Diagnostic method of exhaust gas recirculation flow, vehicle controller and vehicle

Abstract

The invention relates to the technical field of engines, in particular to an exhaust gas recirculation flow diagnosis method, a vehicle controller and a vehicle. The method comprises the steps that in the corresponding target duration when the engine is in cold start and the opening degree of the exhaust gas recirculation valve is equal to 0, the first temperature rise amount of the inlet temperature of the exhaust gas recirculation valve in the first duration and the second temperature rise amount of the water tank temperature of a water tank of the engine in the first duration are obtained; after the engine is cold-started, diagnosis data corresponding to different operation parameters of the exhaust gas recirculation valve and the engine are obtained; wherein the operation parameters comprise the rotating speed and the opening degree of the engine, and the diagnosis data comprise the inlet temperature of the exhaust gas recirculation valve and the water tank temperature of a water tank of the engine; a diagnostic result of the exhaust gas recirculation flow is generated based on the target parameter.

Description

Technical Field

[0001] The present disclosure relates to the field of engine technology, and more particularly to a method for diagnosing exhaust gas recirculation flow, a vehicle controller and a vehicle. Background Art

[0002] Vehicles equipped with an Exhaust Gas Recirculation (EGR) system usually use a Mass Air Flow Sensor (MAF) and a P model to identify faults of EGR flow being too high or too low. The above method requires very high calculation accuracy of the engine charging model, which is generally difficult to meet the accuracy requirements under low-load conditions and requires the configuration of a MAF, which is not conducive to promotion.

[0003] Therefore, how to distinguish EGR high flow and EGR low flow faults without relying on MAF has become an urgent problem to be solved. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides an exhaust gas recirculation flow rate diagnosis method, a vehicle controller and a vehicle, which are used to solve the problem of how to distinguish the faults of EGR flow rate being too high and EGR flow rate being too low without relying on MAF.

[0005] In a first aspect, the present application provides a method for diagnosing exhaust gas recirculation flow, comprising: during a target time period corresponding to a cold start of the engine and an opening of the exhaust gas recirculation valve being equal to 0, obtaining a first temperature rise of an inlet temperature of the exhaust gas recirculation valve within a first time period, and a second temperature rise of a water tank temperature of a water tank of the engine within the first time period; after a cold start of the engine, obtaining diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine; wherein the operating parameters include the speed and opening of the engine, and the diagnostic data include the inlet temperature of the exhaust gas recirculation valve, and the water tank temperature of the water tank of the engine; based on the target parameters, generating a diagnostic result of the exhaust gas recirculation flow; wherein the target parameters include the first temperature rise and the second temperature rise, or the diagnostic data.

[0006] In some feasible examples, the target parameters include a first temperature rise and a second temperature rise; based on the target parameters, a diagnostic result of the exhaust gas recirculation flow is generated, including: when the first temperature rise is greater than a first threshold and the absolute value of the difference between the second temperature rise and the first temperature rise is greater than the second threshold, determining that the diagnostic result of the exhaust gas recirculation flow is an exhaust gas recirculation high flow fault.

[0007] In some implementable examples, the target parameters include diagnostic data, which include a first operating parameter of the engine, a second operating parameter of the exhaust gas recirculation valve, and a third operating parameter of the water tank; based on the target parameters, a diagnostic result of the exhaust gas recirculation flow is generated, including: based on the first operating parameter, the second operating parameter, and the third operating parameter, a first result and a second result are generated; based on the first result and the second result, a diagnostic result of the exhaust gas recirculation flow is generated.

[0008] In some feasible examples, the first operating parameter includes the rotational speed, the second operating parameter includes the inlet temperature, and the third operating parameter includes the water tank temperature; based on the first operating parameter, the second operating parameter and the third operating parameter, a first result and a second result are generated, including: when the engine speed is greater than 0 and the opening is greater than 0, the temperature value of the inlet temperature of the exhaust gas recirculation valve is used as the first temperature value; when the actual time length that the opening is continuously greater than the preset opening is equal to the second time length, the temperature value of the inlet temperature of the exhaust gas recirculation valve is used as the second temperature value; when the actual time length is greater than the third time length, and the engine speed drops to 0, and the opening drops to 0, the temperature value of the inlet temperature of the exhaust gas recirculation valve is used as the third temperature value; starting from the time when the speed drops to 0 moment, after a fourth period of time, the temperature value of the inlet temperature of the exhaust gas recirculation valve is used as the fourth temperature value; when calculating the difference between the second temperature value and the first temperature value, the temperature value of the inlet temperature of the exhaust gas recirculation valve is used as the fifth temperature value; when calculating the difference between the second temperature value and the first temperature value, the water tank temperature of the water tank is used as the sixth temperature value; based on the first specified parameter, a first result is generated; wherein the first specified parameter includes the first temperature value and the second temperature value, or the first temperature value, the second temperature value, the fifth temperature value and the sixth temperature value; based on the second specified parameter, a second result is generated; wherein the second specified parameter includes the third temperature value and the fourth temperature value, or the third temperature value, the fourth temperature value, the fifth temperature value and the sixth temperature value. In some feasible examples, the target parameter includes diagnostic data, the diagnostic data includes a first temperature value, a second temperature value, a third temperature value, a fourth temperature value, a fifth temperature value and a sixth temperature value, the first temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve when the engine speed is greater than 0 and the opening is greater than 0, the second temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve when the actual time length for which the opening is continuously greater than the preset opening is equal to the second time length, the third temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve when the actual time length is greater than the third time length, the engine speed drops to 0, and the opening drops to 0, the fourth temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve after the fourth time length starting from the time when the speed drops to 0, and the fifth temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve after the fourth time length. The sixth temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve when calculating the difference between the second temperature value and the first temperature value, and the sixth temperature value is the water tank temperature of the water tank when calculating the difference between the second temperature value and the first temperature value; based on the target parameter, a diagnostic result of the exhaust gas recirculation flow is generated, including: based on the first specified parameter, a first result is generated; wherein the first specified parameter includes the first temperature value and the second temperature value, or the first temperature value, the second temperature value, the fifth temperature value and the sixth temperature value; based on the second specified parameter, a second result is generated; wherein the second specified parameter includes the third temperature value and the fourth temperature value, or the third temperature value, the fourth temperature value, the fifth temperature value and the sixth temperature value; based on the first result and the second result, a diagnostic result of the exhaust gas recirculation flow is generated.

