Hybrid vehicle waste heat recovery system and control method, vehicle

Abstract

The application discloses a hybrid vehicle waste heat recovery system and control method and vehicle, and belongs to the technical field of energy recovery, and comprises an engine exhaust circulation system, a water circulation system, a warm air circulation system, a motor circulation system, a battery circulation system, a battery charging and heating circulation system and an engine cooling circulation system.The application discloses a hybrid vehicle waste heat recovery system and control method and vehicle, effectively utilizes engine exhaust system heat, rapidly heats cooling liquid of a warm air system, meets the heating demand of a passenger cabin, and in a low-temperature environment condition, especially in an extremely cold climate condition, battery discharge efficiency is low, the engine can be controlled to work, exhaust system heat is actively recovered for the warm air system passenger cabin heating, the use of a PTC heater is reduced, energy consumption is saved, and the user's worry about winter range is alleviated; and four is that a motor waste heat recovery function is reserved for battery heating, and the battery discharge efficiency is improved.

Description

TECHNICAL FIELD

[0001] The application discloses a hybrid vehicle waste heat recovery system and control method and vehicle, and belongs to the technical field of energy recovery. BACKGROUND

[0002] There are two ways for the existing hybrid vehicle waste heat recovery technology:

[0003] The first way is engine waste heat utilization, mainly cooling cycle waste heat utilization, after the engine works for a period of time, the cooling liquid temperature in the cooling system is increased to a certain temperature, and then the high-temperature cooling liquid is used to introduce the warm air circulation system to heat the passenger cabin or introduce the battery circulation system to heat the battery through logical control. When the environment is lower than a certain temperature, in order to ensure the cold start of the engine and the combustion characteristics, the cooling circulation system adopts a small cycle, and the cooling liquid mainly ensures the rapid temperature rise of the engine cylinder body and improves the engine combustion efficiency, and no longer provides waste heat to the warm air circulation system or the battery circulation system.

[0004] The above way has the following problems: 1. The cooling system waste heat utilization rate is very low under low temperature conditions due to the engine cold start demand; 2. The exhaust system heat is all released to the air along with the exhaust system during the engine working process, which is wasted without recycling and utilization. At present, there is no exhaust waste heat recycling and utilization for hybrid vehicles.

[0005] The second way is motor waste heat utilization, mainly recycling and utilizing the heat generated by the motor during the operation of the motor, when the battery needs to be heated, the part of waste heat is introduced into the battery circulation system to heat the battery through the control method.

[0006] The above way has the following problems: the heat exchange amount is small during the operation of the motor, only the battery temperature can be increased, the battery cannot be heated to a satisfactory temperature, and the passenger cabin heating demand cannot be met. SUMMARY

[0007] The application aims to solve the problem of low engine waste heat utilization rate in low temperature environment, and provides a hybrid vehicle waste heat recovery system and control method and vehicle. Through the control method, the engine exhaust system heat is fully utilized to heat the passenger cabin of the warm air system, the engine waste heat is maximally utilized, the PCT heater power consumption is reduced, and the vehicle range is correspondingly improved.

[0008] The problem to be solved by the application is solved by the following technical scheme:

[0009] According to a first aspect of the embodiment of the application, a hybrid vehicle waste heat recovery system is provided, comprising:

[0010] The engine exhaust circulation system comprises: a gas circulation system composed of a gas control valve, a gas-liquid heat exchanger and an exhaust system connected in sequence; a water circulation system composed of the gas-liquid heat exchanger, a first water pump and first and second ends of a first four-way valve connected in sequence;

[0011] The warm air circulation system is composed of a warm air heat exchanger, first and third ends of a first three-way valve, a PTC heater, third and fourth ends of the first four-way valve, a second water pump and third and fourth ends of a second four-way valve connected in sequence;

[0012] The motor circulation system is composed of a motor assembly, first and second ends of a third four-way valve, a third water pump, a low-temperature radiator and first and third ends of a second three-way valve connected in sequence;

[0013] The battery circulation system is composed of a battery, first and third ends of a third three-way valve, a fourth water pump and third and fourth ends of the third four-way valve connected in sequence;

[0014] The battery charging and heating circulation system is composed of the battery, second and third ends of the third three-way valve, the PTC heater, second and third ends of the first three-way valve, the fourth water pump and third and fourth ends of the third four-way valve connected in sequence;

[0015] The engine cooling circulation system comprises: an engine outer circulation system composed of an engine, a thermal management module and a high-temperature radiator connected in sequence; and an engine inner circulation system composed of the engine, the thermal management module and first and second ends of a second four-way valve connected in sequence.

