether the obtained pilot pressure meets a preset condition or not, and setting a signal position corresponding to the type of pilot pressure if the obtained pilot pressure meets the preset condition; in this way, signals obtained by the signal positions related to the pilot pressure corresponding to all the actions of each actuator of the vehicle according to the preset sequence are referred to as pilot pressure signals. Wherein, corresponding to the pilot pressure of different grade type, predetermine the condition and all include: the pilot pressure is greater than a threshold value a for a preset time period, and the difference between the pilot pressure and the pilot pressure before one step is greater than a threshold value b. The preset duration, the threshold a and the threshold b may be adjusted and set based on actual conditions, the preset durations, the thresholds a and the thresholds b corresponding to different types of pilot pressures may be the same or different, and the thresholds a and the thresholds b may be the same or different.
As an example, S101 may include, for example, a first pilot pressure of the first action corresponding to the first actuator: obtaining a first pilot pressure of a first action corresponding to a first actuating mechanism of the hydraulic system; if the first pilot pressure meets a preset condition, setting a first bit as a first value, wherein the pilot pressure signal comprises a plurality of signal bits, the plurality of signal bits comprise the first bit, the first bit corresponds to the first action of the first executing mechanism, and the first value is used for indicating that the action corresponding to the signal bit is to be executed by the vehicle. Wherein the preset condition may include: the first pilot pressure is greater than a first threshold value in a preset time length, the difference between the first pilot pressure and a third pilot pressure is greater than a second threshold value, and the third pilot pressure is pilot pressure generated in a previous period generated by the first pilot pressure. In this way, the ECU of the vehicle can obtain the pilot pressure signal whose first position is the first value, determine that the vehicle is about to perform the first operation corresponding to the first actuator, and perform the subsequent control in accordance with the control demand of the first operation corresponding to the first actuator in S102 to S103.
As another example, S101 may include, for example, taking as an example the first pilot pressure for the first action corresponding to the first actuator and the second pilot pressure for the second action corresponding to the second actuator: obtaining a first pilot pressure of a first action corresponding to a first actuator of the hydraulic system, and obtaining a second pilot pressure of a second action corresponding to a second actuator of the hydraulic system; if the first pilot pressure meets a preset condition, setting a first bit as a first value; if the second pilot pressure meets the preset condition, setting a second position as the first value, wherein the pilot pressure signal comprises a plurality of signal positions, the plurality of signal positions comprise a first position and a second position, the first position corresponds to the first action of the first executing mechanism, the second position corresponds to the second action of the second executing mechanism, and the first value is used for indicating that the action corresponding to the signal position is to be executed by the vehicle. In this way, the ECU of the vehicle can obtain the pilot pressure signal in which the first position and the second position are both the first value, thereby determining that the vehicle is about to have the first action corresponding to the first actuator and the second action corresponding to the second actuator, and the first action and the second action correspond to a certain composite action, so that the subsequent control is performed in accordance with the control demand of the composite action in S102 to S103.
In this example, the preset condition may include: the first pilot pressure is greater than a first threshold value in a first preset time length, the difference between the first pilot pressure and a third pilot pressure is greater than a second threshold value, and the third pilot pressure is pilot pressure generated in the previous period generated by the first pilot pressure; and the second pilot pressure is greater than a third threshold value in a second preset time period, the difference between the second pilot pressure and a fourth pilot pressure is greater than a fourth threshold value, and the fourth pilot pressure is the pilot pressure generated in the previous period generated by the second pilot pressure. It should be noted that the first preset time period and the second preset time period may be the same or different, the first threshold and the third threshold may be the same or different, and the second threshold and the fourth threshold may be the same or different.
Taking the pilot pressure a corresponding to the boom lowering as an example, the process of obtaining the pilot pressure signal will be described in an exemplary manner with reference to fig. 2. Referring to fig. 2, the electrical signal a is compared with a threshold a, a preset time period T, and a threshold b, and the comparison result is input to a Bit0, and after a corresponding state quantity is output, a signal Bit of the pilot pressure signal is obtained through operations such as subsequent time delay. The processing of the electrical signal of the other actions to one signal bit of the pilot pressure signal is similar. For example, the pilot pressure types of the vehicle may include: descending the movable arm, ascending the movable arm, adduction of the bucket rod, eversion of the bucket rod, adduction of the bucket, eversion of the bucket, rotation, left walking or right walking.
