Method, device and vehicle for detecting the reliability of an egr system upstream pressure sensor

Abstract

The application discloses a kind of credibility detection method, device and vehicle of EGR system upstream pressure sensor, comprising: obtaining EGR system working condition;When EGR system working condition meets preset working condition, obtain venturi upstream temperature, venturi pressure difference and EGR valve model flow;EGR valve upstream pressure model value is determined based on EGR valve model flow, venturi upstream temperature, venturi pressure difference and first pressure model;EGR valve upstream pressure measured value is obtained based on EGR valve upstream pressure sensor;Whether the first difference between upstream pressure measured value and upstream pressure model value is included in the credible interval is judged;When the first difference is not included in the credible interval, it is determined that EGR valve upstream pressure sensor exists fault.Utilize upstream pressure model value to judge the detection accuracy of upstream pressure sensor, the credibility of upstream pressure model value is higher, i.e.EGR system working condition meets preset working condition, whether upstream pressure sensor occurs fault is judged by the first difference, improve EGR system data detection accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle detection, and particularly relates to a reliability detection method and device of an upstream pressure sensor of an EGR system and a vehicle. BACKGROUND

[0002] China is a big country of automobiles, and with the improvement of people's living standards, the emission of automobiles is paid more and more attention.

[0003] The EGR system returns part of the exhaust gas discharged by the engine to the intake manifold, and the fresh mixture enters the cylinder again. Since the exhaust gas contains a large amount of CO2 and other multi-atom gases, CO2 and other gases cannot burn but absorb a large amount of heat due to their high specific heat capacity, thereby reducing the maximum combustion temperature of the mixture in the cylinder, thereby reducing the generation of NOx. Therefore, when the EGR system is working, the detection accuracy of the detection components in the system, such as the upstream pressure sensor and the downstream pressure sensor of the EGR valve, needs to be accurate. For the working components that have faults, timely discovery and maintenance or replacement are needed to avoid large detection deviation and high emission that do not meet the national standard requirements.

[0004] An existing fault detection scheme for the upstream pressure sensor of the EGR system is to detect faults when the automobile is in an off state. This scheme can only detect the detection accuracy of the upstream pressure sensor corresponding to the 0 point position, and cannot determine whether the slope of the characteristic curve of the upstream pressure sensor drifts. Therefore, even if it is determined that the upstream pressure sensor has no faults by using this scheme, the upstream pressure sensor may still have poor detection accuracy in other working conditions.

[0005] Therefore, how to improve the reliability detection accuracy of the upstream pressure sensor of the EGR valve is a technical problem to be solved. SUMMARY

[0006] To solve the technical problem of how to detect the working condition of the working components of the EGR system in the background art. The present application provides a reliability detection method and device of an upstream pressure sensor of an EGR system and a vehicle.

[0007] According to an aspect of the embodiments of the present application, a method for detecting the reliability of an EGR system upstream pressure sensor is provided, comprising: obtaining an EGR system working condition; obtaining a Venturi upstream temperature, a Venturi pressure difference and an EGR valve model flow rate when the EGR system working condition meets a preset working condition; determining an upstream pressure model value of the EGR valve based on the EGR valve model flow rate, the Venturi upstream temperature, the Venturi pressure difference and a first pressure model; obtaining an upstream pressure measured value of the EGR valve based on an EGR valve upstream pressure sensor; determining whether a first difference between the upstream pressure measured value and the upstream pressure model value is within a reliable interval; and determining that the EGR valve upstream pressure sensor has a fault when the first difference is not within the reliable interval.

[0008] Optionally, the EGR system working condition meeting the preset working condition comprises: obtaining a downstream pressure value of the EGR valve based on a downstream pressure sensor of the EGR valve; determining whether a second difference between the upstream pressure model value and the downstream pressure value is greater than a preset value; and determining that the EGR system working condition meets the preset working condition when the second difference is greater than the preset value.

[0009] Optionally, the determination of the upstream pressure model value of the EGR valve based on the EGR valve model flow rate, the Venturi upstream temperature, the Venturi pressure difference and the first pressure model comprises: obtaining a first flow rate model of the EGR valve; determining the first pressure model based on the first flow rate model and the Venturi upstream temperature; and determining the upstream pressure model value based on the first pressure model, the EGR valve model flow rate, the Venturi upstream temperature and the Venturi pressure difference.

