Vehicle, control method and device thereof, controller and computer storage medium

Abstract

The invention discloses a vehicle and a control method and device thereof, a controller and a computer storage medium, the vehicle comprises an exhaust gas recirculation valve, and the method comprises the steps that when the exhaust gas recirculation valve has a clamping stagnation fault, the current opening degree of the exhaust gas recirculation valve is obtained; under the condition that the current opening degree is smaller than or equal to the preset opening degree, a target rotating speed and a target load are determined based on the preset opening degree or the preset opening degree and the current opening degree; and controlling the engine according to the target rotating speed and the target load. Therefore, according to the method, under the condition that the exhaust gas recirculation valve has the clamping stagnation fault and the clamping stagnation opening degree is smaller than or equal to the preset opening degree, control over the fixed rotating speed and the fixed load is conducted on the engine, the vehicle can be continuously driven to run based on the engine, and the situation that due to the fact that the vehicle is driven to run only through a motor, the large battery lacks electricity, and the service life of the battery is affected is prevented.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, a controller, a computer-readable storage medium, a vehicle control device and a vehicle. Background Art

[0002] As the CN6 regulations tighten emission requirements, more and more automobile engine systems are beginning to be equipped with exhaust gas recirculation (EGR) devices. The EGR device can introduce a portion of the exhaust gas from a small internal combustion engine of a car into the intake side for re-combustion. The main purpose is to reduce nitrogen oxides (NOx) in the exhaust gas and improve fuel economy.

[0003] However, when the EGR valve is stuck, a large amount of exhaust gas may flow into the engine cylinder, causing unstable combustion, misfire, or even flameout. In the related art, the engine is prohibited from operating when the EGR valve is determined to be stuck. If the vehicle is driving on the road, it will always rely on the motor to drive the vehicle. If the vehicle is driving for too long, it will cause the large battery to lose power, affecting the battery life. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present invention is to provide a vehicle control method, in which, when an exhaust gas recirculation valve is stuck and the stuck opening is less than or equal to a preset opening, the engine is controlled at a fixed speed and a fixed load, and the vehicle can continue to be driven by the engine, thereby preventing the large battery from running out of power and affecting the battery life due to the vehicle being driven only by the motor.

[0005] The second object of the present invention is to provide a controller.

[0006] A third object of the present invention is to provide a computer-readable storage medium.

[0007] A fourth object of the present invention is to provide a vehicle control device.

[0008] A fifth object of the present invention is to provide a vehicle.

[0009] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention proposes a vehicle control method, the vehicle including an exhaust gas recirculation valve, the vehicle control method including: when a stuck fault occurs in the exhaust gas recirculation valve, obtaining the current opening of the exhaust gas recirculation valve; when the current opening is less than or equal to a preset opening, determining a target speed and a target load based on the preset opening or the preset opening and the current opening; and controlling the engine according to the target speed and the target load.

[0010] According to the vehicle control method of the embodiment of the present invention, when the exhaust gas recirculation valve has a stuck fault, the current opening of the exhaust gas recirculation valve is obtained, and when the current opening is less than or equal to the preset opening, the target speed and target load are determined based on the preset opening or the preset opening and the current opening, and the engine is controlled according to the target speed and target load. Therefore, when the exhaust gas recirculation valve has a stuck fault and the stuck opening is less than or equal to the preset opening, the method controls the engine at a fixed speed and fixed load, and the vehicle can continue to be driven by the engine, thereby preventing the large battery from being depleted and affecting the battery life due to the vehicle being driven only by the motor.

[0011] In addition, the vehicle control method according to the above embodiment of the present invention may also have the following additional technical features:

[0012] According to one embodiment of the present invention, a target speed and a target load are determined based on a preset opening or a preset opening and a current opening, including: determining the target opening based on a preset opening or a preset opening and a current opening; determining the target speed and a target load according to the target opening and a preset mapping relationship, wherein the preset mapping relationship is used to indicate the relationship between the target opening and the target speed and the target load.