It should be noted that, in the control method of the vehicle provided in the embodiment of the present application, a corresponding signal bit is set in the pilot pressure signal for one or more actions of different actuators of the vehicle, and if the control device of the vehicle detects that the pilot pressure of an action corresponding to a certain actuator of the hydraulic system satisfies a preset condition, a signal value of the signal bit corresponding to the action of the actuator in the pilot pressure signal is set to a preset value, where the preset value is used for indicating that the vehicle is about to perform the action through the actuator. For example, in the above example, if the first action of the first actuator corresponds to a first Bit of the pilot pressure signal (e.g. a first signal Bit (also referred to as a first Bit, bit 0) of the pilot pressure signal), and the second action of the second actuator corresponds to a second Bit of the pilot pressure signal (e.g. a second signal Bit (also referred to as a second Bit, bit 1)) then, when the control device of the vehicle obtains a first pilot pressure of the first action corresponding to the first actuator of the hydraulic system and a second pilot pressure of the second action corresponding to the second actuator, and determines that the first pilot pressure satisfies a preset condition, and the second pilot pressure satisfies the preset condition, the signal values of the first Bit and the second Bit in the pilot pressure signal are both set to a first value, for example, bit0 and Bit 1 in the obtained pilot pressure signal are both set to 1, bit0 is used to indicate that the vehicle is about to perform the first action by the first actuator, and Bit 1 is used to indicate that the vehicle is about to perform the second action by the second actuator.
It should be noted that, for the ECU, in S101, the ECU may receive a signal corresponding to a change in the pilot pressure collected by the pressure sensor through the CAN bus in a manner of a message, and obtain the pilot pressure signal through logic processing inside the ECU, for example, as shown in fig. 2.
S102, determining engine parameters based on the pilot pressure signal and the running information of the vehicle, wherein the running information is used for indicating the running condition of the vehicle.
S102 will be described as an example of control for controlling whether or not the "deceleration strategy" of the vehicle needs to be interrupted.
As an example, referring to fig. 3, assuming that the pilot pressure signal indicates that the vehicle is about to perform a digging operation, the operational information of the vehicle may include: the engine state, the load factor, the whole vehicle working mode, the engine speed or the oil injection quantity of the transmitter. S102 may include, for example: and determining that the vehicle generates an excavation setting signal based on the pilot pressure signal, determining that the engine is in a starting state, determining that the load factor is greater than or equal to a calibrated value C, and the whole vehicle working mode is a Power (P) mode, the engine rotating speed is greater than or equal to a target rotating speed, the engine oil injection quantity is greater than or equal to a target oil injection quantity, triggering an RS trigger to set, and controlling and interrupting a 'speed-dropping strategy' until a locking time limit or a signal position corresponding to rotation in the pilot pressure signal is reached. In addition, a specified mode of the engine can be set according to requirements, and the control mechanism of the 'speed dropping strategy' of the engine does not work under the set specified mode.
As another example, referring to fig. 4, assuming that the pilot pressure signal indicates that the vehicle is about to perform a boom-up swing or a boom-down swing operation, the operation information of the vehicle may include: and (5) working mode of the whole vehicle. S102 may include, for example: and determining that the vehicle generates pilot pressure corresponding to boom lifting rotation or boom descending rotation based on the pilot pressure signal, determining that the working mode of the whole vehicle is a P mode, triggering an RS trigger to set, and controlling to interrupt a speed dropping strategy until the upper limit of locking time is reached.
It should be noted that, no matter the vehicle performs excavation or performs a combined action of boom raising rotation or boom lowering rotation, a large load is generated, and at this time, the speed reduction strategy is activated again, which may cause a risk of "holding down the vehicle" or stalling, so in these cases, the engine parameters determined in S102 may include: the stall strategy is interrupted. Therefore, in the control mechanism, the action to be executed by the vehicle is identified in advance by combining the pilot pressure signal of the hydraulic system, and when the vehicle is judged to generate a large load, the speed dropping strategy is interrupted in advance, so that the dynamic property and the maneuverability of the whole vehicle can be effectively improved.
It should be noted that, in the embodiment of the present application, the pilot pressure signal corresponding to a single action may also be processed according to a requirement, so as to obtain engine parameters including an oil injection amount and the like, thereby implementing intelligent control on a vehicle.
S103, generating a control signal based on the engine parameter, wherein the control signal is used for controlling the engine of the vehicle.
The control signal can be used for controlling the fuel injection quantity of the engine; and/or the control signal may be used to control the actual speed of the engine; and/or, the control signal may be used to control whether the engine discontinues the stall strategy.