[0010] Optionally, the determination method of the EGR valve model flow rate comprises: obtaining a total intake flow rate, an air flow rate and a fuel gas flow rate; and determining the EGR valve model flow rate based on the total intake flow rate, the air flow rate and the fuel gas flow rate.

[0011] Optionally, the obtaining of the total intake flow rate comprises: obtaining an intake manifold pressure value of an engine, an engine speed and an intake manifold temperature; and determining the total intake flow rate based on the intake manifold pressure value, the engine speed, the intake manifold temperature and a charge efficiency.

[0012] Optionally, the determination method of the upstream pressure model value further comprises: obtaining a downstream pressure value of the EGR valve, a downstream temperature value, an EGR valve model flow rate and an EGR valve opening degree value; and determining the upstream pressure model value based on the downstream pressure value, the downstream temperature value, the EGR valve model flow rate, the EGR valve opening degree value and a correction parameter.

[0013] Optionally, the determining the upstream pressure model value based on the downstream pressure value, the downstream temperature value, the EGR valve model flow, the EGR valve opening value and the correction parameter comprises: determining a second flow model of the EGR valve based on the downstream pressure value, the downstream temperature value, the EGR valve model flow, the EGR valve opening value and the correction parameter; determining a second pressure model based on the second flow model; determining the upstream pressure model value based on the second pressure model, the downstream pressure value, the downstream temperature value, the EGR valve model flow, the EGR valve opening value and the correction parameter.

[0014] Optionally, the method for determining the upstream pressure model value further comprises: obtaining a pre-turbine pressure value, a pre-turbine temperature value and an EGR valve model flow of the turbine; determining the upstream pressure model value based on a third pressure model, the pre-turbine pressure value, the pre-turbine temperature value and the EGR valve model flow.

[0015] According to still another aspect of the embodiments of the present application, an EGR system upstream pressure sensor reliability detection device is provided, comprising: a first obtaining module configured to obtain an EGR system working condition; a second obtaining module configured to obtain a Venturi upstream temperature, a Venturi pressure difference and an EGR valve model flow when the EGR system working condition meets a preset working condition; a first analysis module configured to determine an upstream pressure model value of an EGR valve based on the EGR valve model flow, the Venturi upstream temperature, the Venturi pressure difference and a first pressure model; a third obtaining module configured to obtain an upstream pressure measured value of the EGR valve based on an EGR valve upstream pressure sensor; a second analysis module configured to determine whether a first difference between the upstream pressure measured value and the upstream pressure model value is contained in a reliability interval; and a third analysis module configured to determine that the EGR valve upstream pressure sensor has a fault when the first difference is not contained in the reliability interval.

[0016] According to still another aspect of the embodiments of the present application, a vehicle is provided, comprising a controller configured to execute the EGR system upstream pressure sensor reliability detection method according to any one of the embodiments described above.

[0017] In the present application, when the detection accuracy of the upstream pressure sensor is determined by using the upstream pressure model value, it is necessary to ensure that the upstream pressure model value is highly reliable, that is, the EGR system working condition meets the preset working condition. Through the requirement of the working condition, the upstream pressure model value of the accurate EGR valve is determined, and then whether the upstream pressure sensor fails is determined by the first difference. When the first difference is not included in the reliable interval, it is indicated that the deviation between the upstream pressure measured value detected by the upstream pressure sensor and the upstream pressure model value is too large, that is, the detection accuracy of the upstream pressure sensor is low. At this time, it is determined that the upstream pressure sensor fails. After it is determined that the fault occurs, the driver can be aware of the abnormal situation and the subsequent maintenance personnel can be maintained through the alarm and the recording of the fault code, thereby improving the working condition range allowed for the reliability detection of the upstream pressure sensor, and improving the calculation accuracy of the related parameters such as the EGR rate and the EGR valve opening degree in the EGR system, and improving the accuracy of the EGR system data detection and control. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor.

