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

Abstract

This disclosure relates to the field of engine technology, and more particularly to a diagnostic method for exhaust gas recirculation (EGR) flow rate, a vehicle controller, and a vehicle. The method includes: during a cold start of the engine, within a target time period corresponding to an EGR valve opening of 0, acquiring a first temperature rise in the inlet temperature of the EGR valve within the first time period, and a second temperature rise in the engine's radiator temperature within the first time period; after a cold start of the engine, acquiring diagnostic data for the EGR valve and the engine corresponding to different operating parameters; wherein the operating parameters include engine speed and opening degree, and the diagnostic data includes the EGR valve inlet temperature and the engine's radiator temperature; and generating a diagnostic result for the EGR flow rate based on the target parameters.

Description

[0001] This application is a divisional application of Chinese patent application No. 202411966827.8, filed with the Chinese Patent Office on December 30, 2024. Technical Field

[0002] This 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 Technology

[0003] Vehicles equipped with an Exhaust Gas Recirculation (EGR) system typically use a Mass Air Flow Sensor (MAF) and a P-model to determine whether the EGR flow is too high or too low. This method requires a high level of accuracy in the engine charging model, which is generally difficult to meet under low-load conditions. Furthermore, it requires the configuration of an MAF, which is not conducive to widespread adoption.

[0004] Therefore, how to distinguish between high EGR flow and low EGR flow faults without relying on MAF has become an urgent problem to be solved. Summary of the Invention

[0005] To address the aforementioned technical problems, this disclosure provides a diagnostic method for exhaust gas recirculation (EGR) flow rate, a vehicle controller, and a vehicle, for resolving how to distinguish between faults of excessively high and low EGR flow rates without relying on the exhaust gas recirculation (MAF).

[0006] In a first aspect, this application provides a diagnostic method for exhaust gas recirculation flow rate, comprising: during a cold start of the engine and within a target time period corresponding to the opening degree of the exhaust gas recirculation valve being equal to 0, acquiring a first temperature rise of the inlet temperature of the exhaust gas recirculation valve within the first time period, and a second temperature rise of the engine's radiator temperature within the first time period; after the engine cold start, acquiring diagnostic data for the exhaust gas recirculation valve and the engine corresponding to different operating parameters; wherein the operating parameters include the engine speed and opening degree, and the diagnostic data include the inlet temperature of the exhaust gas recirculation valve and the radiator temperature of the engine's radiator; and generating a diagnostic result for 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.

[0007] 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 for the exhaust gas recirculation flow rate is generated, including: if 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 a second threshold, determining the diagnostic result for the exhaust gas recirculation flow rate as an exhaust gas recirculation high flow rate fault.

[0008] In some feasible examples, the target parameters include diagnostic data, which includes first operating parameters of the engine, second operating parameters of the exhaust gas recirculation valve, and third operating parameters of the water tank; based on the target parameters, a diagnostic result of the exhaust gas recirculation flow rate is generated, including: generating a first result and a second result based on the first, second, and third operating parameters; and generating a diagnostic result of the exhaust gas recirculation flow rate based on the first and second results.

[0009] In some feasible examples, the first operating parameter includes engine speed, the second operating parameter includes inlet temperature, and the third operating parameter includes water tank temperature; based on the first, second, and third operating parameters, a first result and a second result are generated, including: when the engine speed is greater than 0 and the opening degree is greater than 0, using the inlet temperature value of the exhaust gas recirculation valve as the first temperature value; when the actual duration for which the opening degree is continuously greater than a preset opening degree is equal to a second duration, using the inlet temperature value of the exhaust gas recirculation valve as the second temperature value; when the actual duration is greater than a third duration, and the engine speed drops to 0 and the opening degree drops to 0, using the inlet temperature value of the exhaust gas recirculation valve as the third temperature value; starting from when the engine speed drops to 0... At time 1, after the fourth time interval, the inlet temperature of the exhaust gas recirculation valve is taken as the fourth temperature value; when calculating the difference between the second and first temperature values, the inlet temperature of the exhaust gas recirculation valve is taken as the fifth temperature value; when calculating the difference between the second and first temperature values, the water tank temperature is taken as the sixth temperature value; based on the first specified parameters, a first result is generated; wherein, the first specified parameters include the first and second temperature values, or the first, second, fifth, and sixth temperature values; based on the second specified parameters, a second result is generated; wherein, the second specified parameters include the third and fourth temperature values, or the third, fourth, fifth, and sixth temperature values. In some feasible examples, the target parameters include diagnostic data, which 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 inlet temperature of the exhaust gas recirculation valve when the engine speed is greater than 0 and the valve opening is greater than 0. The second temperature value is the inlet temperature of the exhaust gas recirculation valve when the actual duration for which the valve opening is continuously greater than a preset opening is equal to a second duration. The third temperature value is the inlet temperature of the exhaust gas recirculation valve when the actual duration is greater than the third duration, the engine speed drops to 0, and the valve opening drops to 0. The fourth temperature value is the inlet temperature of the exhaust gas recirculation valve after a fourth duration, starting from the moment the engine speed drops to 0. The fifth temperature value is... The first temperature value is the inlet temperature of the exhaust gas recirculation valve when calculating the difference between the second and first temperature values; the sixth temperature value is the water tank temperature when calculating the difference between the second and first temperature values. Based on the target parameters, a diagnostic result for the exhaust gas recirculation flow rate is generated, including: generating 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 a first temperature value, a second temperature value, a fifth temperature value, and a sixth temperature value; generating 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 a third temperature value, a fourth temperature value, a fifth temperature value, and a sixth temperature value; and generating a diagnostic result for the exhaust gas recirculation flow rate based on the first and second results.