[0009] In some implementable examples, the first specified parameter includes a first temperature value and a second temperature value; based on the first specified parameter, a first result is generated, including: when the difference between the second temperature value and the first temperature value is greater than a third threshold, determining that the first result is that the exhaust gas recirculation is not faulty.

[0010] In some implementable examples, the first specified parameter includes a first temperature value, a second temperature value, a fifth temperature value, and a sixth temperature value; based on the first specified parameter, a first result is generated, including: when the difference between the second temperature value and the first temperature value is less than a third threshold, and the difference between the fifth temperature value and the sixth temperature value is less than a fourth threshold, determining that the first result is an exhaust gas recirculation low flow fault.

[0011] In some implementable examples, the second specified parameter includes a third temperature value and a fourth temperature value; based on the second specified parameter, a second result is generated, including: when the absolute value of the difference between the third temperature value and the fourth temperature value is greater than a fifth threshold, determining that the second result is that the exhaust gas recirculation is fault-free.

[0012] In some implementable examples, the second specified parameters include a third temperature value, a fourth temperature value, a fifth temperature value, and a sixth temperature value; based on the second specified parameters, a second result is generated, including: when the absolute value of the difference between the third temperature value and the fourth temperature value is less than a fifth threshold value, and the difference between the fifth temperature value and the sixth temperature value is less than the sixth threshold value, determining that the second result is an exhaust gas recirculation low flow fault.

[0013] In some feasible examples, a diagnostic result of exhaust gas recirculation flow is generated based on a first result and a second result, including: when the first result is an exhaust gas recirculation low flow fault and the second result is an exhaust gas recirculation low flow fault, determining that the diagnostic result of the exhaust gas recirculation flow is an exhaust gas recirculation low flow fault.

[0014] In a second aspect, the present application provides a vehicle controller, comprising: a processing module, used to control an acquisition module to acquire a first temperature rise of an inlet temperature of an exhaust gas recirculation valve within a first time period and a second temperature rise of a water tank temperature of a water tank of the engine within the first time period when the engine is cold started and the opening of the exhaust gas recirculation valve is equal to 0 within a target time period corresponding to the cold start of the engine; the processing module is also used to control the acquisition module to acquire diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine after the cold start of the engine; wherein the operating parameters include the speed and opening of the engine, and the diagnostic data include the inlet temperature of the exhaust gas recirculation valve and the water tank temperature of the water tank of the engine; the processing module is also used to generate a diagnostic result of the exhaust gas recirculation flow rate based on the target parameters; wherein the target parameters include the first temperature rise and the second temperature rise, or the diagnostic data.

[0015] In a third aspect, the present application provides a vehicle, the vehicle comprising the vehicle controller as described above.

[0016] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above method.

[0017] Compared with the prior art, the technical solution provided by the present invention has the following advantages:

[0018] The diagnostic method of exhaust gas recirculation flow provided by the present disclosure obtains the first temperature rise of the inlet temperature of the exhaust gas recirculation valve within the first time period and the second temperature rise of the water tank temperature of the engine water tank within the first time period during the target time period corresponding to the cold start of the engine and the opening of the exhaust gas recirculation valve being equal to 0; obtains the diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine after the cold start of the engine; and generates the diagnostic result of the exhaust gas recirculation flow based on the target parameters. In this way, it is not necessary to rely on MAF to distinguish the faults of EGR high flow and EGR low flow, but to determine the diagnostic result of the exhaust gas recirculation flow by analyzing the water tank temperature of the engine water tank and the inlet temperature of the exhaust gas recirculation valve, thereby solving the problem of distinguishing the faults of EGR flow too high and EGR flow too low without relying on MAF. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 exemplarily shows one of the flow charts of a vehicle control method provided in the first embodiment;

[0022] Figure 2 2 is a flow chart of a vehicle control method provided by the first embodiment;

[0023] Figure 3 FIG. 3 exemplarily shows a flow chart of a vehicle control method provided in the first embodiment;

[0024] Figure 4 FIG4 is a flow chart of a vehicle control method provided by the first embodiment;

[0025] Figure 5 FIG. 5 exemplarily shows a flow chart of a vehicle control method provided in the first embodiment;

[0026] Figure 6 6 is a flow chart of a vehicle control method provided by the first embodiment;

[0027] Figure 7 FIG. 7 exemplarily shows a flow chart of a vehicle control method provided in the first embodiment;

[0028] Figure 8 FIG. 8 exemplarily shows a flow chart of a vehicle control method provided in the first embodiment;

[0029] Fig. 9 FIG9 is a flowchart of a vehicle control method provided by the first embodiment of the present invention;

[0030] Fig.10 One of the structural diagrams of the vehicle controller provided in the second embodiment is exemplarily shown in FIG.

[0031] Fig.11 FIG. 2 exemplarily shows a second structural diagram of the vehicle controller provided in the second embodiment. DETAILED DESCRIPTION

[0032] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0033] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0034] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0035] The technical solutions of the present application and the technical solutions of the present application are described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. In the description of the present application, unless otherwise clearly specified and limited, each term should be understood in a broad sense in the art. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0036] Embodiment 1

[0037] Figure 1 A flow chart of a vehicle control method is shown in FIG. 1 , and the execution subject of this example may be a vehicle controller, such as Figure 1 As shown, the method includes:

[0038] S11. During a cold start of the engine and within a target time period corresponding to when the opening of the exhaust gas recirculation valve is equal to 0, a first temperature rise of the inlet temperature of the exhaust gas recirculation valve within a first time period and a second temperature rise of the water tank temperature of the engine within the first time period are obtained.

[0039] In some examples, the target duration is equal to the duration from when the engine is cold started until the opening of the exhaust gas recirculation valve is greater than zero.

[0040] In some examples, the first duration is less than or equal to the target duration.