[0013] According to one embodiment of the present invention, determining a target opening based on a preset opening includes: taking a preset opening as the target opening, wherein the preset opening is the maximum opening among the planned openings corresponding to all operating conditions of the engine; determining a target opening based on the preset opening and the current opening includes: obtaining the planned openings corresponding to all operating conditions of the engine; taking any one of the planned openings corresponding to all operating conditions of the engine that is greater than or equal to the current opening and less than or equal to the preset opening as the target opening.

[0014] According to one embodiment of the present invention, the vehicle control method also includes: determining the torque generated by the engine based on the target speed and the target load; when the torque generated by the engine is greater than the torque required by the vehicle, charging the power battery according to the remaining torque; when the torque generated by the engine is less than the torque required by the vehicle, controlling the motor to supplement the remaining torque, wherein the remaining torque is determined based on the difference between the torque generated by the engine and the torque required by the vehicle.

[0015] According to an embodiment of the present invention, when the current opening is less than or equal to a preset opening, the method further includes: when the current opening is equal to zero, controlling the engine and the motor to operate normally.

[0016] According to an embodiment of the present invention, the vehicle control method further includes: when the current opening is greater than a preset opening, controlling the engine to stop running, and controlling the motor to run normally.

[0017] To achieve the above objectives, a second aspect of the present invention proposes a controller, including a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the processor executes the vehicle control program, the above-mentioned vehicle control method is implemented.

[0018] According to the controller of the embodiment of the present invention, when the processor executes the vehicle control program, the above-mentioned vehicle control method is implemented. When the exhaust gas recirculation valve has a stuck fault and the stuck opening is less than or equal to the preset opening, the engine is controlled at a fixed speed and a fixed load to enable the engine to work normally and avoid the occurrence of misfires and flameouts.

[0019] To achieve the above-mentioned purpose, a third aspect of the present invention provides a computer-readable storage medium on which a vehicle control program is stored. When the vehicle control program is executed by a processor, the above-mentioned vehicle control method is implemented.

[0020] According to the computer-readable storage medium of an embodiment of the present invention, when the vehicle control program stored therein is executed by the processor, the above-mentioned vehicle control method, based on the above-mentioned vehicle control method, when the exhaust gas recirculation valve has a stuck fault and the stuck opening is less than or equal to the preset opening, the engine is controlled at a fixed speed and a fixed load, and the vehicle can continue to be driven by the engine, thereby preventing the large battery from being depleted and affecting the battery life due to the vehicle being driven only by the motor.

[0021] To achieve the above-mentioned purpose, the fourth aspect of the present invention proposes a vehicle control device, the vehicle includes an exhaust gas recirculation valve, and the vehicle control device includes: an acquisition module, used to obtain the current opening of the exhaust gas recirculation valve when a stuck fault occurs in the exhaust gas recirculation valve; a determination module, used to determine the target speed and target load based on a preset opening or a preset opening and the current opening when the current opening is less than or equal to a preset opening; a control module, used to control the engine according to the target speed and target load.

[0022] According to the vehicle control device of the embodiment of the present invention, when the exhaust gas recirculation valve has a stuck fault, the acquisition module acquires the current opening of the exhaust gas recirculation valve, and when the current opening is less than or equal to the preset opening, the determination module determines the target speed and target load based on the preset opening or the preset opening and the current opening, and the control module controls the engine according to the target speed and target load. Therefore, when the exhaust gas recirculation valve has a stuck fault and the stuck opening is less than or equal to the preset opening, the device controls the engine at a fixed speed and fixed load, and the vehicle can continue to be driven by the engine, thereby preventing the large battery from being depleted and affecting the battery life due to the vehicle being driven only by the motor.

[0023] In order to achieve the above-mentioned purpose, a fifth aspect of the present invention proposes a vehicle, including the above-mentioned controller, or the above-mentioned vehicle control device.