[0016] Preferably, the engine exhaust circulation system further comprises:

[0017] A first temperature sensor arranged on a pipeline connected between the gas control valve and the exhaust system, for acquiring a current exhaust temperature t1;

[0018] A second temperature sensor arranged on a pipeline connected between the gas-liquid heat exchanger and the first water pump, for acquiring a current coolant temperature t2;

[0019] A third temperature sensor arranged on a pipeline connected between the thermal management module and the second four-way valve, for acquiring a current engine coolant temperature t3;

[0020] A fourth temperature sensor arranged on a pipeline connected between the motor assembly and the third four-way valve, for acquiring a motor coolant temperature t4;

[0021] A fifth temperature sensor arranged on a pipeline connected between the PTC heater and the first and second four-way valves, respectively, for acquiring an entering warm air coolant temperature t5;

[0022] a sixth temperature sensor arranged on a pipeline connected with the third four-way valve and the battery, for obtaining a battery coolant temperature t6.

[0023] According to a second aspect of the embodiment of the present application, a control method of a hybrid vehicle waste heat recovery system is provided, applied to the hybrid vehicle waste heat recovery system of the first aspect, and characterized in that the method comprises:

[0024] when it is monitored that the hybrid vehicle enters an engine working strategy and the passenger cabin air conditioning control panel has a heating demand, an engine exhaust system waste heat recovery strategy is executed;

[0025] when it is monitored that the hybrid vehicle enters an engine working strategy and the passenger cabin air conditioning control panel has a heating demand, an engine cooling system waste heat recovery strategy is executed;

[0026] when it is monitored that the hybrid vehicle enters an electric motor working strategy, an electric motor system waste heat recovery strategy is executed;

[0027] when it is monitored that the passenger cabin air conditioning control panel has a heating demand, a passenger cabin heating strategy is executed;

[0028] when it is monitored that the battery charging and discharging state, a battery heating strategy is executed.

[0029] Preferably, the engine exhaust system waste heat recovery strategy comprises:

[0030] setting a target temperature T1;

[0031] entering an exhaust circulation system working, a gas circuit circulation being opened, a gas control valve being opened, an initial opening degree being according to a corresponding value of the current exhaust temperature t1, bypass high-temperature exhaust entering the gas-liquid heat exchanger, a water circuit circulation being opened, the first water pump working at a maximum flow rate Q1max, coolant being exchanged with exhaust through the gas-liquid heat exchanger, the current coolant temperature t2 rising, the gas control valve opening degree being adjusted in real time according to a control valve opening degree map, the control valve opening degree map being determined through system calibration, including the control valve opening degree, the current exhaust temperature t1, the current coolant temperature t2 and the first water pump flow rate Q1;

[0032] requiring that the temperature be in the range of b℃≤current coolant temperature t2≤d℃ within x minutes, if not satisfied, returning to the engine working strategy, if satisfied, opening the exhaust water circuit circulation system in series with the air heating circulation system, the first end and the third end of the first four-way valve being switched to the second end and the fourth end, the second water pump working, and the PTC heater not working.

[0033] Preferably, the engine cooling system waste heat recovery strategy comprises:

[0034] setting the target temperature T1;

[0035] Monitoring the engine coolant temperature t3, requiring the engine coolant temperature t3≥n℃ and the whole vehicle is in the exhaust heat recovery exit strategy, if not satisfied, return to the engine working strategy, if satisfied, then open the engine cooling circulation system in series with the heating circulation system, the first end and the third end of the second four-way valve are reversed to the second end and the fourth end, the second water pump works, and the PTC heater does not work.