[0020] Figure 1 is a flow diagram of an optional EGR system upstream pressure sensor reliability detection method according to an embodiment of the present application;

[0021] Figure 2 is a structure block diagram of an optional EGR system upstream pressure sensor reliability detection device according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0023] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular chronological or sequential order. It should be understood that the data thus used can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in other than the order illustrated or described herein. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a list of steps or units as processes, methods, systems, products, or apparatuses are not necessarily limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to such processes, methods, products, or apparatuses.

[0024] As described in the background, an existing fault detection scheme for the upstream pressure sensor of the EGR system is to perform fault detection when the vehicle is in an off state. This scheme can only detect the detection accuracy of the upstream pressure sensor corresponding to the 0 point position, and cannot determine whether the slope of the characteristic curve of the upstream pressure sensor drifts. Therefore, even if it is determined that the upstream pressure sensor is not faulty using this scheme, the detection accuracy of the upstream pressure sensor may still be poor when tested under other working conditions.

[0025] Therefore, according to an aspect of an embodiment of the present application, a reliability detection method for an upstream pressure sensor of an EGR system is provided, as shown in Figure 1 The flow of the method can include the following steps:

[0026] S10. Obtain the working condition of the EGR system.

[0027] S20. When the working condition of the EGR system meets the preset working condition, obtain the Venturi upstream temperature, the Venturi pressure difference, and the EGR valve model flow.

[0028] S30. Determine the upstream pressure model value of the EGR valve based on the EGR valve model flow, the Venturi upstream temperature, the Venturi pressure difference, and a first pressure model.

[0029] S40. Obtain the upstream pressure measured value of the EGR valve based on the EGR valve upstream pressure sensor.

[0030] S50. Determine whether the first difference value between the upstream pressure measured value and the upstream pressure model value is included in a reliable interval.

[0031] S60. When the first difference value is not included in the reliable interval, determine that the EGR valve upstream pressure sensor has a fault.

[0032] In the embodiment of the present application, when the detection accuracy of the upstream pressure sensor is determined by using the upstream pressure model value, it is necessary to ensure that the upstream pressure model value has a high degree of credibility, that is, the EGR system working condition meets the preset working condition. Through the requirement of the working condition, the upstream pressure model value of the accurate EGR valve is determined, and then whether the upstream pressure sensor fails is determined by using the first difference. When the first difference is not included in the credible interval, it indicates that the deviation between the upstream pressure measured value detected by the upstream pressure sensor and the upstream pressure model value is too large, that is, the detection accuracy of the upstream pressure sensor is low. At this time, it is determined that the upstream pressure sensor fails. After it is determined that the upstream pressure sensor fails, the driver can be aware of the abnormal situation and the subsequent maintenance personnel can be maintained through the alarm and the recording of the fault code. The working condition range in which the upstream pressure sensor credibility detection is allowed is improved, and the calculation accuracy of the related parameters such as the EGR rate and the EGR valve opening in the EGR system is improved. The accuracy of the EGR system data detection and control is improved.

[0033] As an exemplary embodiment, the EGR system working condition meeting the preset working condition includes: obtaining a downstream pressure value of the EGR valve based on a downstream pressure sensor of the EGR valve; determining whether a second difference between the upstream pressure model value and the downstream pressure value is greater than a preset value; and determining that the EGR system working condition meets the preset working condition when the second difference is greater than the preset value.

[0034] In the embodiment, when the first difference is used to determine whether the upstream pressure sensor is credible, that is, whether the upstream pressure sensor fails, it is necessary to ensure the accuracy of the upstream pressure model value. The upstream pressure model value can be calculated when the air flow sensor, the front oxygen sensor, and the EGR differential pressure sensor are all normal, and the engine speed and the EGR valve opening value are maintained at certain values. The engine speed corresponding to the certain value and the EGR valve opening value corresponding to the certain value can be determined by bench test. Through the working condition constraint of the upstream pressure model value calculation, the accuracy of the upstream pressure sensor credibility detection can be further improved.

[0035] As an exemplary embodiment, the EGR valve upstream pressure model value is determined based on the EGR valve model flow, the Venturi upstream temperature, the Venturi differential pressure, and the first pressure model. The EGR valve upstream pressure model value includes: obtaining a first flow model of the EGR valve; determining the first pressure model based on the first flow model and the Venturi upstream temperature; and determining the upstream pressure model value based on the first pressure model, the EGR valve model flow, the Venturi upstream temperature, and the Venturi differential pressure.