[0024] According to the vehicle of the embodiment of the present invention, based on the above-mentioned controller or the control device of the above-mentioned vehicle, when the exhaust gas recirculation valve has a stuck fault and the stuck opening is less than or equal to the preset opening, the engine is controlled to have a fixed speed and a fixed load, and the vehicle can continue to be driven by the engine, thereby preventing the large battery from running out of power and affecting the battery life due to the vehicle being driven only by the motor, and at the same time, the vehicle's driving distance is extended and the vehicle safety is improved.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0027] Figure 2 is a flow chart of a vehicle control method according to a specific embodiment of the present invention;

[0028] Figure 3 is a flow chart of a controller according to an embodiment of the present invention;

[0029] Figure 4 is a connection diagram of a control device for a vehicle according to an embodiment of the present invention;

[0030] Figure 5 is a block diagram of a vehicle according to an embodiment of the present invention;

[0031] Figure 6 FIG. 4 is a block diagram of a vehicle according to another embodiment of the present invention. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0033] The following describes a vehicle control method, a controller, a computer-readable storage medium, a vehicle control device, and a vehicle according to embodiments of the present invention with reference to the accompanying drawings.

[0034] In the related art, when an EGR valve jam occurs, the engine management system (EMS) will issue a command to force the EGR valve to close, hoping to close the EGR valve by the return spring. However, in fact, since the valve cannot move, the EGR valve is still in a jammed open state, and the engine will still stall if it is in a limp state. Therefore, the post-processing method generally adopted at this time is to prohibit the engine from working. At this time, if the vehicle is driving on the road, it will be driven by the motor all the time. If the time is too long, it will cause the large battery to lose power, affecting the battery life, and even the vehicle will stop on the road and cannot be driven to the 4S shop for repair.

[0035] In order to solve the above technical problems, the present application proposes a vehicle control method. In this method, when an exhaust gas recirculation valve is stuck and the current opening of the exhaust gas recirculation valve is less than or equal to a preset opening, the target speed and target load are determined according to the preset opening or the preset opening and the current opening. Based on the target speed and target load, the engine is controlled to continue to run at a fixed speed and fixed load, so that the vehicle continues to be driven by the engine, which can avoid the situation where the large battery is depleted and the battery life is affected due to the vehicle being driven only by the motor.

[0036] The vehicle control method of the present application is described in detail below with reference to the accompanying drawings.

[0037] Figure 1 4 is a flow chart of a vehicle control method according to an embodiment of the present invention.

[0038] like Figure 1 As shown, a control method for a vehicle according to an embodiment of the present invention, the vehicle includes an exhaust gas recirculation valve, and the control method for the vehicle may include:

[0039] S1, when an exhaust gas recirculation (EGR) valve is stuck, obtaining a current opening of the exhaust gas recirculation valve;

[0040] S2, when the current opening is less than or equal to a preset opening, determining a target speed and a target load based on the preset opening or the preset opening and the current opening;

[0041] S3, controlling the engine according to the target speed and target load.

[0042] Specifically, the method can be executed by a vehicle controller. When the vehicle controller receives the EGR valve stuck fault flag sent by the engine controller, it determines that the EGR valve has a stuck fault, and then obtains the actual stuck position of the EGR valve, that is, the current opening of the exhaust gas recirculation valve, through the position sensor on the EGR valve.

[0043] Under normal circumstances, each operating point (speed-load point) of the engine corresponds to a different EGR valve opening, namely the planned opening, which is related to the vibration degree and flameout resistance of the engine operating point. Among them, the EGR opening corresponds to the exhaust gas flow through the EGR valve, that is, the larger the opening of the EGR valve, the larger the exhaust gas flow, and the more exhaust gas enters the engine cylinder; the smaller the opening of the EGR valve, the smaller the exhaust gas flow, and the less exhaust gas enters the engine cylinder. During the operation of the engine, assuming that the planned opening corresponding to the current operating condition is A1, at this time, if the current opening of the EGR valve is less than A1, the exhaust gas actually entering the engine cylinder will be less than the preset exhaust gas, which will cause the emission and fuel consumption to be not optimal, but will not flameout, and will not affect the normal driving of the vehicle; if the current opening of the EGR valve is greater than A1, the exhaust gas actually entering the engine cylinder will be more than the preset exhaust gas. Too much exhaust gas entering the engine cylinder will cause unstable engine combustion, misfire, and even flameout.