[0010] 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: if 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 fault-free.

[0011] 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: if 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 the first result as a low exhaust gas recirculation flow fault.

[0012] 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: if the absolute value of the difference between the third temperature value and the fourth temperature value is greater than a fifth threshold, determining the second result as exhaust gas recirculation fault-free.

[0013] 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; based on the second specified parameter, a second result is generated, including: if the absolute value of the difference between the third temperature value and the fourth temperature value is less than a fifth threshold, and the difference between the fifth temperature value and the sixth temperature value is less than a sixth threshold, the second result is determined to be a low exhaust gas recirculation flow fault.

[0014] In some feasible examples, a diagnostic result for the exhaust gas recirculation flow is generated based on the first result and the second result, including: determining the diagnostic result for the exhaust gas recirculation flow as an exhaust gas recirculation low flow fault when both the first result and the second result are exhaust gas recirculation low flow faults.

[0015] Secondly, this application provides a vehicle controller, comprising: a processing module, configured to control an acquisition module to acquire a first temperature rise of the exhaust gas recirculation valve inlet temperature and a second temperature rise of the engine's radiator temperature within a target time period corresponding to a cold start of the engine and an exhaust gas recirculation valve opening of 0; the processing module is further configured to control the acquisition module to acquire diagnostic data of the exhaust gas recirculation valve and the engine corresponding to different operating parameters after a cold start of the engine; wherein the operating parameters include the engine speed and opening, and the diagnostic data include the exhaust gas recirculation valve inlet temperature and the engine's radiator temperature; the processing module is further configured 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.

[0016] Thirdly, this application provides a vehicle that includes the vehicle controller described above.

[0017] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the above-described method.

[0018] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0019] The exhaust gas recirculation (EGR) flow diagnostic method disclosed herein acquires, within a target time period corresponding to an engine cold start and an EGR valve opening of 0, a first temperature rise in the EGR valve inlet temperature and a second temperature rise in the engine radiator temperature within the same time period. After an engine cold start, diagnostic data for both the EGR valve and the engine at different operating parameters are acquired. Based on the target parameters, a diagnostic result for the EGR flow is generated. Thus, it eliminates the need to rely on the MAF (Magnetic Airflow Facility) for EGR high and low flow fault diagnosis. Instead, it determines the EGR flow diagnostic result by analyzing the engine radiator temperature and the EGR valve inlet temperature, thereby solving the problem of diagnosing EGR flow too high and too low without relying on the MAF. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0021] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 The following is an exemplary flowchart of a vehicle control method provided in Embodiment 1;

[0023] Figure 2 The second schematic diagram of a vehicle control method provided in this embodiment is illustrated in the figure below.

[0024] Figure 3 The third schematic flowchart of a vehicle control method provided in this embodiment is illustrated in the example.

[0025] Figure 4 The fourth example of a flowchart illustrating a vehicle control method provided in Embodiment 1 is shown below;

[0026] Figure 5 The fifth example of a flowchart illustrating a vehicle control method provided in Embodiment 1 is shown below;

[0027] Figure 6 The sixth example of a flowchart illustrating a vehicle control method provided in Embodiment 1 is shown below;

[0028] Figure 7 The seventh example of a flowchart illustrating a vehicle control method provided in Embodiment 1 is shown below;

[0029] Figure 8 The eighth example of a flowchart illustrating a vehicle control method provided in Embodiment 1 is shown below;

[0030] Figure 9 The ninth example of a flowchart illustrating a vehicle control method provided in Embodiment 1 is shown below;

[0031] Figure 10 The diagram below exemplarily illustrates one of the structural schematics of the vehicle controller provided in Embodiment 2.

[0032] Figure 11 The second example of the structural schematic diagram of the vehicle controller provided in this embodiment is shown in the figure. Detailed Implementation

[0033] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0034] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] The technical solutions of this application will be described in detail below with reference to specific embodiments. These 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 this application, unless otherwise expressly specified and limited, the terms should be broadly understood within the art. The embodiments of this application will now be described with reference to the accompanying drawings.

[0037] Example 1

[0038] Figure 1 The diagram illustrates a flowchart of a vehicle control method. The executing entity in this example can be a vehicle controller, such as... Figure 1 As shown, the method includes:

[0039] S11. During the target time period when the engine is cold-started and the opening degree of the exhaust gas recirculation valve is equal to 0, obtain the first temperature rise of the exhaust gas recirculation valve inlet temperature within the first time period, and the second temperature rise of the engine water tank temperature within the first time period.

[0040] In some examples, the target duration is equal to the duration from engine cold start to when the exhaust gas recirculation valve opening is greater than 0.

[0041] In some examples, the first duration is less than or equal to the target duration.

[0042] In some examples, during a cold start of the vehicle's engine, the exhaust gas recirculation (EGR) valve is open to 0 because the engine's radiator temperature has not reached the EGR valve's opening condition (e.g., radiator temperature greater than or equal to 50°C). During this period, the vehicle's controller periodically acquires the first temperature rise of the EGR valve's inlet temperature and the second temperature rise of the engine's radiator temperature within the first time period.