[0041] In some examples, a vehicle's engine is cold-started and the exhaust gas recirculation (EGR) valve is closed because the water tank temperature of the engine's water tank has not reached the opening condition of the EGR valve (such as the water tank temperature is greater than or equal to 50°C). During this period, the opening of the EGR valve is equal to 0, and the vehicle controller of the vehicle periodically obtains a first temperature rise of the inlet temperature of the EGR valve within the first time period and a second temperature rise of the water tank temperature of the engine's water tank within the first time period, with the first time period as a period.

[0042] In some examples, the inlet temperature of the EGR valve may be measured by a front temperature sensor of the EGR valve.

[0043] In some examples, the first temperature rise is equal to the difference between the inlet temperature of the EGR valve at the end of the current cycle and the inlet temperature of the EGR valve at the start of the current cycle, such as: the first time length is 30s, the engine cold start time is 15:27:06 on August 14, 2024, if the start time of the current cycle is the engine cold start time, then the end time of the current cycle is 15:27:36 on August 14, 2024. Therefore, the first temperature rise is equal to the difference between the inlet temperature of the EGR valve at 15:27:36 on August 14, 2024 and the inlet temperature of the EGR valve at 15:27:06 on August 14, 2024.

[0044] In some examples, the second temperature rise is equal to the difference between the water tank temperature of the engine at the end of the current cycle and the water tank temperature of the engine at the start of the current cycle, such as: the first duration is 30s, the engine cold start time is 15:27:06 on August 14, 2024, if the start time of the current cycle is the engine cold start time, then the end time of the current cycle is 15:27:36 on August 14, 2024. Therefore, the second temperature rise is equal to the difference between the water tank temperature of the engine at 15:27:36 on August 14, 2024 and the water tank temperature of the engine at 15:27:06 on August 14, 2024.

[0045] S12, after the engine is cold started, obtaining diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine, wherein the operating parameters include the speed and opening of the engine, and the diagnostic data include the inlet temperature of the exhaust gas recirculation valve and the water tank temperature of the engine water tank.

[0046] In some examples, the vehicle provided by the embodiments of the present disclosure may be a vehicle with automatic start-stop or a hybrid vehicle. At this time, after the vehicle is cold-started and runs for a period of time, the EGR valve meets the opening conditions, such as the water tank temperature of the vehicle's engine water tank is greater than 50°C, the EGR valve is opened, and the corresponding EGR valve opening is greater than 0. Afterwards, when the vehicle control is working normally, the vehicle enters pure electric driving (using electric energy to drive the vehicle), or the engine automatically starts and stops STOP&START, the vehicle controller can obtain diagnostic data.

[0047] S13: Generate a diagnosis result of the exhaust gas recirculation flow rate based on the target parameter, wherein the target parameter includes a first temperature rise amount and a second temperature rise amount, or diagnostic data.

[0048] In some examples, a diagnosis result can be obtained based on the first temperature rise and the second temperature rise, such as: based on the magnitude relationship between the first temperature rise and the first threshold, and the magnitude relationship between the absolute value of the difference between the second temperature rise and the first temperature rise and the second threshold, an analysis result is obtained. Alternatively, the first temperature rise and the second temperature rise are input into the first diagnostic model for diagnosis to obtain a diagnosis result of the exhaust gas recirculation flow rate. The training process of the first diagnostic model is as follows:

[0049] Obtain first training sample data and a first labeling result of the first training sample data; wherein the first training sample data includes a historical first temperature rise and a second temperature rise, and the first labeling result includes a diagnosis result of the exhaust gas recirculation flow corresponding to the historical first temperature rise and the second temperature rise.

[0050] The first training sample data is input into the neural network model for learning to obtain a prediction result of the neural network model for the first training sample data.

[0051] Based on the prediction result and the first labeling result, the network parameters of the neural network model are adjusted until the neural network model converges to obtain a first diagnostic model.

[0052] In some examples, the diagnostic data includes a first temperature value, a second temperature value, a third temperature value, a fourth temperature value, a fifth temperature value, and a sixth temperature value, the first temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve when the engine speed is greater than 0 and the opening is greater than 0, the second temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve when the actual time length of the opening continuously greater than the preset opening is equal to the second time length, the third temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve when the actual time length is greater than the third time length, the engine speed drops to 0, and the opening drops to 0, the fourth temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve after the fourth time length starting from the time when the speed drops to 0, the fifth temperature value is the temperature value of the inlet temperature of the exhaust gas recirculation valve when the difference between the second temperature value and the first temperature value is calculated, and the sixth temperature value is the water tank temperature of the water tank when the difference between the second temperature value and the first temperature value is calculated. The vehicle controller can obtain a diagnostic result based on the diagnostic data, such as: generating a first result based on the first specified parameter. Wherein, the first specified parameter includes a first temperature value and a second temperature value, or a first temperature value, a second temperature value, a fifth temperature value, and a sixth temperature value. Based on the second specified parameter, a second result is generated. Wherein, the second specified parameter includes a third temperature value and a fourth temperature value, or a third temperature value, a fourth temperature value, a fifth temperature value, and a sixth temperature value; based on the first result and the second result, a diagnostic result of the exhaust gas recirculation flow is generated. Alternatively, the diagnostic data is input into the second diagnostic model for diagnosis to obtain a diagnostic result. Wherein, the training process of the second diagnostic model includes:

[0053] Second training sample data and a first labeling result of the second training sample data are obtained; wherein the second training sample data includes historical diagnostic data, and the second labeling result includes a diagnostic result of an exhaust gas recirculation flow corresponding to the historical diagnostic data.

[0054] The second training sample data is input into the neural network model for learning to obtain a prediction result of the neural network model for the second training sample data.

[0055] Based on the prediction result and the second labeling result, the network parameters of the neural network model are adjusted until the neural network model converges to obtain a second diagnostic model.

[0056] As can be seen from the above, the diagnostic method for exhaust gas recirculation flow provided by the embodiment of the present disclosure obtains the first temperature rise of the inlet temperature of the exhaust gas recirculation valve within the first time period and the second temperature rise of the water tank temperature of the engine water tank within the first time period when the engine is cold started and the opening of the exhaust gas recirculation valve is equal to 0 within the target time period; after the engine is cold started, the diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine are obtained; based on the target parameters, the diagnostic result of the exhaust gas recirculation flow is generated. Since the vehicle controller can accurately obtain the inlet temperature of the EGR valve and the water tank temperature of the engine water tank, and the acquisition of the inlet temperature and the water tank temperature will not be affected by other factors, the reliability of the diagnosis can be improved.