[0044] Among them, the preset opening can be determined based on the parameters of the engine, for example, according to the planned opening corresponding to each operating point of the engine. The preset opening can be the maximum opening of the EGR valve allowed by the engine, or it can be the intermediate value of the opening of the EGR valve allowed by the engine. When the current opening is less than or equal to the preset opening, it means that the planned opening of the EGR valve is consistent with or close to the current opening of the EGR valve at this time under a certain operating condition of the engine, and the engine can continue to run only by adjusting the engine operating point to the corresponding speed and load. Therefore, in this embodiment, when the current opening is less than or equal to the preset opening, the target speed and target load are determined based on the preset opening or the preset opening and the current opening, so as to control the engine according to the target speed and target load so that the engine can continue to run. It can be understood that the planned opening of the EGR valve corresponding to the target speed and target load needs to be greater than or equal to the current opening to ensure the normal operation of the engine and avoid excessive inflow of exhaust gas, which causes the engine to stall and not work.

[0045] For further example, when determining the target speed and target load according to the preset opening, a first correspondence between the preset opening and the speed and load can be established in advance. When it is determined that the EGR valve has a stuck fault and the current opening is less than or equal to the preset opening, the corresponding target speed and target load are obtained based on the predetermined first correspondence and the preset opening. When determining the target speed and target load according to the preset opening and the current opening, a second correspondence between the preset opening, the current opening, the speed and load can be established in advance. When it is determined that the EGR valve has a stuck fault and the current opening is less than or equal to the preset opening, the corresponding target speed and target load are obtained based on the predetermined second correspondence, the preset opening, and the current opening acquired in real time.

[0046] In one embodiment of the present invention, a target speed and a target load are determined based on a preset opening or a preset opening and a current opening, including: determining the target opening based on a preset opening or a preset opening and a current opening; determining the target speed and a target load according to the target opening and a preset mapping relationship, wherein the preset mapping relationship is used to indicate the relationship between the target opening and the target speed and the target load.

[0047] Specifically, under normal circumstances, each operating point (speed-load point) of the engine will correspond to a different EGR valve opening. If the EGR valve opening is less than the planned opening corresponding to the current operating point, that is, the current opening of the EGR valve is too small, too little exhaust gas will enter the engine cylinder, and knock will occur due to the existence of the additional ignition advance angle; if the EGR valve opening is greater than the planned opening corresponding to the current operating point, that is, the current opening of the EGR valve is too large, too much exhaust gas will enter the engine cylinder, which will cause unstable engine combustion, misfire, or even flameout.

[0048] Take the EGR valve opening of each operating point of the engine shown in Table 1 as an example. When the current opening is less than or equal to the preset opening, the target opening can be determined only according to the preset opening, for example, the preset opening is used as the target opening, or the target opening can be determined based on the preset opening and the current opening, for example, the average of the preset opening and the current opening is used as the target opening. Then, according to the target opening, the corresponding speed and load are obtained by looking up Table 1, which are used as the target speed and load to control the engine to continue to run at a fixed speed and fixed load.

[0049] Table 1

[0050]

[0051] Among them, the preset opening is determined based on the opening of each working condition in Table 1, for example, the maximum opening in Table 1 is used as the preset opening, or the middle value of the opening value in Table 1 is used as the preset opening, etc., without specific limitation.

[0052] In one embodiment of the present invention, the target opening is determined based on a preset opening, including: taking the preset opening as the target opening, wherein the preset opening is the maximum opening among the planned openings corresponding to all operating conditions of the engine; determining the target opening based on the preset opening and the current opening, including: obtaining the planned openings corresponding to all operating conditions of the engine; taking any one of the planned openings corresponding to all operating conditions of the engine that is greater than or equal to the current opening and less than or equal to the preset opening as the target opening.

[0053] Specifically, take the current engine operating point speed of 2500 rpm, load of 30%, and EGR valve stuck fault as an example.

[0054] If the current opening of the EGR valve is 20.14 degrees. By looking up Table 1, it is found that the planned opening of the engine at a speed of 2500rpm and a load of 40% is 20.14 degrees. At this time, assuming that the EGR valve is not stuck, when the engine is working at a speed of 2500rpm and a load of 40%, the EGR valve opening is also 20.14 degrees. Therefore, when a 20.14-degree sticking occurs at this operating point, it has no effect on the engine operation. The current opening can continue to be used as the target opening to control the engine to continue to operate under this condition.