[0043] In some examples, the inlet temperature of the EGR valve can be measured by the temperature sensor upstream of the EGR valve.

[0044] In some examples, the first temperature rise is equal to the difference between the EGR valve's inlet temperature at the end of the current cycle and its inlet temperature at the beginning of the current cycle. For instance, if the first duration is 30 seconds and the engine cold start time is August 14, 2024, at 15:27:06, and the start time of the current cycle is the engine cold start time, then the end time of the current cycle is August 14, 2024, at 15:27:36. Therefore, the first temperature rise is equal to the difference between the EGR valve's inlet temperature at 15:27:36 on August 14, 2024, and its inlet temperature at 15:27:06 on August 14, 2024.

[0045] In some examples, the second temperature rise is equal to the difference between the engine's radiator temperature at the end of the current cycle and the engine's radiator temperature at the beginning of the current cycle. For example, if the first duration is 30 seconds and the engine cold start time is August 14, 2024, at 15:27:06, and the start time of the current cycle is the engine cold start time, then the end time of the current cycle is August 14, 2024, at 15:27:36. Therefore, the second temperature rise is equal to the difference between the engine's radiator temperature at 15:27:36 on August 14, 2024, and the engine's radiator temperature at 15:27:06 on August 14, 2024.

[0046] S12. After a cold start of the engine, acquire diagnostic data for both the exhaust gas recirculation valve and the engine at different operating parameters. The operating parameters include engine speed and valve opening, while the diagnostic data includes the inlet temperature of the exhaust gas recirculation valve and the water tank temperature of the engine.

[0047] In some examples, the vehicle provided in this disclosure may be a vehicle equipped with automatic start-stop or a hybrid vehicle. In this case, after a cold start, the vehicle runs for a period of time, during which the EGR valve meets the opening conditions, such as when the engine coolant temperature exceeds 50°C. At this point, the EGR valve opens, and the corresponding EGR valve opening degree is greater than 0. Subsequently, when the vehicle control is working normally, the vehicle controller can acquire diagnostic data when the vehicle enters pure electric driving (using electric power to drive the vehicle) or when the engine automatically starts and stops (STOP & START).

[0048] S13. Based on the target parameters, generate diagnostic results for the exhaust gas recirculation flow rate. The target parameters include the first temperature rise and the second temperature rise, or diagnostic data.

[0049] In some examples, diagnostic results can be obtained based on a first temperature rise and a second temperature rise. For instance, analysis results can be obtained based on the relationship between the first temperature rise and a first threshold, and the relationship between the absolute value of the difference between the second and first temperature rises and the second threshold. Alternatively, the first and second temperature rises can be input into a first diagnostic model for diagnosis to obtain the diagnostic result for the exhaust gas recirculation flow rate. The training process of the first diagnostic model is as follows:

[0050] Obtain the first training sample data and the first labeling result of the first training sample data; wherein, the first training sample data includes the historical first temperature rise and the second temperature rise, and the first labeling result includes the diagnostic result of the exhaust gas recirculation flow rate corresponding to the historical first temperature rise and the second temperature rise.

[0051] The first training sample data is input into the neural network model for learning, and the prediction result of the neural network model on the first training sample data is obtained.

[0052] Based on the prediction results and the first labeling results, the network parameters of the neural network model are adjusted until the neural network model converges, thus obtaining the first diagnostic model.

[0053] In some examples, 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 inlet temperature of the exhaust gas recirculation (EGR) valve when the engine speed is greater than 0 and the valve opening is greater than 0. The second temperature value is the inlet temperature of the EGR valve when the actual duration of the valve opening being greater than a preset opening is equal to a second duration. The third temperature value is the inlet temperature of the EGR valve when the actual duration is greater than the third duration, the engine speed drops to 0, and the valve opening drops to 0. The fourth temperature value is the inlet temperature of the EGR valve after a fourth duration, starting from when the engine speed drops to 0. The fifth temperature value is the inlet temperature of the EGR valve when calculating the difference between the second and first temperature values. The sixth temperature value is the water tank temperature when calculating the difference between the second and first temperature values. The vehicle controller can obtain diagnostic results based on the diagnostic data, such as generating a first result based on a first specified parameter. 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. 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 and second results, a diagnostic result for the exhaust gas recirculation flow rate is generated. Alternatively, the diagnostic data is input into a second diagnostic model for diagnosis to obtain a diagnostic result. The training process of the second diagnostic model includes:

[0054] Obtain the second training sample data and the first labeling result of the second training sample data; wherein, the second training sample data includes historical diagnostic data, and the second labeling result includes the diagnostic result of the exhaust gas recirculation flow rate corresponding to the historical diagnostic data.

[0055] The second training sample data is input into the neural network model for learning, and the prediction result of the neural network model on the second training sample data is obtained.

[0056] Based on the prediction results and the second labeling results, the network parameters of the neural network model are adjusted until the neural network model converges, thus obtaining the second diagnostic model.