[0036] Preferably, the motor system waste heat recovery strategy includes:

[0037] When the battery coolant temperature t6≤a℃, the battery has heating demand;

[0038] Monitoring the motor coolant temperature t4, requiring the motor coolant temperature t4≥k℃, not exceeding the motor coolant temperature limit, t6≤t4, and if not satisfied, return to the motor working strategy, if satisfied, then open the motor circulation system in series with the battery circulation system, the first end and the third end of the third four-way valve are reversed to the second end and the fourth end, and the fourth water pump works.

[0039] Preferably, the passenger compartment heating strategy includes:

[0040] Setting the target temperature T1;

[0041] Engine normal working strategy: control entering the engine exhaust system waste heat recovery strategy, if it can enter, execute the engine exhaust system waste heat recovery strategy to heat the passenger compartment;

[0042] If it cannot enter, execute the engine cooling system waste heat recovery strategy, if it can enter, then heat the passenger compartment according to the engine cooling system waste heat recovery strategy; if the engine cooling system waste heat recovery strategy cannot enter, then enter the pure electric working strategy control;

[0043] Extreme cold environment strategy: when monitoring the current environment temperature T2≤w℃, control the engine to start through the whole vehicle ECU, if the engine can start normally, then control through the engine normal working strategy, if the engine cannot start normally, then enter the pure electric working strategy control.

[0044] Battery SOC feeding strategy: when monitoring the battery SOC≤m%, control the engine to start through the whole vehicle ECU, if the engine can start normally, then control through the engine normal working strategy, if the engine cannot start normally, then enter the pure electric working strategy control.

[0045] Pure electric operation strategy: monitor the battery SOC percentage, if SOC >= w%, enter the normal heating system strategy, adopt PTC heating strategy, if SOC < w%, exit and end.

[0046] Preferably, the battery heating strategy comprises:

[0047] Battery driving heating strategy: monitor the battery driving discharge state, and the battery coolant temperature t6 <= a℃, determine whether the motor system waste heat recovery strategy can be entered, if yes, execute the motor system waste heat recovery strategy to heat the battery, if no, return.

[0048] Battery charging heating strategy: monitor the battery in the charging state, and the battery coolant temperature e℃ <= t6 <= a℃, at this time, enter the PTC heater operation strategy, if not, return.

[0049] Preferably, it further comprises: when the heater coolant temperature t5 is greater than or equal to 65℃, the PTC power is controlled.

[0050] According to the third aspect of the embodiment of the present application, a vehicle is provided, comprising a vehicle body and the hybrid vehicle waste heat recovery system of the first aspect.

[0051] The present application has the following beneficial effects compared with the prior art:

[0052] The present application discloses a hybrid vehicle waste heat recovery system and control method, and a vehicle, which effectively utilizes engine exhaust system heat, rapidly warms up the coolant of the heater system, meets the heating demand of the passenger cabin, in low temperature environment conditions, especially in extremely cold weather conditions, at this time, the battery discharge efficiency is low, the engine can be controlled to work to actively recover the exhaust system heat for the heater system passenger cabin heating, reduces the use of PTC heater, saves energy consumption, and alleviates the user's concern about winter range; four is to reserve the motor waste heat recovery function, heat the battery, and improve the battery discharge efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 It is a structure diagram of the hybrid vehicle waste heat recovery system of the present application.

[0054] Figure 2 It is a flow chart of the engine exhaust system waste heat recovery strategy in the control method of the hybrid vehicle waste heat recovery system of the present application.

[0055] Figure 3 It is a flow chart of the engine cooling system waste heat recovery strategy in the control method of the hybrid vehicle waste heat recovery system of the present application.

[0056] Figure 4is a flow chart of a motor system waste heat recovery strategy in a control method of a waste heat recovery system of a hybrid vehicle.

[0057] Figure 5 is a flow chart of a passenger cabin heating strategy in a control method of a waste heat recovery system of a hybrid vehicle.

[0058] Figure 6 is a flow chart of a battery driving heating strategy in a battery heating strategy in a control method of a waste heat recovery system of a hybrid vehicle.