[0055] If the current opening of the EGR valve is 25 degrees, the planned opening corresponding to the working condition is determined to be 20.14 degrees by looking up Table 1. Since the actual valve opening of the EGR valve is stuck at 25 degrees>20.14 degrees, it is equivalent to too much exhaust gas actually flowing in, unstable combustion, causing misfire, and the engine will make a "thumping" sound and shake violently. At this time, if the EGR valve is closed to 0.14 degrees, the problem of excessive exhaust gas can also be solved, but because the EGR valve is stuck and cannot move, the engine working condition can only be adjusted to a speed of 2500rpm and a load of 40% to avoid the problem of excessive exhaust gas flow.

[0056] Based on the above analysis, in order to ensure the continued operation of the engine, the target opening should be selected to be greater than or equal to the stuck opening of the EGR valve and less than or equal to the preset opening, so that the target speed and target load corresponding to the target opening meet the needs of the engine's continued operation while reducing fuel consumption as little as possible.

[0057] Taking the preset opening as the maximum opening among the planned openings corresponding to all engine working conditions as an example, if 0<current opening≤preset opening, it means that under a certain working condition, the exhaust gas recirculation valve opening is consistent with the current opening of the stuck state at this time. It is only necessary to adjust the engine working point to the speed and load corresponding to the current opening, which is equivalent to the exhaust gas recirculation valve not being stuck, but working at the current opening at this working point. At this time, both fuel consumption and emissions are optimal. For example, the preset opening is 33.12 degrees, and the current opening of the stuck state is 20.42 degrees. It can be seen from Table 1 that 20.42 degrees is the planned opening of one of the engine working points. At this time, the current opening can be directly used as the target opening, and the speed 2500rpm and load 40% corresponding to 20.42 degrees can be used as the target speed and target load by looking up the table.

[0058] If the engine's operating condition does not exist at the operating point corresponding to the current opening, then any planned opening that is greater than the current opening and less than or equal to the preset opening can be selected as the target opening, and the engine operating point can be adjusted to operate at the speed and load corresponding to the target opening. For example, if the preset opening is 33.12 degrees and the current opening is 20.3 degrees, then the planned openings of 20.42 degrees, 25.04 degrees, etc. can be used as the target opening, and the speed and load corresponding to the target opening can be selected as the target speed and target load.

[0059] However, there are many operating points of the engine (such as 126 in Table 1), and there are operating points corresponding to the same planned opening, which is too difficult for software design. At the same time, considering that after the jamming fault occurs, this is a fault state, so the preset opening, that is, the maximum opening, can be directly used as the target opening, and the engine can be required to operate at the operating point corresponding to the maximum opening. For example, the preset opening is 33.12 degrees, and 33.12 degrees is directly used as the target opening, and the speed and load corresponding to 33.12 degrees are selected as the target speed and target load.

[0060] In one embodiment of the present invention, the vehicle control method also includes: determining the torque generated by the engine based on the target speed and the target load; when the torque generated by the engine is greater than the torque required by the vehicle, charging the power battery according to the remaining torque; when the torque generated by the engine is less than the torque required by the vehicle, controlling the motor to supplement the remaining torque, wherein the remaining torque is determined based on the difference between the torque generated by the engine and the torque required by the vehicle.

[0061] That is to say, when controlling the motor to run at the target speed and target load, if the torque generated by the engine is greater than the torque required for the vehicle to run, the excess torque is used to generate electricity and charge the vehicle's power battery. If the torque generated by the engine is less than the torque required for the vehicle to run, the motor will supplement the excess torque, and the engine and motor will jointly drive the vehicle to run.

[0062] In one embodiment of the present invention, when the current opening is less than or equal to a preset opening, the method further includes: when the current opening is equal to zero, controlling the engine and the motor to operate normally.

[0063] Specifically, if the current opening of the exhaust gas recirculation valve = 0, it means that the EGR valve is stuck in the fully closed position and no exhaust gas flows into the engine cylinder, which is equivalent to an engine without an EGR system. The engine works normally and has no impact on drivability, so no treatment is required.

[0064] In one embodiment of the present invention, the vehicle control method further includes: when the current opening is greater than a preset opening, controlling the engine to stop running, and controlling the motor to run normally.