Therefore, the method provided by the embodiment of the application can be used for intelligently identifying the action to be executed by the vehicle by accurately obtaining the pilot pressure signal corresponding to the pilot pressure of the hydraulic system reflected by each action of the vehicle, so that a better control strategy is executed on the engine of the vehicle based on the identified action, the delay control such as tuning is avoided after the vehicle executes the action, the service life of the components on the vehicle is influenced by the poor use experience of the user of the vehicle, namely, the method provided by the application not only improves the use experience of the user brought by the vehicle, but also can realize more intelligent control on the vehicle, and the service life of the components on the vehicle is prolonged.
It should be noted that the embodiment of the application can be applied to the scenes that the excavator performs excavation, boom lifting rotation or boom lowering rotation, and because the scenes generate large loads, the composite actions of the excavator are intelligently identified through the pilot pressure signal and the speed dropping strategy is controlled to be interrupted in consideration of the risks of vehicle holding and flameout caused by the speed dropping strategy being started at the moment. However, the embodiment of the application can also be applied to other possible scenes of other vehicles and used for controlling other parameters (such as the fuel injection quantity of the engine) of the engine, so that the control of the vehicle is more intelligent and reasonable, and the use experience of the vehicle brought to a user is improved.
Correspondingly, the embodiment of the application also provides a control device 500 of the vehicle, as shown in fig. 5. The device 500 is applied to an electronic control unit ECU, which belongs to the vehicle. The apparatus 500 may include: an obtaining unit 501, a determining unit 502 and a generating unit 503. Wherein:
an obtaining unit 501, configured to obtain a pilot pressure signal generated by a pilot pressure of a hydraulic system of the vehicle, where the pilot pressure signal is used to represent an action corresponding to the pilot pressure, and the action is an action that the hydraulic system drives the vehicle to perform;
a determination unit 502 for determining an engine parameter based on the pilot pressure signal and operating information of the vehicle, the operating information being indicative of an operating condition of the vehicle;
a generating unit 503 for generating a control signal for controlling an engine of the vehicle based on the engine parameter.
Optionally, the obtaining unit 501 includes:
the first obtaining subunit is used for obtaining a first pilot pressure of a first action corresponding to a first actuating mechanism of the hydraulic system;
the first setting subunit is configured to set a signal on a first bit to a first value if the first pilot pressure meets a preset condition, where the pilot pressure signal includes a plurality of signal bits, the plurality of signal bits include the first bit, the first bit corresponds to the first action of the first execution mechanism, and the first value is used to indicate that the action corresponding to the signal bit where the first value is located is to be executed by the vehicle.
Optionally, the plurality of signal bits further include a second bit, where the second bit corresponds to a second action of a second actuator, and the obtaining unit 501 further includes:
a second obtaining subunit configured to obtain a second pilot pressure of the second action corresponding to the second actuator of the hydraulic system;
and the second setting subunit is configured to set the signal at the second position to the first value if the second pilot pressure satisfies the preset condition.
Optionally, the pilot pressure signal is used to instruct the vehicle to perform a compound action, the compound action comprising the first action and the second action.
Optionally, the preset condition includes: the first pilot pressure is greater than a first threshold value in a preset time length, the difference between the first pilot pressure and a third pilot pressure is greater than a second threshold value, and the third pilot pressure is pilot pressure generated in a previous period generated by the first pilot pressure.
Or,
the control signal is used for controlling the fuel injection quantity of the engine; and/or the presence of a gas in the gas,
the control signal is used for controlling the actual rotating speed of the engine; and/or the presence of a gas in the gas,
the control signal is used to control whether the engine discontinues a stall strategy.
The vehicle may be an excavator, for example.
It should be noted that, for a specific implementation manner and achieved effects of the control device 500 of the vehicle, reference may be made to the description of the method related to the embodiment shown in fig. 1.
In addition, the embodiment of the application further provides a vehicle 600, as shown in fig. 6. The vehicle 600 includes a hydraulic system 601, an ECU 602, and an engine 603. Wherein:
the ECU 602 is configured to execute the method shown in fig. 1 and generate a control signal for controlling the engine 603 according to the pilot pressure of the hydraulic system 601. The ECU 602 may be, for example, the control device 500 of the vehicle described above or a controller integrating the control device 500 of the vehicle.