[0057] As described above, the exhaust gas recirculation (EGR) flow rate diagnostic method provided in this embodiment acquires the first temperature rise of the EGR valve inlet temperature and the second temperature rise of the engine radiator temperature within a target time period corresponding to a cold start of the engine and an EGR valve opening of 0. After a cold start, it acquires diagnostic data for both the EGR valve and the engine at different operating parameters. Based on the target parameters, it generates a diagnostic result for the exhaust gas recirculation flow rate. Since the vehicle controller can accurately acquire the EGR valve inlet temperature and the engine radiator temperature, and the acquisition of the inlet temperature and radiator temperature is not affected by other factors, the reliability of the diagnostic can be improved.

[0058] In some feasible examples, the target parameters include a first temperature rise and a second temperature rise; combined with Figure 1 ,like Figure 2 As shown, the above S13 can be implemented by the following S130.

[0059] S130. If the first temperature rise is greater than the 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, the diagnostic result of the exhaust gas recirculation flow rate is determined to be an exhaust gas recirculation high flow rate fault.

[0060] In some examples, if the first temperature rise is less than or equal to a first threshold, and the absolute value of the difference between the second and first temperature rises is greater than a second threshold, the diagnostic result for the exhaust gas recirculation flow rate is determined to be that the exhaust gas recirculation is fault-free. Alternatively, if the first temperature rise is less than or equal to the first threshold, and the absolute value of the difference between the second and first temperature rises is less than or equal to the second threshold, the diagnostic result for the exhaust gas recirculation flow rate is determined to be that the exhaust gas recirculation is fault-free. Or, if the first temperature rise is less than the first threshold, and the absolute value of the difference between the second and first temperature rises is less than or equal to the second threshold, the diagnostic result for the exhaust gas recirculation flow rate is determined to be that the exhaust gas recirculation is fault-free.

[0061] As described above, the exhaust gas recirculation (EGR) flow rate diagnostic method provided in this embodiment acquires the first temperature rise of the EGR valve inlet temperature and the second temperature rise of the engine radiator temperature within a target time period corresponding to a cold start of the engine and an EGR valve opening of 0. After a cold start, diagnostic data for the EGR valve and engine at different operating parameters are acquired. If the first temperature rise is greater than a first threshold and the absolute value of the difference between the second and first temperature rises is greater than a second threshold, the diagnostic result for the exhaust gas recirculation flow rate is determined to be a high EGR flow rate fault. Since the vehicle controller can accurately acquire the EGR valve inlet temperature and the engine radiator temperature, and the acquisition of the inlet temperature and radiator temperature is not affected by other factors, the reliability of the diagnosis can be improved.

[0062] In some feasible examples, the target parameters include diagnostic data, which includes the engine's first operating parameters, the exhaust gas recirculation valve's second operating parameters, and the water tank's third operating parameters; combined with Figure 1 ,like Figure 3 As shown, the above S13 can be specifically implemented through the following S131 and S132.

[0063] S131. Based on the first operating parameter, the second operating parameter, and the third operating parameter, generate the first result and the second result.

[0064] S132. Based on the first and second results, generate a diagnostic result for the exhaust gas recirculation flow rate.

[0065] In some examples, where both the first and second results indicate a low exhaust gas recirculation flow rate fault, the diagnostic result for determining the exhaust gas recirculation flow rate is a low exhaust gas recirculation flow rate fault.

[0066] As described above, the exhaust gas recirculation (EGR) flow rate diagnostic method provided in this embodiment acquires the first temperature rise of the EGR valve inlet temperature and the second temperature rise of the engine radiator temperature within a target time period corresponding to a cold start of the engine and an EGR valve opening of 0. After a cold start, it acquires diagnostic data for both the EGR valve and the engine at different operating parameters. Based on the first, second, and third operating parameters, it generates a first result and a second result. Based on the first and second results, it generates a diagnostic result for the exhaust gas recirculation flow rate. Since the vehicle controller can accurately acquire the EGR valve inlet temperature and the engine radiator temperature, and the acquisition of the inlet temperature and radiator temperature is not affected by other factors, the reliability of the diagnosis can be improved.

[0067] In some feasible examples, the first operating parameter includes rotational speed, the second operating parameter includes inlet temperature, and the third operating parameter includes tank temperature; combined with Figure 3 ,like Figure 4 As shown, the above S131 can be specifically implemented through the following S1310-S1317.

[0068] S1310. When the engine speed is greater than 0 and the opening degree is greater than 0, the temperature value of the inlet temperature of the exhaust gas recirculation valve shall be used as the first temperature value.

[0069] S1311. When the actual duration during which the opening degree is continuously greater than the preset opening degree is equal to the second duration, the temperature value of the inlet temperature of the exhaust gas recirculation valve is taken as the second temperature value.

[0070] S1312. When the actual duration is greater than the third duration, and the engine speed drops to 0 and the opening degree drops to 0, the temperature value of the inlet temperature of the exhaust gas recirculation valve shall be used as the third temperature value.

[0071] S1313. Starting from the moment when the speed drops to 0, after the fourth time interval, the temperature value of the inlet temperature of the exhaust gas recirculation valve is taken as the fourth temperature value.

[0072] S1314. When calculating the difference between the second temperature value and the first temperature value, the inlet temperature of the exhaust gas recirculation valve shall be used as the fifth temperature value.

[0073] S1315. When calculating the difference between the second temperature value and the first temperature value, the water temperature of the water tank is used as the sixth temperature value.