[0059] Figure 7 is a flow chart of a battery charging heating strategy in a battery heating strategy in a control method of a waste heat recovery system of a hybrid vehicle. DETAILED DESCRIPTION

[0060] The technical solutions of the present application will be described below in detail according to the accompanying drawings. Figures 1-7 The present application is further described as follows:

[0061] The technical solutions of the present application will be described below in detail according to the accompanying drawings.

[0062] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0063] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0064] As shown in the accompanying drawings, the first embodiment of the present application provides a waste heat recovery system of a hybrid vehicle based on the prior art, which comprises: Figure 1

[0065] ​The engine exhaust circulation system comprises: a gas circulation system composed of a gas control valve, a gas-liquid heat exchanger and an exhaust system connected in sequence; a water circulation system composed of the gas-liquid heat exchanger, a first water pump and first and second ends of a first four-way valve connected in sequence;

[0066] A warm air circulation system composed of a warm air heat exchanger, first and third ends of a first three-way valve, a PTC heater, third and fourth ends of the first four-way valve, a second water pump and third and fourth ends of a second four-way valve connected in sequence;

[0067] A motor circulation system composed of a motor assembly, first and second ends of a third four-way valve, a third water pump, a low-temperature radiator and first and third ends of a second three-way valve connected in sequence;

[0068] A battery circulation system composed of a battery, first and third ends of a third three-way valve, a fourth water pump and third and fourth ends of the third four-way valve connected in sequence;

[0069] A battery charging and heating circulation system composed of the battery, second and third ends of the third three-way valve, the PTC heater, second and third ends of the first three-way valve, the fourth water pump and third and fourth ends of the third four-way valve connected in sequence;

[0070] An engine cooling circulation system comprising: an engine outer circulation system composed of an engine, a thermal management module and a high-temperature radiator connected in sequence; and an engine inner circulation system composed of the engine, the thermal management module and first and second ends of a second four-way valve connected in sequence.

[0071] The first temperature sensor is arranged on a pipeline connected between the gas control valve and the exhaust system, and is used to obtain a current exhaust temperature t1; the second temperature sensor is arranged on a pipeline connected between the gas-liquid heat exchanger and the first water pump, and is used to obtain a current cooling liquid temperature t2; the third temperature sensor is arranged on a pipeline connected between the thermal management module and the second four-way valve, and is used to obtain a current engine cooling liquid temperature t3; the fourth temperature sensor is arranged on a pipeline connected between the motor assembly and the third four-way valve, and is used to obtain a motor cooling liquid temperature t4; the fifth temperature sensor is arranged on a pipeline connected between the PTC heater and the first and second four-way valves, and is used to obtain a warm air cooling liquid temperature t5; and the sixth temperature sensor is arranged on a pipeline connected between the battery and the third four-way valve, and is used to obtain a battery cooling liquid temperature t6.

[0072] The second embodiment of the present application provides a control method of the waste heat recovery system of the hybrid vehicle on the basis of the first embodiment, and the control method comprises:

[0073] When the hybrid vehicle is monitored to enter the engine working strategy and the passenger cabin air conditioning control panel has a heating demand, the engine exhaust system waste heat recovery strategy is executed. As shown in Figure 2 , the specific content of the engine exhaust system waste heat recovery strategy is as follows:

[0074] The target temperature T1 is set;

[0075] The exhaust circulation system works, the gas circuit circulation is opened, the gas control valve is opened, the initial opening degree is according to the corresponding value of the current exhaust temperature t1, the bypass high-temperature exhaust enters the gas-liquid heat exchanger, the water circuit circulation is opened, the first water pump works at the maximum flow Q1 max , the cooling liquid exchanges heat with the exhaust through the gas-liquid heat exchanger, the current cooling liquid temperature t2 rises, and the opening degree of the gas control valve is adjusted in real time according to the control valve opening degree map, which needs to be determined through system calibration, including the control valve opening degree, the current exhaust temperature t1, the current cooling liquid temperature t2, and the first water pump flow Q1.