[0036] In the embodiment, in the EGR system with a Venturi structure, the first flow model can be obtained by converting the first flow model and the Venturi upstream temperature. The first flow model is shown in the following formula (1).

[0037] (1)

[0038] wherein, is the ratio of the Venturi throat diameter to the Venturi upstream location diameter, is the Venturi throat area, is the compressibility factor, is the density of the Venturi upstream gas, is the pressure value of the Venturi upstream gas, is the pressure of the gas at the Venturi throat, and k1 is a constant, is the Venturi differential pressure. may be calculated by , in combination with the equation of state, is the pressure of the gas at the Venturi throat, and can be calculated by , and k1 can be determined by experiment, is the value measured by the Venturi differential pressure sensor, may be represented by , , as shown in equation (2):

[0039] (2)

[0040] wherein k is a thermodynamic constant, and the above equations (1)-(2) are converted, and in combination with the equation of state, the is converted into the form of P1 and T1, i.e. the first pressure model can be obtained, as shown in equation (3):

[0041] (3)

[0042] wherein, is the value of the previous time, k2 is a constant. Based on this, the EGR valve upstream pressure model value can be calculated by the EGR valve model flow, the Venturi upstream temperature and the Venturi differential pressure.

[0043] As an exemplary embodiment, the method for determining the EGR valve model flow comprises: obtaining a total intake flow, an air flow and a gas flow; and determining the EGR valve model flow based on the total intake flow, the air flow and the gas flow. The method for obtaining the total intake flow comprises: obtaining an intake manifold pressure value of an engine, an engine speed and an intake manifold temperature; and determining the total intake flow based on the intake manifold pressure value, the engine speed, the intake manifold temperature and a charge efficiency.

[0044] In this embodiment, the total intake flow can be calculated by equation (4):

[0045] (4)

[0046] wherein, is the total intake flow, n is the engine speed, which can be directly read by the ECU, MAP is the intake manifold pressure of the engine, which can be detected by the intake manifold pressure sensor, MAT is the intake manifold temperature of the engine, which can be detected by the intake manifold temperature sensor, and k3 is the charge efficiency, which can be calibrated in advance on a bench test.

[0047] After the total intake flow is determined, the EGR valve model flow can be calculated, as shown in the following formula (5):

[0048] = (5)

[0049] wherein, is the EGR valve model flow, is the total intake flow, is the air flow, which can be detected by an air flow meter, is the fuel flow, which can be calculated by the ECU by reading the fuel injection amount.

[0050] As an exemplary embodiment, the method for determining the upstream pressure model value further comprises: obtaining a downstream pressure value, a downstream temperature value, an EGR valve model flow, and an EGR valve opening degree value of the EGR valve; determining the upstream pressure model value based on the downstream pressure value, the downstream temperature value, the EGR valve model flow, the EGR valve opening degree value, and a correction parameter. The determination of the upstream pressure model value based on the downstream pressure value, the downstream temperature value, the EGR valve model flow, the EGR valve opening degree value, and the correction parameter comprises: determining a second flow model of the EGR valve based on the downstream pressure value, the downstream temperature value, the EGR valve model flow, the EGR valve opening degree value, and the correction parameter; determining a second pressure model based on the second flow model; and determining the upstream pressure model value based on the second pressure model, the downstream pressure value, the downstream temperature value, the EGR valve model flow, the EGR valve opening degree value, and the correction parameter.

[0051] In this embodiment, for the EGR system without a Venturi structure, the EGR valve model flow can be determined by table lookup based on a map of the EGR valve model flow and the downstream pressure value, the downstream temperature value, the EGR valve opening degree value, and the upstream pressure model value of the EGR valve, as shown in the following formula (6):

[0052] (6)

[0053] wherein, is the EGR valve model flow, T3 is the temperature value downstream of the EGR valve, p3 is the pressure value downstream of the EGR valve, p1 is the upstream pressure model value of the EGR valve, M is the opening value of the EGR valve, f1, f2, f3, f4 are corresponding fixed relationships of the EGR valve model flow converted from the map, and f5 is a correction parameter which can be obtained through experiments. The upstream pressure model value of the EGR valve can be determined based on the map and formula (6), and then the credibility of the upstream pressure sensor of the EGR valve can be detected when the working condition of the EGR system meets the preset working condition.