[0074] In some examples, the vehicle controller periodically calculates the difference between the second temperature value and the first temperature value.

[0075] S1316. 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 a first temperature value, a second temperature value, a fifth temperature value and a sixth temperature value;

[0076] In some examples, a first result is generated based on a first specified parameter, including:

[0077] If the difference between the second temperature value and the first temperature value is greater than the third threshold, the first result is determined to be that the exhaust gas recirculation is fault-free.

[0078] If 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, the first result is determined to be a low flow rate exhaust gas recirculation fault.

[0079] In some examples, in order to improve the accuracy of identifying low flow rate faults in exhaust gas recirculation, the exhaust gas recirculation flow rate diagnosis method provided in this disclosure further determines the relationship between the difference between the second temperature value and the first temperature value and the third threshold when the difference between the second temperature value and the first temperature value is less than a third threshold. If the difference between the second temperature value and the first temperature value is less than the third threshold, the difference between the fifth temperature value and the sixth temperature value is determined 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. If the difference between the fifth temperature value and the sixth temperature value is less than a fourth threshold, the first result is determined to be a low flow rate fault in exhaust gas recirculation.

[0080] For example, taking a hybrid vehicle with N=2 as an example, after a cold start and before the vehicle is powered off, the vehicle controller acquires four sets of diagnostic data, ordered in chronological order of acquisition: Diagnostic Data 1, Diagnostic Data 2, Diagnostic Data 3, and Diagnostic Data 4. When the vehicle controller determines, based on the second and first temperature values ​​in Diagnostic Data 1, that the difference between the second and first temperature values ​​is less than a third threshold, it continues to evaluate Diagnostic Data 2. If the difference between the second and first temperature values ​​in Diagnostic Data 2 is less than the third threshold, it continues to evaluate Diagnostic Data 3. If the difference between the second and first temperature values ​​in Diagnostic Data 3 is less than the third threshold, it acquires the fifth and sixth temperature values ​​used to calculate the difference between the second and first temperature values ​​in Diagnostic Data 3. If the difference between the fifth and sixth temperature values ​​is less than a fourth threshold, the first result is determined to be a low exhaust gas recirculation flow fault.

[0081] Alternatively, when N is 4, since the vehicle only obtains diagnostic data 1, diagnostic data 2, diagnostic data 3 and diagnostic data 4, the vehicle will no longer continue to make the first result judgment.

[0082] S1317. Generate a second result based on the second specified parameters; wherein the second specified parameters include 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.

[0083] In some examples, a second result is generated based on a second specified parameter, including:

[0084] If the absolute value of the difference between the third and fourth temperature values ​​is greater than the fifth threshold, the second result is determined to be that the exhaust gas recirculation is fault-free.

[0085] If the absolute value of the difference between the third and fourth temperature values ​​is less than the fifth threshold, and the difference between the fifth and sixth temperature values ​​is less than the sixth threshold, the second result is determined to be a low flow rate exhaust gas recirculation fault.

[0086] In some examples, in order to improve the accuracy of identifying low flow rate faults in exhaust gas recirculation, the exhaust gas recirculation flow rate diagnosis method provided in this disclosure further determines the relationship between the difference between the third and fourth temperature values ​​and the fifth threshold when the absolute value of the difference between the third and fourth temperature values ​​is less than the fifth threshold. If the difference between the third and fourth temperature values ​​is less than the fifth threshold, the difference between the fifth and sixth temperature values ​​is determined based on the fifth and sixth temperature values ​​when the difference between the third and fourth temperature values ​​is calculated for the Mth time. If the difference between the fifth and sixth temperature values ​​is less than the sixth threshold, the second result is determined to be a low flow rate fault in exhaust gas recirculation.

[0087] For example, in conjunction with the above example, when the vehicle controller determines, based on the fourth and third temperature values ​​in diagnostic data 1, that the difference between the third and fourth temperature values ​​is less than a fifth threshold, it continues to evaluate diagnostic data 2. If the difference between the third and fourth temperature values ​​in diagnostic data 2 is less than the fifth threshold, it continues to evaluate diagnostic data 3. If the difference between the third and fourth temperature values ​​in diagnostic data 3 is less than the fifth threshold, it then obtains the fifth and sixth temperature values ​​used to calculate the difference between the third and fourth temperature values ​​in diagnostic data 3. If the difference between the fifth and sixth temperature values ​​is less than the sixth threshold, the second result is determined to be a low exhaust gas recirculation flow fault.

[0088] Alternatively, when N is 4, since the vehicle only obtains diagnostic data 1, diagnostic data 2, diagnostic data 3 and diagnostic data 4, the vehicle will no longer continue to judge the second result.

[0089] As can be seen from the above, the exhaust gas recirculation flow rate diagnostic method provided in this embodiment can improve the reliability of the 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 water tank temperature is not affected by other factors.

[0090] In some implementable examples, the first specified parameter includes a first temperature value and a second temperature value; combined with Figure 4 ,like Figure 5 As shown, the above S1316 can be specifically implemented through the following S13160.

[0091] S13160. If the difference between the second temperature value and the first temperature value is greater than the third threshold, the first result is determined to be that the exhaust gas recirculation is fault-free.