[0057] In some feasible examples, the target parameter includes a first temperature rise amount and a second temperature rise amount; Figure 1 ,like Figure 2 As shown, the above S13 can be specifically implemented through the following S130.

[0058] S130: When the first temperature rise is greater than a first threshold value and the absolute value of the difference between the second temperature rise and the first temperature rise is greater than a second threshold value, determine that the diagnosis result of the exhaust gas recirculation flow rate is an exhaust gas recirculation high flow rate fault.

[0059] In some examples, when the first temperature rise is less than or equal to the first threshold value, and the absolute value of the difference between the second temperature rise and the first temperature rise is greater than the second threshold value, the diagnosis result of the exhaust gas recirculation flow is determined to be that the exhaust gas recirculation is not faulty. Alternatively, when the first temperature rise is less than or equal to the first threshold value, and the absolute value of the difference between the second temperature rise and the first temperature rise is less than or equal to the second threshold value, the diagnosis result of the exhaust gas recirculation flow is determined to be that the exhaust gas recirculation is not faulty. Alternatively, when the first temperature rise is less than the first threshold value, and the absolute value of the difference between the second temperature rise and the first temperature rise is less than or equal to the second threshold value, the diagnosis result of the exhaust gas recirculation flow is determined to be that the exhaust gas recirculation is not faulty.

[0060] As can be seen from the above, the diagnostic method for exhaust gas recirculation flow provided by the embodiment of the present disclosure obtains the first temperature rise of the inlet temperature of the exhaust gas recirculation valve within the first time period and the second temperature rise of the water tank temperature of the engine water tank within the first time period when the engine is cold started and the opening of the exhaust gas recirculation valve is equal to 0 within the target time period; after the engine is cold started, the diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine are obtained; when the first temperature rise is greater than the first threshold value, and the absolute value of the difference between the second temperature rise and the first temperature rise is greater than the second threshold value, the diagnostic result of the exhaust gas recirculation flow is determined to be an exhaust gas recirculation high flow fault. Since the vehicle controller can accurately obtain the inlet temperature of the EGR valve and the water tank temperature of the engine water tank, and the acquisition of the inlet temperature and the water tank temperature will not be affected by other factors, the reliability of the diagnosis can be improved.

[0061] In some examples, the target parameter includes diagnostic data, the diagnostic data includes a first operating parameter of the engine, a second operating parameter of the exhaust gas recirculation valve, and a third operating parameter of the water tank; Figure 1 ,like Figure 3 As shown, the above S13 can be specifically implemented through the following S131 and S132.

[0062] S131. Generate a first result and a second result based on the first operating parameter, the second operating parameter, and the third operating parameter.

[0063] S132: Generate a diagnosis result of the exhaust gas recirculation flow rate based on the first result and the second result.

[0064] In some examples, the diagnostic result of determining the exhaust gas recirculation flow is an exhaust gas recirculation low flow fault when the first result is an exhaust gas recirculation low flow fault and the second result is an exhaust gas recirculation low flow fault.

[0065] As can be seen from the above, the diagnostic method for exhaust gas recirculation flow provided by the embodiment of the present disclosure obtains the first temperature rise of the inlet temperature of the exhaust gas recirculation valve within the first time period and the second temperature rise of the water tank temperature of the engine water tank within the first time period during the target time period corresponding to the cold start of the engine and the opening of the exhaust gas recirculation valve being equal to 0; obtains the diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine after the cold start of the engine; and generates the first result and the second result based on the first operating parameter, the second operating parameter and the third operating parameter. Based on the first result and the second result, the diagnostic result of the exhaust gas recirculation flow is generated. Since the vehicle controller can accurately obtain the inlet temperature of the EGR valve and the water tank temperature of the engine water tank, and the acquisition of the inlet temperature and the water tank temperature will not be affected by other factors, the reliability of the diagnosis can be improved.

[0066] In some feasible examples, the first operating parameter includes a rotation speed, the second operating parameter includes an inlet temperature, and the third operating parameter includes a water tank temperature; Figure 3 ,like Figure 4 As shown, the above S131 can be specifically implemented through the following S1310-S1317.

[0067] S1310, when the engine speed is greater than 0 and the opening is greater than 0, taking the temperature value of the inlet temperature of the exhaust gas recirculation valve as the first temperature value;

[0068] S1311, when the actual time length during which the opening degree is continuously greater than the preset opening degree is equal to the second time length, the temperature value of the inlet temperature of the exhaust gas recirculation valve is used as the second temperature value;

[0069] S1312: when the actual duration is greater than the third duration, the engine speed drops to 0, and the opening drops to 0, the temperature value of the inlet temperature of the exhaust gas recirculation valve is used as the third temperature value;

[0070] S1313, taking the time when the speed drops to 0 as the starting time, after a fourth time period, taking the temperature value of the inlet temperature of the exhaust gas recirculation valve as the fourth temperature value;

[0071] S1314: When calculating the difference between the second temperature value and the first temperature value, use the temperature value of the inlet temperature of the exhaust gas recirculation valve as the fifth temperature value;

[0072] S1315, when calculating the difference between the second temperature value and the first temperature value, taking the water tank temperature of the water tank as the sixth temperature value;

[0073] In some examples, the vehicle controller periodically calculates a difference between the second temperature value and the first temperature value.

[0074] S1316. Generate a first result based on the first specified parameter; wherein the first specified parameter includes a first temperature value and a second temperature value, or the first temperature value, the second temperature value, a fifth temperature value, and a sixth temperature value;

[0075] In some examples, generating a first result based on the first specified parameter includes:

[0076] In the case where the difference between the second temperature value and the first temperature value is greater than the third threshold value, the first result is determined to be that the exhaust gas recirculation is not faulty.

[0077] When the difference between the second temperature value and the first temperature value is smaller than the third threshold, and the difference between the fifth temperature value and the sixth temperature value is smaller than the fourth threshold, the first result is determined to be an exhaust gas recirculation low flow fault.