[0065] Specifically, the preset opening may be used as an upper limit value of the opening allowed by the engine. For example, the preset opening may be used as the maximum opening among the planned openings corresponding to all operating conditions of the engine.

[0066] If the current opening of the EGR valve is greater than the preset opening, it means that the current opening is larger than the planned opening under any working condition of the engine, which will cause too much exhaust gas to flow into the engine cylinder. Due to excessive exhaust gas, unstable combustion will cause misfire, the engine will make a "thumping" sound, and shake violently, seriously affecting drivability. At this time, a request to prohibit the engine from starting is directly issued, avoiding the situation in the related technology that the request to prohibit the engine from starting is issued only after the engine fails to start three times in a row.

[0067] For example, when the current opening of the EGR valve is 35 degrees, the maximum planned opening of the EGR valve in all operating points of this engine is only 33.12 degrees. Even if the engine is controlled to work at the operating point corresponding to 33.12 degrees (speed 3000rpm, load 70%), since the current opening of the EGR valve is greater than 33.12 degrees, too much exhaust gas will flow into the engine cylinder, causing unstable combustion and misfire. The engine will make a "thumping" sound and shake violently, seriously affecting drivability. Therefore, this kind of stagnation cannot be post-processed to make the engine work normally, and the only way is to request the engine to be prohibited from working to avoid severe shaking.

[0068] As a specific embodiment of the present invention, Figure 2 As shown, the vehicle control method may include the following steps:

[0069] S101, when a stuck fault occurs in the EGR valve, the current opening degree of the EGR valve is obtained.

[0070] S102, determine whether the current opening is equal to 0. If yes, execute step S103; if no, execute step S104.

[0071] S103, controlling the engine and the motor to operate normally.

[0072] S104, determine whether the current opening is less than or equal to the preset opening. If yes, execute step S105; if no, execute step S113.

[0073] S105, taking the preset opening as the target opening.

[0074] S106, determining a target speed and a target load according to the target opening and a preset mapping relationship.

[0075] S107, controlling the engine according to the target speed and the target load.

[0076] S108, determining the torque generated by the engine according to the target speed and the target load.

[0077] S109, determining whether the torque generated by the engine is greater than the torque required by the vehicle. If yes, executing step S110; if no, executing step S111.

[0078] S110: charging the power battery according to the remaining torque.

[0079] S111, determine whether the torque generated by the engine is less than the torque required by the vehicle. If yes, execute step S112; if no, execute step S107.

[0080] S112, control the motor to supplement the remaining torque. Execute step S107.

[0081] S113, controlling the engine to stop running, and controlling the motor to run normally.

[0082] That is to say, after the EGR valve stuck fault occurs, the stuck opening is less than the maximum opening of the EGR valve for normal operation. The vehicle controller VCU can send a fixed speed load request to the engine EMS to make the engine work at the operating point of the maximum opening of the EGR valve, which can ensure the normal operation of the engine and avoid excessive exhaust gas flowing into the cylinder, causing the engine to stall and not work. Only relying on the motor to work, consumes battery power and causes large battery damage.

[0083] In summary, according to the vehicle control method of the embodiment of the present invention, when the exhaust gas recirculation valve has a stuck fault, the current opening of the exhaust gas recirculation valve is obtained, and when the current opening is less than or equal to the preset opening, the target speed and target load are determined based on the preset opening or the preset opening and the current opening, and the engine is controlled according to the target speed and target load. Therefore, when the exhaust gas recirculation valve has a stuck fault and the stuck opening is less than or equal to the preset opening, the method controls the engine at a fixed speed and fixed load, and the vehicle can continue to be driven by the engine, thereby preventing the large battery from being depleted and affecting the battery life due to the vehicle being driven only by the motor.

[0084] Corresponding to the above embodiment, the present invention also proposes a controller.

[0085] like Figure 3 As shown, the controller 100 of an embodiment of the present invention includes a memory 110, a processor 120, and a vehicle control program stored in the memory 110 and executable on the processor 120. When the processor 120 executes the vehicle control program, the above-mentioned vehicle control method is implemented.