[0076] The current cooling liquid temperature t2 needs to be controlled within a reasonable range, requiring that the temperature is within b℃≤current cooling liquid temperature t2≤d℃ within x minutes, if not satisfied, return to the engine working strategy, if satisfied, open the exhaust water circuit circulation system in series with the heating air circulation system, the first four-way valve first end and third end are reversed to the second end and fourth end, the second water pump works, the flow can be calibrated, and the PTC heater does not work.

[0077] When the hybrid vehicle is monitored to enter the engine working strategy and the passenger cabin air conditioning control panel has a heating demand, the engine cooling system waste heat recovery strategy is executed. As shown in Figure 3 , the specific content of the engine cooling system waste heat recovery strategy is as follows:

[0078] The target temperature T1 is set;

[0079] The engine cooling liquid temperature t3 is monitored, requiring that the engine cooling liquid temperature t3≥n℃ and the whole vehicle is in the exhaust waste heat recovery exit strategy, if not satisfied, return to the engine working strategy, if satisfied, open the engine cooling circulation system in series with the heating air circulation system, the second four-way valve first end and third end are reversed to the second end and fourth end, the second water pump works, the flow can be calibrated, and the PTC heater does not work.

[0080] When the hybrid vehicle is monitored to enter the motor working strategy, the motor system waste heat recovery strategy is executed, as shown in Figure 4 , the specific content of the motor system waste heat recovery strategy is as follows:

[0081] When the battery cooling liquid temperature t6≤a℃, the battery has a heating demand;

[0082] Monitoring the motor cooling liquid temperature t4, requiring motor cooling liquid temperature t4≥k℃, not exceeding motor cooling liquid temperature limit, t6≤t4, while meeting, if not met, back to the motor working strategy, if met, then open the motor circulation system in series with the battery circulation system, the third and fourth valve first end and third end reversing to the second and fourth end, the fourth water pump works, the flow can be calibrated.

[0083] When monitoring the passenger cabin air conditioning control panel has heating demand, the passenger cabin heating strategy is executed. As shown in Figure 5 The specific content of the passenger cabin heating strategy is as follows:

[0084] Set the target temperature T1;

[0085] Engine normal working strategy: preferentially control into the engine exhaust system waste heat recovery strategy, if can enter, execute the engine exhaust system waste heat recovery strategy to heat the passenger cabin;

[0086] If it cannot enter, execute the engine cooling system waste heat recovery strategy, if it can enter, then execute the engine cooling system waste heat recovery strategy to heat the passenger cabin; if the engine cooling system waste heat recovery strategy cannot enter, then enter the pure electric working strategy control;

[0087] Extreme cold environment strategy: when monitoring the current environment temperature T2≤w℃, control the engine to start through the vehicle ECU, if the engine can start normally, then control through the engine normal working strategy, if the engine cannot start normally, then enter the pure electric working strategy control.

[0088] Battery SOC feeding strategy: when monitoring the battery SOC≤m%, control the engine to start through the vehicle ECU, if the engine can start normally, then control through the engine normal working strategy, if the engine cannot start normally, then enter the pure electric working strategy control.

[0089] Pure electric working strategy: monitor the battery SOC percentage, if SOC≥w%, enter the normal heater circulation system strategy, adopt the PTC heating heating strategy, if SOC<w%, then exit and end.

[0090] The priority order of the passenger cabin control mode is: engine normal working mode, extreme cold environment mode, battery SOC feeding mode, battery SOC feeding mode.

[0091] When monitoring the battery charging and discharging state, the battery heating strategy is executed. As shown in Figure 6 and 7 The specific content of the battery heating strategy is as follows:

[0092] Battery driving heating strategy: the battery driving discharging state is monitored, and the battery coolant temperature t6 is less than or equal to a ℃, whether the motor system waste heat recovery strategy can be entered is determined, if yes, the motor system waste heat recovery strategy is executed to heat the battery, if not, it is returned.

[0093] Battery charging heating strategy: the battery is in a charging state, and the battery coolant temperature e ℃ is less than or equal to t6 and is less than or equal to a ℃, at this time, the PTC heater working strategy is entered, if not, it is returned.

[0094] When the heater coolant temperature t5 is greater than or equal to 65 ℃, the PTC power is controlled.