[0078] In some examples, in order to improve the recognition accuracy of the exhaust gas recirculation low flow fault, the exhaust gas recirculation flow diagnosis method provided in the embodiment of the present disclosure continues to determine the relationship between the difference between the second temperature value and the first temperature value reacquired N times and the third threshold value when the difference between the second temperature value and the first temperature value is less than the third threshold. If the difference between the second temperature value and the first temperature value reacquired is less than the third threshold, then based on the fifth temperature value and the sixth temperature value when the difference between the second temperature value and the first temperature value is calculated for the Nth time, the difference between the fifth temperature value and the sixth temperature value is determined. If the difference between the fifth temperature value and the sixth temperature value is less than the fourth threshold, the first result is determined to be an exhaust gas recirculation low flow fault.

[0079] For example, taking the vehicle as a hybrid vehicle and N as 2, after the vehicle is cold started and during the period from the time of power failure, the vehicle controller obtains 4 groups of diagnostic data, which are sorted in the order of acquisition time as diagnostic data 1, diagnostic data 2, diagnostic data 3 and diagnostic data 4. When the vehicle controller determines that the difference between the second temperature value and the first temperature value is less than the third threshold value based on the second temperature value and the first temperature value in diagnostic data 1, the diagnostic data 2 is continued to be judged. If the difference between the second temperature value and the first temperature value in diagnostic data 2 is less than the third threshold value, the diagnostic data 3 is continued to be judged. If the difference between the second temperature value and the first temperature value in diagnostic data 3 is less than the third threshold value, the fifth temperature value and the sixth temperature value when calculating the difference between the second temperature value and the first temperature value in diagnostic data 3 are obtained. If the difference between the fifth temperature value and the sixth temperature value is less than the fourth threshold value, the first result is determined to be an exhaust gas recirculation low flow fault.

[0080] Alternatively, when N is 4, the vehicle only obtains diagnostic data 1, diagnostic data 2, diagnostic data 3, and diagnostic data 4, so the vehicle no longer continues to determine the first result.

[0081] S1317. Generate a second result based on the second specified parameter; wherein the second specified parameter includes a third temperature value and a fourth temperature value, or the third temperature value, the fourth temperature value, the fifth temperature value, and the sixth temperature value.

[0082] In some examples, generating a second result based on the second specified parameter includes:

[0083] In the case where the absolute value of the difference between the third temperature value and the fourth temperature value is greater than the fifth threshold value, the second result is determined to be that the exhaust gas recirculation is not faulty.

[0084] When the absolute value of the difference between the third temperature value and the fourth temperature value is smaller than the fifth threshold, and the difference between the fifth temperature value and the sixth temperature value is smaller than the sixth threshold, the second result is determined to be an exhaust gas recirculation low flow fault.

[0085] In some examples, in order to improve the recognition accuracy of the exhaust gas recirculation low flow fault, the exhaust gas recirculation flow diagnosis method provided in the embodiment of the present disclosure, when the absolute value of the difference between the third temperature value and the fourth temperature value is less than the fifth threshold, continues to determine the size relationship between the difference between the third temperature value and the fourth temperature value reacquired M times and the fifth threshold; if the difference between the third temperature value and the fourth temperature value reacquired is less than the fifth threshold, then based on the fifth temperature value and the sixth temperature value when the difference between the third temperature value and the fourth temperature value is calculated for the Mth time, the difference between the fifth temperature value and the sixth temperature value is determined; if the difference between the fifth temperature value and the sixth temperature value is less than the sixth threshold, the second result is determined to be an exhaust gas recirculation low flow fault.

[0086] Exemplarily, in combination with the above example, when the vehicle controller determines that the difference between the third temperature value and the fourth temperature value is less than the fifth threshold value based on the fourth temperature value and the third temperature value in the diagnostic data 1, the diagnostic data 2 is continued to be judged. If the difference between the third temperature value and the fourth temperature value in the diagnostic data 2 is less than the fifth threshold value, the diagnostic data 3 is continued to be judged. If the difference between the third temperature value and the fourth temperature value in the diagnostic data 3 is less than the fifth threshold value, the fifth temperature value and the sixth temperature value when calculating the difference between the third temperature value and the fourth temperature value in the diagnostic data 3 are obtained. If the difference between the fifth temperature value and the sixth temperature value is less than the sixth threshold value, the second result is determined to be an exhaust gas recirculation low flow fault.

[0087] Alternatively, when N is 4, the vehicle only obtains diagnostic data 1, diagnostic data 2, diagnostic data 3, and diagnostic data 4, so the vehicle does not continue to determine the second result.

[0088] From the above, it can be seen that the exhaust gas recirculation flow diagnosis method provided in the embodiment of the present disclosure can improve the reliability of diagnosis because the vehicle controller can accurately obtain the inlet temperature of the EGR valve and the water tank temperature of the engine water tank, and the acquisition of the inlet temperature and the water tank temperature will not be affected by other factors.

[0089] In some examples, the first specified parameter includes a first temperature value and a second temperature value; Figure 4 ,like Figure 5 As shown, the above S1316 can be specifically implemented through the following S13160.

[0090] S13160: When the difference between the second temperature value and the first temperature value is greater than a third threshold value, determine that the first result is that there is no fault in the exhaust gas recirculation.

[0091] As can be seen from the above, the diagnostic method for exhaust gas recirculation flow provided by the embodiment of the present disclosure obtains the first temperature rise of the inlet temperature of the exhaust gas recirculation valve within the first time period and the second temperature rise of the water tank temperature of the engine water tank within the first time period when the engine is cold started and the opening of the exhaust gas recirculation valve is equal to 0 within the target time period; after the engine is cold started, the diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine are obtained; when the difference between the second temperature value and the first temperature value is greater than the third threshold value, the first result is determined to be that the exhaust gas recirculation is fault-free. Since the vehicle controller can accurately obtain the inlet temperature of the EGR valve and the water tank temperature of the engine water tank, and the acquisition of the inlet temperature and the water tank temperature will not be affected by other factors, the reliability of the diagnosis can be improved.

[0092] In some examples, the first specified parameter includes a first temperature value, a second temperature value, a fifth temperature value, and a sixth temperature value; Figure 4 ,like Figure 6 As shown, the above S1316 can be specifically implemented through the following S13161.