[0092] As described above, the exhaust gas recirculation (EGR) flow rate diagnostic method provided in this embodiment acquires the first temperature rise of the EGR valve inlet temperature and the second temperature rise of the engine radiator temperature within a target time period corresponding to a cold start of the engine and an EGR valve opening of 0. After a cold start, it acquires diagnostic data for both the EGR valve and the engine at different operating parameters. If the difference between the second and first temperature values ​​is greater than a third threshold, the first result is determined to be that the EGR is fault-free. Since the vehicle controller can accurately acquire the EGR valve inlet temperature and the engine radiator temperature, and the acquisition of the inlet and radiator temperatures is not affected by other factors, the reliability of the diagnosis can be improved.

[0093] 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; combined with Figure 4 ,like Figure 6 As shown, the above S1316 can be specifically implemented through the following S13161.

[0094] S13161. If 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, the first result is determined to be a low flow rate fault in exhaust gas recirculation.

[0095] As described above, the exhaust gas recirculation (EGR) flow rate diagnostic method provided in this embodiment acquires the first temperature rise of the EGR valve inlet temperature and the second temperature rise of the engine radiator temperature within a target time period corresponding to a cold start of the engine and an EGR valve opening of 0. After a cold start, it acquires diagnostic data for the EGR valve and the engine at different operating parameters. If the difference between the second and first temperature values ​​is less than a third threshold, and the difference between the fifth and sixth temperature values ​​is less than a fourth threshold, the first result is determined to be a low EGR flow rate fault. Since the vehicle controller can accurately acquire the EGR valve inlet temperature and the engine radiator temperature, and the acquisition of the inlet and radiator temperatures is not affected by other factors, the reliability of the diagnosis can be improved.

[0096] In some feasible examples, the second specified parameter includes a third temperature value and a fourth temperature value; combined with Figure 4 ,like Figure 7 As shown, the above S1317 can be specifically implemented through the following S13170.

[0097] S13170. If the absolute value of the difference between the third and fourth temperature values ​​is greater than the fifth threshold, the second result is determined to be that the exhaust gas recirculation is fault-free.

[0098] As described above, the exhaust gas recirculation (EGR) flow rate diagnostic method provided in this embodiment acquires the first temperature rise of the EGR valve inlet temperature and the second temperature rise of the engine radiator temperature within a target time period corresponding to a cold start of the engine and an EGR valve opening of 0. After a cold start, it acquires diagnostic data for both the EGR valve and the engine at different operating parameters. If the absolute value of the difference between the third and fourth temperature values ​​is greater than a fifth threshold, the second result is determined to be that the exhaust gas recirculation is fault-free. Since the vehicle controller can accurately acquire the EGR valve inlet temperature and the engine radiator temperature, and the acquisition of the inlet temperature and radiator temperature is not affected by other factors, the reliability of the diagnosis can be improved.

[0099] In some feasible examples, the second specified parameter includes a third, fourth, fifth, and sixth temperature value; combined with Figure 4 ,like Figure 8 As shown, the above S1317 can be specifically implemented through the following S13171.

[0100] S13171. If the absolute value of the difference between the third and fourth temperature values ​​is less than the fifth threshold, and the difference between the fifth and sixth temperature values ​​is less than the sixth threshold, the second result is determined to be a low flow rate fault in exhaust gas recirculation.

[0101] As described above, the exhaust gas recirculation (EGR) flow rate diagnostic method provided in this embodiment acquires the first temperature rise of the EGR valve inlet temperature and the second temperature rise of the engine radiator temperature within a target time period corresponding to a cold start of the engine and an EGR valve opening of 0. After a cold start, it acquires diagnostic data for the EGR valve and the engine at different operating parameters. If the absolute value of the difference between the third and fourth temperature values ​​is less than a fifth threshold, and the difference between the fifth and sixth temperature values ​​is less than a sixth threshold, the second result is determined to be a low EGR flow rate fault. Since the vehicle controller can accurately acquire the EGR valve inlet temperature and the engine radiator temperature, and the acquisition of these temperatures is not affected by other factors, the reliability of the diagnostic process can be improved.

[0102] In some feasible examples, combining Figure 3 ,like Figure 9 As shown, the above S132 can be implemented by the following S1320.

[0103] S1320. If the first result is a low exhaust gas recirculation flow fault and the second result is a low exhaust gas recirculation flow fault, the diagnostic result of the exhaust gas recirculation flow is determined to be a low exhaust gas recirculation flow fault.

[0104] As described above, the exhaust gas recirculation (EGR) flow rate diagnostic method provided in this embodiment acquires the first temperature rise of the EGR valve inlet temperature and the second temperature rise of the engine radiator temperature within a target time period corresponding to a cold start of the engine and an EGR valve opening of 0. After a cold start, it acquires diagnostic data for both the EGR valve and the engine at different operating parameters. If both the first and second results indicate a low EGR flow rate fault, the diagnostic result for the EGR flow rate is determined to be a low EGR flow rate fault. Since the vehicle controller can accurately acquire the EGR valve inlet temperature and the engine radiator temperature, and the acquisition of these temperatures is not affected by other factors, the reliability of the diagnostic process is improved.

[0105] Example 2

[0106] Figure 10 The diagram above illustrates the structure of the vehicle controller provided in Embodiment 2 of this application. Figure 10 As shown, the vehicle controller includes a processing module 81 and an acquisition module 82.