[0086] According to the controller of the embodiment of the present invention, when the processor executes the vehicle control program, the above-mentioned vehicle control method is implemented. When the exhaust gas recirculation valve is stuck and the stuck opening is less than or equal to the preset opening, the engine is controlled at a fixed speed and a fixed load, and the vehicle can continue to be driven by the engine, thereby preventing the large battery from being depleted and affecting the battery life due to the vehicle being driven only by the motor.

[0087] Corresponding to the above embodiment, the present invention also proposes a computer-readable storage medium.

[0088] The computer-readable storage medium of the embodiment of the present invention stores a vehicle control program, and the vehicle control program is the above-mentioned vehicle control method when executed by a processor.

[0089] According to the computer-readable storage medium of an embodiment of the present invention, when the vehicle control program stored therein is executed by the processor, the above-mentioned vehicle control method, based on the above-mentioned vehicle control method, when the exhaust gas recirculation valve has a stuck fault and the stuck opening is less than or equal to the preset opening, the engine is controlled at a fixed speed and a fixed load, and the vehicle can continue to be driven by the engine, thereby preventing the large battery from being depleted and affecting the battery life due to the vehicle being driven only by the motor.

[0090] Corresponding to the above embodiment, the present invention also proposes a vehicle control device.

[0091] like Figure 4 As shown, an embodiment of the fourth aspect of the present invention proposes a control device for a vehicle, wherein the vehicle includes an exhaust gas recirculation valve. The control device for the vehicle may include: an acquisition module 10, a determination module 20 and a control module 30.

[0092] The acquisition module 10 is used to acquire the current opening of the exhaust gas recirculation valve when the exhaust gas recirculation valve is stuck. The determination module 20 is used to determine the target speed and target load based on the preset opening or the preset opening and the current opening when the current opening is less than or equal to the preset opening. The control module 30 is used to control the engine according to the target speed and target load.

[0093] According to one embodiment of the present invention, the determination module 20 determines the target speed and the target load based on a preset opening or a preset opening and a current opening, and is specifically used to: determine the target opening based on a preset opening or a preset opening and a current opening; determine the target speed and the target load according to the target opening and a preset mapping relationship, wherein the preset mapping relationship is used to indicate the relationship between the target opening and the target speed and the target load.

[0094] According to one embodiment of the present invention, the determination module 20 determines the target opening based on the preset opening, and is specifically used to: take the preset opening as the target opening, wherein the preset opening is the maximum opening among the planned openings corresponding to all operating conditions of the engine; determine the target opening based on the preset opening and the current opening, including: obtaining the planned openings corresponding to all operating conditions of the engine; taking any one of the planned openings corresponding to all operating conditions of the engine that is greater than or equal to the current opening and less than or equal to the preset opening as the target opening.

[0095] According to one embodiment of the present invention, the control module 30 is also used to: determine the torque generated by the engine according to the target speed and the target load; when the torque generated by the engine is greater than the torque required by the vehicle, charge the power battery according to the remaining torque; when the torque generated by the engine is less than the torque required by the vehicle, control the motor to supplement the remaining torque, wherein the remaining torque is determined according to the difference between the torque generated by the engine and the torque required by the vehicle.

[0096] According to an embodiment of the present invention, when the current opening is less than or equal to a preset opening, the control module 30 is further configured to: when the current opening is equal to zero, control the engine and the motor to operate normally.

[0097] According to an embodiment of the present invention, the control module 30 is further configured to: when the current opening is greater than a preset opening, control the engine to stop running, and control the motor to run normally.

[0098] It should be noted that for details not disclosed in the vehicle control device of the embodiment of the present invention, please refer to the details disclosed in the vehicle control method of the above-mentioned embodiment of the present invention, and the details will not be repeated here.

[0099] According to the vehicle control device of the embodiment of the present invention, when the exhaust gas recirculation valve has a stuck fault, the acquisition module acquires the current opening of the exhaust gas recirculation valve, and when the current opening is less than or equal to the preset opening, the determination module determines the target speed and target load based on the preset opening or the preset opening and the current opening, and the control module controls the engine according to the target speed and target load. Therefore, when the exhaust gas recirculation valve has a stuck fault and the stuck opening is less than or equal to the preset opening, the device controls the engine at a fixed speed and fixed load, and the vehicle can continue to be driven by the engine, thereby preventing the large battery from being depleted and affecting the battery life due to the vehicle being driven only by the motor.