[0093] S13161. When the difference between the second temperature value and the first temperature value is less than the third threshold, and the difference between the fifth temperature value and the sixth temperature value is less than the fourth threshold, determine that the first result is an exhaust gas recirculation low flow fault.

[0094] As can be seen from the above, the diagnostic method for exhaust gas recirculation flow provided by the embodiment of the present disclosure obtains the first temperature rise of the inlet temperature of the exhaust gas recirculation valve within the first time period and the second temperature rise of the water tank temperature of the engine water tank within the first time period when the engine is cold started and the opening of the exhaust gas recirculation valve is equal to 0 within the target time period; after the engine is cold started, the diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine are obtained; when the difference between the second temperature value and the first temperature value is less than the third threshold value, and the difference between the fifth temperature value and the sixth temperature value is less than the fourth threshold value, the first result is determined to be an exhaust gas recirculation low flow fault. Since the vehicle controller can accurately obtain the inlet temperature of the EGR valve and the water tank temperature of the engine water tank, and the acquisition of the inlet temperature and the water tank temperature will not be affected by other factors, the reliability of the diagnosis can be improved.

[0095] In some examples, the second specified parameter includes a third temperature value and a fourth temperature value; Figure 4 ,like Figure 7 As shown, the above S1317 can be specifically implemented through the following S13170.

[0096] S13170: When the absolute value of the difference between the third temperature value and the fourth temperature value is greater than the fifth threshold value, determine that the second result is that there is no fault in the exhaust gas recirculation.

[0097] As can be seen from the above, the diagnostic method for exhaust gas recirculation flow provided by the embodiment of the present disclosure obtains the first temperature rise of the inlet temperature of the exhaust gas recirculation valve within the first time period and the second temperature rise of the water tank temperature of the engine water tank within the first time period when the engine is cold started and the opening of the exhaust gas recirculation valve is equal to 0 within the target time period; after the engine is cold started, the diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine are obtained; when the absolute value of the difference between the third temperature value and the fourth temperature value is greater than the fifth threshold value, the second result is determined to be that the exhaust gas recirculation is fault-free. Since the vehicle controller can accurately obtain the inlet temperature of the EGR valve and the water tank temperature of the engine water tank, and the acquisition of the inlet temperature and the water tank temperature will not be affected by other factors, the reliability of the diagnosis can be improved.

[0098] In some examples, the second specified parameter includes a third temperature value, a fourth temperature value, a fifth temperature value, and a sixth temperature value; Figure 4 ,like Figure 8 As shown, the above S1317 can be specifically implemented through the following S13171.

[0099] S13171. When the absolute value of the difference between the third temperature value and the fourth temperature value is less than the fifth threshold value, and the difference between the fifth temperature value and the sixth temperature value is less than the sixth threshold value, determine that the second result is an exhaust gas recirculation low flow fault.

[0100] As can be seen from the above, the diagnostic method for exhaust gas recirculation flow provided by the embodiment of the present disclosure obtains the first temperature rise of the inlet temperature of the exhaust gas recirculation valve within the first time period and the second temperature rise of the water tank temperature of the engine water tank within the first time period when the engine is cold started and the opening of the exhaust gas recirculation valve is equal to 0 within the target time period; after the engine is cold started, the diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine are obtained; when the absolute value of the difference between the third temperature value and the fourth temperature value is less than the fifth threshold value, and the difference between the fifth temperature value and the sixth temperature value is less than the sixth threshold value, the second result is determined to be an exhaust gas recirculation low flow fault. Since the vehicle controller can accurately obtain the inlet temperature of the EGR valve and the water tank temperature of the engine water tank, and the acquisition of the inlet temperature and the water tank temperature will not be affected by other factors, the reliability of the diagnosis can be improved.

[0101] In some possible implementation examples, combined with Figure 3 ,like Fig. 9 As shown, the above S132 can be specifically implemented through the following S1320.

[0102] S1320: When the first result is an exhaust gas recirculation low flow fault and the second result is an exhaust gas recirculation low flow fault, determine that the diagnosis result of the exhaust gas recirculation flow is an exhaust gas recirculation low flow fault.

[0103] As can be seen from the above, the diagnostic method for exhaust gas recirculation flow provided by the embodiment of the present disclosure obtains the first temperature rise of the inlet temperature of the exhaust gas recirculation valve within the first time period and the second temperature rise of the water tank temperature of the engine water tank within the first time period when the engine is cold started and the opening of the exhaust gas recirculation valve is equal to 0; after the engine is cold started, the diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine are obtained; when the first result is an exhaust gas recirculation low flow fault and the second result is an exhaust gas recirculation low flow fault, the diagnostic result of the exhaust gas recirculation flow is determined to be an exhaust gas recirculation low flow fault. Since the vehicle controller can accurately obtain the inlet temperature of the EGR valve and the water tank temperature of the engine water tank, and the acquisition of the inlet temperature and the water tank temperature will not be affected by other factors, the reliability of the diagnosis can be improved.

[0104] Embodiment 2

[0105] Fig.10 The structural diagram of the vehicle controller provided in the second embodiment of the present application is exemplarily shown in FIG. Fig.10 As shown, the vehicle controller includes: a processing module 81 and an acquisition module 82.

[0106] The processing module 81 is used to control the acquisition module 82 to acquire a first temperature rise of the inlet temperature of the exhaust gas recirculation valve within a first time period and a second temperature rise of the water tank temperature of the engine within the first time period when the engine is cold started and the opening of the exhaust gas recirculation valve is equal to 0 within a target time period corresponding to the engine cold start;

[0107] The processing module 81 is further used to control the acquisition module 82 to acquire diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine after the engine is cold started; wherein the operating parameters include the speed and opening of the engine, and the diagnostic data include the inlet temperature of the exhaust gas recirculation valve and the water tank temperature of the engine water tank;

[0108] The processing module 81 is further used to generate a diagnostic result of the exhaust gas recirculation flow rate based on the target parameter; wherein the target parameter includes the first temperature rise amount and the second temperature rise amount, or diagnostic data.