In addition, the embodiment of the present application further provides an ECU, wherein the ECU belongs to a vehicle, the vehicle further comprises a hydraulic system and an engine, and the ECU is configured to execute the method shown in fig. 1 according to the pilot pressure of the hydraulic system and generate a control signal for controlling the engine. Wherein the ECU may be the ECU 602 in the vehicle 600 described above.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the method of the above embodiments may be implemented by software plus a general hardware platform. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a storage medium, such as a read-only memory (ROM)/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, system embodiments and device embodiments are substantially similar to method embodiments and are therefore described in a relatively simple manner, where relevant reference may be made to some descriptions of method embodiments. The above-described embodiments of the apparatus and system are merely illustrative, wherein modules described as separate parts may or may not be physically separate, and parts shown as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only a preferred embodiment of the present application and is not intended to limit the scope of the present application. It should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the scope of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A control method of a vehicle, characterized by being applied to an ECU belonging to the vehicle, the method comprising:
obtaining a pilot pressure signal generated by pilot pressure of a hydraulic system of the vehicle, wherein the pilot pressure signal is used for representing an action corresponding to the pilot pressure, and the action is an action executed by the hydraulic system for driving the vehicle;
determining an engine parameter based on the pilot pressure signal and operating information of the vehicle, the operating information being indicative of an operating condition of the vehicle;
generating a control signal based on the engine parameter, the control signal for controlling an engine of the vehicle.
2. The method of claim 1, wherein the obtaining a pilot pressure signal generated by a pilot pressure of a hydraulic system of the vehicle comprises:
obtaining a first pilot pressure of a first action corresponding to a first actuating mechanism of the hydraulic system;
if the first pilot pressure meets a preset condition, setting a signal on a first position as a first value, wherein the pilot pressure signal comprises a plurality of signal positions, the plurality of signal positions comprise the first position, the first position corresponds to the first action of the first executing mechanism, and the first value is used for indicating that the action corresponding to the signal position is to be executed by the vehicle.
3. The method of claim 2, wherein the plurality of signal bits further includes a second bit corresponding to a second action of a second actuator, the obtaining a pilot pressure signal generated by a pilot pressure of a hydraulic system of the vehicle further comprising:
obtaining a second pilot pressure of the second action corresponding to the second actuator of the hydraulic system;
and if the second pilot pressure meets the preset condition, setting the signal on the second position as the first value.
4. The method of claim 3, wherein the pilot pressure signal is used to instruct the vehicle to perform a compound action, the compound action comprising the first action and the second action.
5. The method according to any one of claims 2 to 4, wherein the preset conditions include: the first pilot pressure is greater than a first threshold value in a preset time length, the difference between the first pilot pressure and a third pilot pressure is greater than a second threshold value, and the third pilot pressure is pilot pressure generated in a previous period generated by the first pilot pressure.
6. The method according to any one of claims 1 to 4,
the control signal is used for controlling the fuel injection quantity of the engine; and/or the presence of a gas in the gas,
the control signal is used for controlling the actual rotating speed of the engine; and/or the presence of a gas in the gas,
the control signal is used to control whether the engine discontinues a stall strategy.
7. A control apparatus of a vehicle, applied to an ECU belonging to the vehicle, the apparatus comprising:
the obtaining unit is used for obtaining a pilot pressure signal generated by the pilot pressure of a hydraulic system of the vehicle, the pilot pressure signal is used for representing an action corresponding to the pilot pressure, and the action is an action which is executed by the hydraulic system to drive the vehicle;
a determination unit for determining an engine parameter based on the pilot pressure signal and operating information of the vehicle, the operating information being indicative of an operating condition of the vehicle;
a generating unit configured to generate a control signal for controlling an engine of the vehicle based on the engine parameter.
8. The apparatus of claim 7, wherein the obtaining unit comprises:
the first obtaining subunit is used for obtaining a first pilot pressure of a first action corresponding to a first actuating mechanism of the hydraulic system;
the first setting subunit is configured to set a signal on a first bit to a first value if the first pilot pressure meets a preset condition, where the pilot pressure signal includes a plurality of signal bits, the plurality of signal bits include the first bit, the first bit corresponds to the first action of the first execution mechanism, and the first value is used to indicate that the action corresponding to the signal bit where the first value is located is to be executed by the vehicle.
9. An Electronic Control Unit (ECU), characterized in that the ECU belongs to a vehicle, the vehicle further comprises a hydraulic system and an engine,
the ECU for performing the method of any one of claims 1-6 in dependence of a pilot pressure of the hydraulic system for generating a control signal for controlling the engine.
10. A vehicle comprising a hydraulic system, an engine, and the ECU of claim 9.
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| CN202211327227.8A CN115478579B (en) | 2022-10-26 | 2022-10-26 | Control method and device of vehicle, ECU and vehicle |
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| CN202211327227.8A CN115478579B (en) | 2022-10-26 | 2022-10-26 | Control method and device of vehicle, ECU and vehicle |
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