[0054] As an exemplary embodiment, the method for determining the upstream pressure model value further comprises: obtaining a pre-whirl pressure value, a pre-whirl temperature value and an EGR valve model flow of the turbine; and determining the upstream pressure model value based on a third pressure model, the pre-whirl pressure value, the pre-whirl temperature value and the EGR valve model flow.

[0055] In the embodiment, the determination method of the upstream pressure model value can also be based on the pre-whirl pressure value, the pre-whirl temperature value and the EGR valve model flow of the turbine, and determined in combination with a basic formula of fluid mechanics, i.e., a third pressure model, as shown in the following formula (7):

[0056] (7)

[0057] wherein P1 is the upstream pressure model value, P0 is the pre-whirl pressure value, is the EGR valve model flow, T0 is the pre-whirl temperature value, is a two-dimensional interpolation table based on the EGR valve model flow and the pre-whirl temperature value, and the corresponding relationship is obtained through experiments.

[0058] In the present application, different pressure models can be selected for calculating the upstream pressure model value based on different EGR systems and different parameters that can be obtained or calculated, and the credibility of the upstream pressure sensor can be detected when the working condition of the EGR system meets the preset working condition, thereby increasing the working condition range of the credibility detection of the upstream pressure sensor and enabling the upstream pressure sensor to be more accurately detected for failure.

[0059] According to another aspect of the embodiments of the present application, an EGR system upstream pressure sensor credibility detection device is provided, as shown in Figure 2 , comprising:

[0060] A first obtaining module 201 obtains the working condition of the EGR system.

[0061] A second obtaining module 202 obtains a Venturi upstream temperature, a Venturi pressure difference and an EGR valve model flow when the working condition of the EGR system meets the preset working condition.

[0062] The first analysis module 203 determines an upstream pressure model value of the EGR valve based on the EGR valve model flow, the Venturi upstream temperature, the Venturi pressure difference and the first pressure model;

[0063] The third acquisition module 204 acquires an upstream pressure measured value of the EGR valve based on the EGR valve upstream pressure sensor;

[0064] The second analysis module 205 judges whether a first difference value between the upstream pressure measured value and the upstream pressure model value is contained in a confidence interval;

[0065] The third analysis module 206 determines that the EGR valve upstream pressure sensor has a fault when the first difference value is not contained in the confidence interval.

[0066] It should be noted that the first acquisition module 201 in the embodiment can be used to execute the above step S10, the second acquisition module 202 in the embodiment can be used to execute the above step S20, the first analysis module 203 in the embodiment can be used to execute the above step S30, the third acquisition module 204 in the embodiment can be used to execute the above step S40, the second analysis module 205 in the embodiment can be used to execute the above step S50, and the third analysis module 206 in the embodiment can be used to execute the above step S60.

[0067] According to still another aspect of the embodiments of the present application, a vehicle is also provided, which comprises a controller configured to execute the EGR system upstream pressure sensor confidence detection method according to any one of the above embodiments.

[0068] It should be noted that, for the above method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0069] The above is only the preferred embodiment of the present application, and it should be pointed out that, for those skilled in the art, without departing from the principle of the present application, a number of improvements and refinements can be made, which should also be regarded as the protection scope of the present application.