[0109] In some feasible examples, the target parameter includes a first temperature rise amount and a second temperature rise amount;

[0110] The processing module 81 is specifically used to determine that the diagnosis result of the exhaust gas recirculation flow is an exhaust gas recirculation high flow fault when the first temperature rise amount obtained by the acquisition module 82 is greater than the first threshold and the second temperature rise amount obtained by the acquisition module 82 is greater than the second threshold.

[0111] In some possible implementation examples,

[0112] The target parameters include diagnostic data, which include a first operating parameter of the engine, a second operating parameter of the exhaust gas recirculation valve and a third operating parameter of the water tank; a processing module 81 is specifically used to generate a first result and a second result based on the first operating parameter, the second operating parameter and the third operating parameter; the processing module 81 is specifically used to generate a diagnostic result of the exhaust gas recirculation flow rate based on the first result and the second result.

[0113] In some examples that can be implemented, the first operating parameter includes a rotation speed, the second operating parameter includes an inlet temperature, and the third operating parameter includes a water tank temperature;

[0114] The processing module 81 is specifically configured to use the temperature value of the inlet temperature of the exhaust gas recirculation valve as the first temperature value when the engine speed is greater than 0 and the opening is greater than 0;

[0115] The processing module 81 is specifically configured to use the temperature value of the inlet temperature of the exhaust gas recirculation valve as the second temperature value when the actual time length during which the opening degree is continuously greater than the preset opening degree is equal to the second time length;

[0116] The processing module 81 is specifically configured to use the temperature value of the inlet temperature of the exhaust gas recirculation valve as the third temperature value when the actual duration is greater than the third duration, the engine speed drops to 0, and the opening drops to 0;

[0117] The processing module 81 is specifically configured to use the time when the rotation speed drops to 0 as the starting time, and after a fourth time period, use the temperature value of the inlet temperature of the exhaust gas recirculation valve as the fourth temperature value;

[0118] The processing module 81 is specifically configured to use the temperature value of the inlet temperature of the exhaust gas recirculation valve as the fifth temperature value when calculating the difference between the second temperature value and the first temperature value;

[0119] The processing module 81 is specifically configured to use the water tank temperature of the water tank as the sixth temperature value when calculating the difference between the second temperature value and the first temperature value;

[0120] The processing module 81 is specifically configured to generate a first result based on a first specified parameter; wherein the first specified parameter includes a first temperature value and a second temperature value, or the first temperature value, the second temperature value, a fifth temperature value and a sixth temperature value;

[0121] The processing module 81 is specifically configured to generate a second result based on a second specified parameter; wherein the second specified parameter includes a third temperature value and a fourth temperature value, or the third temperature value, the fourth temperature value, the fifth temperature value and the sixth temperature value.

[0122] In some implementable examples, the first specified parameter includes a first temperature value and a second temperature value; the processing module 81 is specifically configured to determine that the first result is that the exhaust gas recirculation is fault-free when the difference between the second temperature value and the first temperature value is greater than a third threshold.

[0123] In some implementable examples, the first specified parameter includes a first temperature value, a second temperature value, a fifth temperature value, and a sixth temperature value; the processing module 81 is specifically used to determine that the first result is an exhaust gas recirculation low flow fault when the difference between the second temperature value and the first temperature value is less than a third threshold and the difference between the fifth temperature value and the sixth temperature value is less than a fourth threshold.

[0124] In some implementable examples, the second specified parameter includes a third temperature value and a fourth temperature value; the processing module 81 is specifically configured to determine that the second result is that the exhaust gas recirculation is fault-free when the absolute value of the difference between the third temperature value and the fourth temperature value is greater than a fifth threshold.

[0125] In some implementable examples, the second specified parameter includes a third temperature value, a fourth temperature value, a fifth temperature value and a sixth temperature value; the processing module 81 is specifically used to determine that the second result is an exhaust gas recirculation low flow fault when the absolute value of the difference between the third temperature value and the fourth temperature value is less than a fifth threshold value, and the difference between the fifth temperature value and the sixth temperature value is less than the sixth threshold value.

[0126] In some feasible examples, the processing module 81 is specifically configured to determine that the diagnostic result of the exhaust gas recirculation flow rate is an exhaust gas recirculation low flow rate fault when the first result is an exhaust gas recirculation low flow rate fault and the second result is an exhaust gas recirculation low flow rate fault.

[0127] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and its role will not be repeated here.

[0128] Of course, the vehicle controller provided by the embodiment of the present invention includes but is not limited to the above modules, for example, the vehicle controller may also include a storage module 83. The storage module 83 may be used to store the program code of the vehicle controller, and may also be used to store data generated during the operation of the vehicle controller, such as diagnostic data.

[0129] Fig.11 A schematic diagram of the structure of a vehicle controller provided by an embodiment of the present invention is shown in FIG. Fig.11As shown, the vehicle controller may include: at least one processor 51 , a memory 52 , a communication interface 53 and a communication bus 54 .

[0130] Combine the following Fig.11 A detailed introduction to the various components of the vehicle controller:

[0131] The processor 51 is the control center of the vehicle controller, and may be a processor or a general term for multiple processing elements. For example, the processor 51 is a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention, such as one or more DSPs, or one or more field programmable gate arrays (FPGAs).

[0132] In a specific implementation, as an embodiment, the processor 51 may include one or more CPUs, such as Fig.11 Also, as an embodiment, the vehicle controller may include multiple processors, such as Fig.11 51 and 55 are shown in FIG. Each of these processors may be a single-core processor (Single-CPU) or a multi-core processor (Multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0133] The memory 52 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 52 may exist independently and be connected to the processor 51 via a communication bus 54. The memory 52 may also be integrated with the processor 51.

[0134] In a specific implementation, the memory 52 is used to store the data of the present invention and execute the software program of the present invention. The processor 51 can execute various functions of the air conditioner by running or executing the software program stored in the memory 52 and calling the data stored in the memory 52.

[0135] The communication interface 53 uses any transceiver-like device to communicate with other devices or communication networks, such as Radio Access Network (RAN), Wireless Local Area Networks (WLAN), terminals, the cloud, etc. The communication interface 53 may include an acquisition module to implement the acquisition function.