[0095] The application can effectively improve the vehicle energy consumption utilization rate, improve the winter vehicle cruising range, and solve the user's concern.

[0096] The third embodiment of the application provides a vehicle on the basis of the first embodiment, comprising a vehicle body and the hybrid vehicle waste heat recovery system of the first embodiment.

[0097] Although the embodiments of the application have been disclosed as above, it is not limited to the application listed in the specification and the embodiments. It can be fully applied to various fields suitable for the application. Additional modifications can be easily realized by those skilled in the art. Therefore, the application is not limited to specific details and the figures shown and described herein without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. A control method of a hybrid vehicle waste heat recovery system, applied to a hybrid vehicle waste heat recovery system, characterized by, The hybrid vehicle waste heat recovery system comprises: An engine exhaust circulation system, comprising: a gas circulation system composed of a gas control valve, a gas-liquid heat exchanger and an exhaust system connected in sequence; a water circulation system composed of the gas-liquid heat exchanger, a first water pump and first and second ends of a first four-way valve connected in sequence; A warm air circulation system composed of a warm air heat exchanger, first and third ends of a first three-way valve, a PTC heater, third and fourth ends of the first four-way valve, a second water pump and third and fourth ends of a second four-way valve connected in sequence; A motor circulation system composed of a motor assembly, first and second ends of a third four-way valve, a third water pump, a low-temperature radiator and first and third ends of a second three-way valve connected in sequence; A battery circulation system composed of a battery, first and third ends of a third three-way valve, a fourth water pump and third and fourth ends of the third four-way valve connected in sequence; A battery charging and heating circulation system composed of the battery, second and third ends of the third three-way valve, the PTC heater, second and third ends of the first three-way valve, the fourth water pump and third and fourth ends of the third four-way valve connected in sequence; An engine cooling circulation system comprising an engine outer circulation system and an engine inner circulation system, the engine outer circulation system composed of an engine, a thermal management module and a high-temperature radiator connected in sequence; the engine inner circulation system composed of the engine, the thermal management module and first and second ends of a second four-way valve connected in sequence; The control method comprises: When a heating demand of a passenger cabin air conditioner control panel is monitored, a passenger cabin heating strategy is executed, comprising: Setting a target temperature; An engine normal working strategy: controlling the engine exhaust system waste heat recovery strategy to heat the passenger cabin, the engine exhaust system waste heat recovery strategy comprising: starting the exhaust water circulation system in series with the warm air circulation system; If the engine exhaust system waste heat recovery strategy cannot be entered, an engine cooling system waste heat recovery strategy is executed, the engine cooling system waste heat recovery strategy comprising: starting the engine cooling circulation system in series with the warm air circulation system; If the engine cooling system waste heat recovery strategy cannot be entered, a pure electric working strategy control is entered; An extremely cold environment strategy: when it is monitored that the current environment temperature is less than or equal to w℃, the engine is started through the vehicle ECU, if the engine can be normally started, the engine normal working strategy control is performed, if the engine cannot be normally started, the pure electric working strategy control is entered; A battery SOC power supply strategy: when it is monitored that the battery SOC is less than or equal to m%, the engine is started through the vehicle ECU, if the engine can be normally started, the engine normal working strategy control is performed, if the engine cannot be normally started, the pure electric working strategy control is entered; A pure electric working strategy: monitoring the battery SOC percentage, if the SOC is greater than or equal to w%, the normal warm air circulation system strategy is entered, the PTC heating strategy is adopted, if the SOC is less than w%, the process is exited.

2. The control method of the hybrid vehicle waste heat recovery system according to claim 1, characterized by, The hybrid vehicle waste heat recovery system further comprises: A first temperature sensor is arranged on a pipeline connected between the gas control valve and the exhaust system, and is configured to acquire a current exhaust temperature t1; A second temperature sensor is arranged on a pipeline connected between the gas-liquid heat exchanger and the first water pump, and is configured to acquire a current cooling liquid temperature t2; A third temperature sensor is arranged on a pipeline connected between the thermal management module and the second four-way valve, and is configured to acquire a current engine cooling liquid temperature t3; A fourth temperature sensor is arranged on a pipeline connected between the motor assembly and the third four-way valve, and is configured to acquire a motor cooling liquid temperature t4; A fifth temperature sensor is arranged on a pipeline connected between the PTC heater and the first three-way valve and the first four-way valve, respectively, and is configured to acquire an entering heating air cooling liquid temperature t5; A sixth temperature sensor is arranged on a pipeline connected between the battery and the third four-way valve, and is configured to acquire a battery cooling liquid temperature t6.