[0100] Corresponding to the above embodiment, the present invention also proposes a vehicle control device.

[0101] like Figure 5 As shown, the vehicle 200 of the embodiment of the present invention includes the controller 100 described above, or as shown in Figure 6As shown, the vehicle 200 according to the embodiment of the present invention includes the above-mentioned vehicle control device 210.

[0102] According to the vehicle of the embodiment of the present invention, based on the above-mentioned controller or the control device of the above-mentioned vehicle, when the exhaust gas recirculation valve has a stuck fault and the stuck opening is less than or equal to the preset opening, the engine is controlled to have a fixed speed and a fixed load, and the vehicle can continue to be driven by the engine, thereby preventing the large battery from being depleted and affecting the battery life due to the vehicle being driven only by the motor.

[0103] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0104] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0105] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0106] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0107] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0108] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A vehicle control method, characterized in that: The vehicle includes an exhaust gas recirculation valve, the method comprising: When a stuck fault occurs in the exhaust gas recirculation valve, obtaining a current opening of the exhaust gas recirculation valve; When the current opening is less than or equal to a preset opening, determining a target speed and a target load based on the preset opening or the preset opening and the current opening; The engine is controlled according to the target speed and the target load.

2. The vehicle control method according to claim 1, characterized in that: The determining of the target speed and the target load based on the preset opening or the preset opening and the current opening includes: determining a target opening based on the preset opening or the preset opening and the current opening; A target speed and a target load are determined according to the target opening and a preset mapping relationship, wherein the preset mapping relationship is used to indicate a relationship between the target opening and the target speed and the target load.

3. The vehicle control method according to claim 2, characterized in that: The determining of the target opening degree based on the preset opening degree comprises: Taking the preset opening as the target opening, wherein the preset opening is the maximum opening among the planned openings corresponding to all operating conditions of the engine; The determining of the target opening degree based on the preset opening degree and the current opening degree comprises: Obtaining the planned openings corresponding to all operating conditions of the engine; Any planned opening corresponding to all the operating conditions of the engine that is greater than or equal to the current opening and less than or equal to the preset opening is taken as the target opening.

4. The vehicle control method according to any one of claims 1 to 3, characterized in that: Also includes: determining the torque generated by the engine according to the target speed and the target load; When the torque generated by the engine is greater than the torque required by the vehicle, charging the power battery according to the remaining torque; In a case where the torque generated by the engine is less than the torque required by the vehicle, the motor is controlled to generate the remaining torque, wherein the remaining torque is determined according to the difference between the torque generated by the engine and the torque required by the vehicle.

5. The vehicle control method according to claim 1, characterized in that: When the current opening is less than or equal to a preset opening, the method further includes: When the current opening degree is equal to zero, the engine and the motor are controlled to operate normally.

6. The vehicle control method according to claim 1, characterized in that: The method further comprises: When the current opening is greater than the preset opening, the engine is controlled to stop running, and the motor is controlled to run normally.

7. A controller, characterized in that: The invention comprises a memory, a processor and a vehicle control program stored in the memory and executable on the processor. When the processor executes the vehicle control program, a vehicle control method according to any one of claims 1 to 6 is implemented.

8. A computer-readable storage medium, characterized in that: A vehicle control program is stored thereon, and when the vehicle control program is executed by a processor, a vehicle control method according to any one of claims 1 to 6 is implemented.

9. A vehicle control device, characterized in that: The vehicle comprises an exhaust gas recirculation valve, the device comprising: an acquisition module, configured to acquire a current opening of the exhaust gas recirculation valve when a stuck fault occurs in the exhaust gas recirculation valve; a determination module, configured to determine a target speed and a target load based on the preset opening or the preset opening and the current opening when the current opening is less than or equal to the preset opening; A control module is used to control the engine according to the target speed and the target load.

10. A vehicle, characterized in that: Includes the controller according to claim 7, or the vehicle control device according to claim 9.

Images