[0107] The processing module 81 is used to control the acquisition module 82 to acquire the first temperature rise of the exhaust gas recirculation valve inlet temperature within the first time period and the second temperature rise of the engine water tank temperature within the first time period during the target time period when the engine is cold-started and the exhaust gas recirculation valve opening is equal to 0.

[0108] The processing module 81 is also used to control the acquisition module 82 to acquire diagnostic data of the exhaust gas recirculation valve and the engine at different operating parameters after the engine is cold started; wherein, the operating parameters include the engine speed and opening degree, and the diagnostic data include the inlet temperature of the exhaust gas recirculation valve and the water tank temperature of the engine.

[0109] The processing module 81 is also used to generate diagnostic results 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 diagnostic data.

[0110] In some feasible examples, the target parameters include a first temperature rise and a second temperature rise;

[0111] The processing module 81 is specifically used to determine the diagnostic result of high exhaust gas recirculation flow rate as an exhaust gas recirculation high flow rate fault when the first temperature rise obtained by the acquisition module 82 is greater than the first threshold and the second temperature rise obtained by the acquisition module 82 is greater than the second threshold.

[0112] In some feasible examples,

[0113] The target parameters include diagnostic data, which includes the engine's first operating parameters, the exhaust gas recirculation valve's second operating parameters, and the water tank's third operating parameters; the processing module 81 is specifically used to generate a first result and a second result based on the first operating parameters, the second operating parameters, and the third operating parameters; the processing module 81 is specifically used to generate a diagnostic result for the exhaust gas recirculation flow rate based on the first result and the second result.

[0114] 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 tank temperature;

[0115] The processing module 81 is specifically used to take 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 degree is greater than 0.

[0116] The processing module 81 is specifically used to take the temperature value of the inlet temperature of the exhaust gas recirculation valve as the second temperature value when the actual duration of the opening degree being continuously greater than the preset opening degree is equal to the second duration.

[0117] The processing module 81 is specifically used to take 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 degree drops to 0.

[0118] The processing module 81 is specifically used to take the temperature value of the inlet temperature of the exhaust gas recirculation valve as the fourth temperature value after the fourth time period, starting from the time when the speed drops to 0.

[0119] The processing module 81 is specifically used to calculate the difference between the second temperature value and the first temperature value, and to use the inlet temperature of the exhaust gas recirculation valve as the fifth temperature value.

[0120] The processing module 81 is specifically used to calculate the difference between the second temperature value and the first temperature value, and to use the water tank temperature as the sixth temperature value.

[0121] The processing module 81 is specifically used 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 a first temperature value, a second temperature value, a fifth temperature value and a sixth temperature value;

[0122] The processing module 81 is specifically used 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 a third temperature value, a fourth temperature value, a fifth temperature value and a sixth temperature value.

[0123] In some feasible examples, the first specified parameter includes a first temperature value and a second temperature value; the processing module 81 is specifically used 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.

[0124] In some feasible examples, the first specified parameters include 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 the first result as a low flow rate fault of exhaust gas recirculation 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.

[0125] In some feasible examples, the second specified parameters include a third temperature value and a fourth temperature value; the processing module 81 is specifically used to determine that the second result is that the exhaust gas recirculation is fault-free if the absolute value of the difference between the third temperature value and the fourth temperature value is greater than a fifth threshold.

[0126] 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 the second result as a low exhaust gas recirculation 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, and the difference between the fifth temperature value and the sixth temperature value is less than a sixth threshold.

[0127] In some implementable examples, the processing module 81 is specifically configured to determine the diagnostic result of low exhaust gas recirculation flow rate as a low exhaust gas recirculation flow rate fault when both the first result and the second result are low exhaust gas recirculation flow rate faults.

[0128] All relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and their functions will not be repeated here.

[0129] Of course, the vehicle controller provided in this embodiment of the invention includes, but is not limited to, the modules described above. 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 by the vehicle controller during operation, such as diagnostic data.

[0130] Figure 11 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of the present invention, as shown below. Figure 11As shown, the vehicle controller may include at least one processor 51, a memory 52, a communication interface 53, and a communication bus 54.

[0131] The following is combined with Figure 11 A detailed introduction to each component of the vehicle controller:

[0132] The processor 51 is the control center of the vehicle controller. It can be a single processor or a collective term for multiple processing elements. For example, the processor 51 can be a central processing unit (CPU), 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).

[0133] In a specific implementation, as one example, processor 51 may include one or more CPUs, for example... Figure 11 CPU0 and CPU1 are shown in the diagram. Furthermore, as one embodiment, the vehicle controller may include multiple processors, such as... Figure 11 The processors 51 and 55 are shown. Each of these processors can be a single-core processor (Single-CPU) or a multi-core processor (Multi-CPU). Here, a processor can refer to one or more devices, circuits, and / or processing cores used to process data (such as computer program instructions).

[0134] The memory 52 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 52 may exist independently and be connected to the processor 51 via the communication bus 54. The memory 52 may also be integrated with the processor 51.

[0135] In a specific implementation, memory 52 is used to store data from this invention and the software program for executing this invention. Processor 51 can perform various functions of the air conditioner by running or executing the software program stored in memory 52 and by calling the data stored in memory 52.