3. The control method of the hybrid vehicle waste heat recovery system according to claim 2, characterized by, Further comprising: When it is monitored that the hybrid vehicle enters a motor working strategy, a motor system waste heat recovery strategy is executed; When it is monitored that a battery charging and discharging state, a battery heating strategy is executed.

4. The control method of the hybrid vehicle waste heat recovery system according to claim 3, characterized by, The engine exhaust system waste heat recovery strategy comprises: Setting a target temperature; Entering an exhaust circulation system working, a gas path circulation is started, a gas control valve is opened, an initial opening degree is set according to a corresponding value of the current exhaust temperature t1, bypass high-temperature exhaust enters the gas-liquid heat exchanger, a water path circulation is started, the first water pump works at a maximum flow rate Q1max, cooling liquid exchanges heat with exhaust through the gas-liquid heat exchanger, the current cooling liquid temperature t2 is increased, the opening degree of the gas control valve is adjusted in real time according to a control valve opening degree map, the control valve opening degree map needs to be determined through system calibration, and the control valve opening degree map includes the control valve opening degree, the current exhaust temperature t1, the current cooling liquid temperature t2 and the first water pump flow rate Q1; It is required that the temperature is b℃≤the current cooling liquid temperature t2≤d℃ within x minutes, if not satisfied, the engine normal working strategy is returned to, and if satisfied, an exhaust water path circulation system is started in series with a heating air circulation system, a first end and a third end of the first four-way valve are switched to a second end and a fourth end, the second water pump works, and the PTC heater does not work.

5. The control method of the hybrid vehicle waste heat recovery system according to claim 3, characterized by, The engine cooling system waste heat recovery strategy comprises: Setting a target temperature; Monitoring the engine cooling liquid temperature t3, and requiring that the engine cooling liquid temperature t3≥n℃ and the whole vehicle is in an exhaust waste heat recovery exit strategy, if not satisfied, the engine working strategy is returned to, and if satisfied, an engine cooling circulation system is started in series with a heating air circulation system, a first end and a third end of the second four-way valve are switched to a second end and a fourth end, the second water pump works, and the PTC heater does not work.

6. The control method of the hybrid vehicle waste heat recovery system according to claim 3, characterized by, The motor system waste heat recovery strategy comprises: When the battery cooling liquid temperature t6≤a℃, the battery has a heating demand; Monitoring the motor coolant temperature t4, requiring the motor coolant temperature t4≥k ℃, not more than the motor coolant temperature limit, t6≤t4, while meeting, if not met, back to the motor working strategy, if met, open the motor circulating system in series with the battery circulating system, the first end and the third end of the third four-way valve are reversed to the second end and the fourth end, and the fourth water pump works.

7. The control method of the hybrid vehicle waste heat recovery system according to claim 3, characterized by, The battery heating strategy includes: Battery driving heating strategy: monitor the battery driving discharge state, and the battery coolant temperature t6≤a ℃, determine whether to enter the motor system waste heat recovery strategy, if yes, execute the motor system waste heat recovery strategy to heat the battery, if not, return; Battery charging heating strategy: monitor the battery in the charging state, and the battery coolant temperature e ℃≤t6≤a ℃, at this time, enter the PTC heater working strategy, if not, return.

8. The control method of the hybrid vehicle waste heat recovery system according to claim 1, characterized by Also includes: When the heater coolant temperature t5 is greater than or equal to 65 ℃, control the PTC power.

9. A vehicle characterized by comprising: A vehicle body and a control system for executing the control method of the hybrid electric vehicle waste heat recovery system according to any one of claims 1-8.

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