Claims

1. A method of detecting the trustworthiness of an EGR system upstream pressure sensor, characterized by, The method comprises: acquiring an EGR system working condition; when the EGR system working condition meets a preset working condition, acquiring a Venturi upstream temperature, a Venturi pressure difference and an EGR valve model flow rate; determining an upstream pressure model value of the EGR valve based on the EGR valve model flow rate, the Venturi upstream temperature, the Venturi pressure difference and a first pressure model; acquiring an upstream pressure measured value of the EGR valve based on an EGR valve upstream pressure sensor; judging whether a first difference value between the upstream pressure measured value and the upstream pressure model value is included in a trustable interval; when the first difference value is not included in the trustable interval, determining that the EGR valve upstream pressure sensor has a fault; the EGR system working condition meeting the preset working condition comprises: acquiring a downstream pressure value of the EGR valve based on a downstream pressure sensor of the EGR valve; judging whether a second difference value between the upstream pressure model value and the downstream pressure value is greater than a preset value; when the second difference value is greater than the preset value, determining that the EGR system working condition meets the preset working condition; the determination of the upstream pressure model value of the EGR valve based on the EGR valve model flow rate, the Venturi upstream temperature, the Venturi pressure difference and the first pressure model comprises: acquiring a first flow rate model of the EGR valve; determining the first pressure model based on the first flow rate model and the Venturi upstream temperature; determining the upstream pressure model value based on the first pressure model, the EGR valve model flow rate, the Venturi upstream temperature and the Venturi pressure difference.

2. The method of detectability of an EGR system upstream pressure sensor according to claim 1, characterized in that, The determination method of the EGR valve model flow rate comprises: acquiring a total intake flow rate, an air flow rate and a fuel gas flow rate; determining the EGR valve model flow rate based on the total intake flow rate, the air flow rate and the fuel gas flow rate.

3. The method of detectability of an EGR system upstream pressure sensor according to claim 2, wherein The acquisition of the total intake flow rate comprises: acquiring an intake manifold pressure value, an engine speed and an intake manifold temperature of an engine; determining the total intake flow rate based on the intake manifold pressure value, the engine speed, the intake manifold temperature and a charge efficiency.

4. The method of detectability of an EGR system upstream pressure sensor according to claim 1, characterized in that, The determination method of the upstream pressure model value further comprises: acquiring a downstream pressure value, a downstream temperature value, an EGR valve model flow rate and an EGR valve opening degree value of the EGR valve; determining the upstream pressure model value based on the downstream pressure value, the downstream temperature value, the EGR valve model flow rate, the EGR valve opening degree value and a correction parameter.

5. The EGR system upstream pressure sensor plausibility detection method of claim 4, wherein, The determination of the upstream pressure model value based on the downstream pressure value, the downstream temperature value, the EGR valve model flow rate, the EGR valve opening degree value and the correction parameter comprises: determining a second flow rate model of the EGR valve based on the downstream pressure value, the downstream temperature value, the EGR valve model flow rate, the EGR valve opening degree value and the correction parameter; determining a second pressure model based on the second flow rate model; determining the upstream pressure model value based on the second pressure model, the downstream pressure value, the downstream temperature value, the EGR valve model flow rate, the EGR valve opening degree value and the correction parameter.

6. The EGR system upstream pressure sensor plausibility detection method of claim 1, wherein, The determination method of the upstream pressure model value further comprises: acquiring a pre-turbine pressure value, a pre-turbine temperature value and an EGR valve model flow rate of a turbine; determining the upstream pressure model value based on the third pressure model, the pre-swirl pressure value, the pre-swirl temperature value, and the EGR valve model flow rate.

7. A device for detecting the trustworthiness of an EGR system upstream pressure sensor, characterized by A method for performing the trustworthiness detection of an upstream pressure sensor of an EGR system according to any one of claims 1-6, comprising: a first obtaining module, obtaining the working condition of the EGR system; a second obtaining module, obtaining the upstream temperature of the Venturi, the pressure difference of the Venturi, and the EGR valve model flow rate when the working condition of the EGR system meets the preset working condition; a first analysis module, determining the upstream pressure model value of the EGR valve based on the EGR valve model flow rate, the upstream temperature of the Venturi, the pressure difference of the Venturi, and the first pressure model; a third obtaining module, obtaining the upstream pressure measured value of the EGR valve based on the upstream pressure sensor of the EGR valve; a second analysis module, determining whether the first difference value between the upstream pressure measured value and the upstream pressure model value is contained in the trustworthiness interval; a third analysis module, determining that the upstream pressure sensor of the EGR valve has a fault when the first difference value is not contained in the trustworthiness interval.

8. A vehicle characterized by comprising: A controller for performing the trustworthiness detection of an upstream pressure sensor of an EGR system according to any one of claims 1-6.

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