[0136] Communication interface 53, using any transceiver-like device, is used to communicate with other devices or communication networks, such as Radio Access Network (RAN), Wireless Local Area Networks (WLAN), terminals, the cloud, etc. Communication interface 53 may include an acquisition module to implement acquisition functions.

[0137] The communication bus 54 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 11 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0138] As an example, combined Figure 10The functions implemented by the vehicle controller acquisition module 82 are the same as those of the vehicle controller. Figure 11 The communication interface 53 in the vehicle controller has the same function as the processing module 81 in the vehicle controller. Figure 11 The processor 51 in the vehicle controller has the same function as the storage module 83 in the vehicle controller. Figure 11 The memory 52 in it has the same function.

[0139] This application also provides a vehicle that may include the vehicle controller in any of the embodiments.

[0140] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method in any of the embodiments.

[0141] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily 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 this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for diagnosing exhaust gas recirculation flow rate, characterized in that, include: Within a target time period corresponding to a cold start of the engine and an exhaust gas recirculation valve opening of 0, the first temperature rise of the exhaust gas recirculation valve inlet temperature within the first time period and the second temperature rise of the engine's water tank temperature within the first time period are obtained. After a cold start of the engine, diagnostic data for the exhaust gas recirculation valve and the engine at different operating parameters are acquired; wherein, the operating parameters include the engine speed and the opening degree, and the diagnostic data includes the inlet temperature of the exhaust gas recirculation valve and the water tank temperature of the engine. Based on the target parameters, a diagnostic result for the exhaust gas recirculation flow rate is generated; wherein, the target parameters include the diagnostic data, and the diagnostic data includes the first operating parameters of the engine, the second operating parameters of the exhaust gas recirculation valve, and the third operating parameters of the water tank; The diagnostic results for generating exhaust gas recirculation flow rate based on target parameters include: Based on the first operating parameter, the second operating parameter, and the third operating parameter, a first result and a second result are generated; wherein, 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 result and the second result, a diagnostic result for the exhaust gas recirculation flow rate is generated; wherein, if the first result indicates a low exhaust gas recirculation flow rate fault and the second result indicates a low exhaust gas recirculation flow rate fault, the diagnostic result for the exhaust gas recirculation flow rate is determined to be a low exhaust gas recirculation flow rate fault.

2. The method for diagnosing the waste gas recirculation flow rate according to claim 1, characterized in that, The process of generating a first result and a second result based on the first operating parameter, the second operating parameter, and the third operating parameter includes: When the engine speed is greater than 0 and the opening degree is greater than 0, the temperature value of the inlet temperature of the exhaust gas recirculation valve is taken as the first temperature value. When the actual duration during which the opening degree is continuously greater than the preset opening degree is equal to the second duration, the inlet temperature value of the exhaust gas recirculation valve is taken as the second temperature value. When the actual duration is greater than the third duration, and the engine speed drops to 0, and the opening degree drops to 0, the temperature value of the inlet temperature of the exhaust gas recirculation valve is taken as the third temperature value. Taking the moment when the rotational speed drops to 0 as the starting point, after a fourth time period, 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, 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 temperature of the water tank is used as the sixth temperature value; A first result is generated 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 a second specified parameter; 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.

3. The method for diagnosing the waste gas recirculation flow rate according to claim 2, characterized in that, The first specified parameter includes the first temperature value and the second temperature value; The step of generating a first result based on a first specified parameter includes: If the difference between the second temperature value and the first temperature value is greater than the third threshold, the first result is determined to be that the exhaust gas recirculation is fault-free.

4. The method for diagnosing the waste gas recirculation flow rate according to claim 2, 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 step of generating a first result based on a first specified parameter includes: If 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, the first result is determined to be a low flow rate exhaust gas recirculation fault.

5. The method for diagnosing the waste gas recirculation flow rate according to claim 2, characterized in that, The second specified parameter includes the third temperature value and the fourth temperature value; The generation of the second result based on the second specified parameter includes: If the absolute value of the difference between the third temperature value and the fourth temperature value is greater than the fifth threshold, the second result is determined to be that the exhaust gas recirculation is fault-free.

6. A vehicle controller, characterized in that, include: The processing module is used to control the acquisition module to acquire 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 within the first time period during the target time period when the engine is cold-started and the opening degree of the exhaust gas recirculation valve is equal to 0. The processing module is further configured to control the acquisition module to acquire diagnostic data of the exhaust gas recirculation valve and the engine at different operating parameters after the engine is cold started; wherein, the operating parameters include the engine speed and the opening degree, and the diagnostic data includes the inlet temperature of the exhaust gas recirculation valve and the water tank temperature 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 diagnostic data, and the diagnostic data includes the first operating parameters of the engine, the second operating parameters of the exhaust gas recirculation valve, and the third operating parameters of the water tank; The diagnostic results for generating exhaust gas recirculation flow rate based on target parameters include: Based on the first operating parameter, the second operating parameter, and the third operating parameter, a first result and a second result are generated; wherein, 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 result and the second result, a diagnostic result for the exhaust gas recirculation flow rate is generated; wherein, if the first result indicates a low exhaust gas recirculation flow rate fault and the second result indicates a low exhaust gas recirculation flow rate fault, the diagnostic result for the exhaust gas recirculation flow rate is determined to be a low exhaust gas recirculation flow rate fault.

7. A vehicle, characterized in that, The vehicle includes the vehicle controller as described in claim 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 5.

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