[0136] The communication bus 54 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0137] As an example, combining Fig.10The functions implemented by the acquisition module 82 of the vehicle controller are similar to Fig.11 The function of the communication interface 53 in the vehicle controller is the same as that of the processing module 81 in the vehicle controller. Fig.11 The functions of the processor 51 in the vehicle controller are the same as those of the storage module 83 in the vehicle controller. Fig.11 The function of the memory 52 in is the same.

[0138] An embodiment of the present application also provides a vehicle, which may include the vehicle controller in any embodiment.

[0139] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method in any embodiment.

[0140] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for diagnosing exhaust gas recirculation flow, characterized in that: include: During a cold start of the engine, and within a target time period corresponding to when the opening of the exhaust gas recirculation valve is equal to 0, obtaining a first temperature rise of an inlet temperature of the exhaust gas recirculation valve within a first time period, and a second temperature rise of a water tank temperature of a water tank of the engine within the first time period; After the engine is cold started, obtaining diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine; wherein the operating parameters include the speed and the opening of the engine, and the diagnostic data include the inlet temperature of the exhaust gas recirculation valve and the water tank temperature of the water tank of the engine; Based on the target parameter, a diagnosis result of the exhaust gas recirculation flow rate is generated; wherein the target parameter includes the first temperature rise amount and the second temperature rise amount, or the diagnosis data.

2. The method for diagnosing exhaust gas recirculation flow rate according to claim 1, characterized in that: The target parameters include the first temperature rise and the second temperature rise; The method of generating a diagnostic result of the exhaust gas recirculation flow rate based on the target parameter includes: When the first temperature rise is greater than a first threshold value and the absolute value of the difference between the second temperature rise and the first temperature rise is greater than a second threshold value, it is determined that the diagnosis result of the exhaust gas recirculation flow rate is an exhaust gas recirculation high flow rate fault.

3. The method for diagnosing exhaust gas recirculation flow rate according to claim 1, characterized in that: The target parameter includes the diagnostic data, the diagnostic data including a first operating parameter of the engine, a second operating parameter of the exhaust gas recirculation valve, and a third operating parameter of the water tank; The method of generating a diagnostic result of the exhaust gas recirculation flow rate based on the target parameter includes: generating a first result and a second result based on the first operating parameter, the second operating parameter and the third operating parameter; Based on the first result and the second result, a diagnosis result of the exhaust gas recirculation flow rate is generated.

4. The method for diagnosing exhaust gas recirculation flow rate according to claim 3, characterized in that: The first operating parameter includes a rotation speed, the second operating parameter includes an inlet temperature, and the third operating parameter includes a water tank temperature; The generating a first result and a second result based on the first operating parameter, the second operating parameter and the third operating parameter comprises: When the speed of the engine is greater than 0 and the opening is greater than 0, taking the temperature value of the inlet temperature of the exhaust gas recirculation valve as the first temperature value; When the actual time length during which the opening degree is continuously greater than the preset opening degree is equal to the second time length, the temperature value of the inlet temperature of the exhaust gas recirculation valve is used as the second temperature value; When the actual duration is greater than the third duration, the engine speed drops to 0, and the opening drops to 0, the temperature value of the inlet temperature of the exhaust gas recirculation valve is used as the third temperature value; Taking the time when the speed drops to 0 as the starting time, after a fourth time period, the temperature value of the inlet temperature of the exhaust gas recirculation valve is taken as the fourth temperature value; When calculating the difference between the second temperature value and the first temperature value, taking the temperature value of the inlet temperature of the exhaust gas recirculation valve as the fifth temperature value; When calculating the difference between the second temperature value and the first temperature value, taking the water tank temperature of the water tank as the sixth temperature value; Generate a first result based on a first specified parameter; wherein the first specified parameter includes the first temperature value and the second temperature value, or the first temperature value, the second temperature value, the fifth temperature value, and the sixth temperature value; A second result is generated based on second specified parameters; wherein the second specified parameters include the third temperature value and the fourth temperature value, or the third temperature value, the fourth temperature value, the fifth temperature value, and the sixth temperature value.

5. The method for diagnosing exhaust gas recirculation flow rate according to claim 4, characterized in that: The first specified parameter includes the first temperature value and the second temperature value; The generating a first result based on the first specified parameter includes: When the difference between the second temperature value and the first temperature value is greater than a third threshold value, a first result is determined as exhaust gas recirculation being fault-free.

6. The method for diagnosing exhaust gas recirculation flow rate according to claim 4, characterized in that: The first specified parameter includes the first temperature value, the second temperature value, the fifth temperature value, and the sixth temperature value; The generating a first result based on the first specified parameter includes: When the difference between the second temperature value and the first temperature value is smaller than a third threshold, and the difference between the fifth temperature value and the sixth temperature value is smaller than a fourth threshold, it is determined that the first result is an exhaust gas recirculation low flow fault.

7. The method for diagnosing exhaust gas recirculation flow rate according to claim 4, characterized in that: The second specified parameter includes the third temperature value and the fourth temperature value; The generating a second result based on the second specified parameter includes: In the case where the absolute value of the difference between the third temperature value and the fourth temperature value is greater than a fifth threshold value, it is determined that the second result is that the exhaust gas recirculation is not faulty.

8. A vehicle controller, characterized in that: include: a processing module, configured to control the acquisition module to acquire, during a target time period corresponding to a cold start of the engine and an opening of the exhaust gas recirculation valve being equal to 0, a first temperature rise of an inlet temperature of the exhaust gas recirculation valve within a first time period, and a second temperature rise of a water tank temperature of a water tank of the engine within the first time period; The processing module is further used to control the acquisition module to acquire diagnostic data corresponding to different operating parameters of the exhaust gas recirculation valve and the engine after the engine is cold started; wherein the operating parameters include the speed and the opening of the engine, and the diagnostic data include the inlet temperature of the exhaust gas recirculation valve and the water tank temperature of the water tank of the engine; The processing module is further used to generate a diagnostic result of the exhaust gas recirculation flow rate based on a target parameter; wherein the target parameter includes the first temperature rise amount and the second temperature rise amount, or the diagnostic data.

9. A vehicle, characterized in that: The vehicle includes the vehicle controller as claimed in claim 10.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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