Engine starting method and device, storage medium and computer equipment

Abstract

The invention provides an engine starting method and device, a storage medium and computer equipment, and the method comprises the steps that the target rotating speed of engine starting is sent to a motor controller, so that the motor controller controls a motor to drag an engine to rotate; when the rotating speed of the engine is larger than or equal to a first set value, the engine is allowed to inject oil for ignition work; when the rotating speed of the engine is larger than or equal to the target rotating speed, the torque of the motor is linearly limited to 0 within first set time; when the running time of the engine is smaller than second set time, the engine is controlled to control the rotating speed of the engine; and when the operation time of the engine is larger than or equal to the second set time, the engine operates at a mark position, and the engine is controlled to quit the rotation speed control of the engine and release the torque limitation of the motor so as to restore the rotation speed of the engine controlled by the motor. The engine starting success reliability can be improved.

Description

Technical Field

[0001] The present invention relates to the field of power system control, and in particular to an engine starting method, device, storage medium and computer equipment. Background Art

[0002] In today's rapidly developing automotive market, gasoline engines still hold a significant position. Engine starting and operating control performance plays a crucial role in hybrid vehicle energy management and drivability. However, engine starting in some hybrid vehicles is controlled through the P1 motor speed mode, which constantly forces the engine to reverse. This can lead to failures in starting being detected in a timely manner, impacting the battery life of engine components and the vehicle as a whole. Consequently, the reliability of successful engine starts is low. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide an engine starting method, apparatus, storage medium, and computer equipment, which can improve the reliability of successful engine starting.

[0004] In a first aspect, an embodiment of the present invention provides an engine starting method, the method comprising: Sending the target speed of the engine start to the motor controller so that the motor controller controls the motor to drive the engine to rotate; When the engine speed is greater than or equal to a first set value, the engine is allowed to inject fuel for ignition; When the engine speed is greater than or equal to the target speed, the motor torque is linearly limited to 0 within a first set time; When the engine operation time is less than the second set time, the engine is controlled to perform self-speed control; When the engine running time is greater than or equal to the second set time, the engine running flag is set to the position, the engine is controlled to exit its own speed control and the motor torque limit is released to restore the motor to control the engine speed.

[0005] Optionally, the second set time is the sending time of the engine running flag; the method further includes: The sending time of the engine running flag is obtained according to the engine water temperature.

[0006] Optionally, the method further includes: When a driving system of the vehicle is activated, obtaining target parameters of the vehicle; Determining whether the vehicle meets the engine starting conditions according to the target parameters; It is determined that the vehicle meets the engine starting conditions and the target speed for engine starting is sent to the motor controller.

[0007] Optionally, the method further includes: Determine if the vehicle does not meet the engine starting conditions, and determine whether the power battery power and power battery temperature meet the pure electric driving conditions; Determine whether the power battery power level and power battery temperature meet the pure electric driving conditions, and control the vehicle to run in pure electric mode.

[0008] Optionally, the method further includes: If the power battery level and temperature do not meet the conditions for pure electric driving, the vehicle speed will be limited and the slowdown indicator will be turned on; Determine whether the power battery charge and power battery temperature meet the vehicle speed limit conditions; It is determined that the power battery power level and the power battery temperature do not meet the vehicle speed limit conditions, and the vehicle is restricted from traveling.

[0009] Optionally, the method further includes: After the engine is started successfully and the engine running flag is set, the required torque is sent to the engine and the generated torque is received from the motor feedback; Convert the generated torque into the actual engine torque; Obtaining a ratio of the actual engine torque to the required torque according to the actual engine torque and the required torque; determining whether the ratio is greater than a second set value; It is determined that the ratio is greater than the second set value, and the vehicle is controlled to travel in hybrid mode.

[0010] Optionally, the method further includes: It is determined that the ratio is less than or equal to the second set value, Counting the time when the comparison value is less than or equal to the second set value; When it is determined that the timed time is greater than the third set time, it is determined whether the power battery power and the power battery temperature meet the pure electric driving conditions.

[0011] In another aspect, an embodiment of the present invention provides an engine starting device, comprising: The transceiver module is used to send the target speed of the engine start to the motor controller so that the motor controller controls the motor to drive the engine to rotate; The processing module is used to allow the engine to inject fuel for ignition when the engine speed is greater than or equal to a first set value; linearly limit the torque of the motor to 0 within a first set time when the engine speed is greater than or equal to a target speed; control the engine to perform its own speed control when the engine running time is less than a second set time; and set the engine running flag to a position when the engine running time is greater than or equal to the second set time, control the engine to exit its own speed control and release the motor torque limit to restore the motor to control the engine speed.

[0012] On the other hand, an embodiment of the present invention provides a storage medium, which includes a stored program, wherein when the program is run, the device where the storage medium is located is controlled to execute the above method.

[0013] On the other hand, an embodiment of the present invention provides a computer device comprising a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, wherein the program instructions implement the steps of the above method when loaded and executed by the processor.

[0014] The technical solutions for the engine starting method, device, storage medium, and computer equipment provided by the embodiments of the present invention include: sending the target engine starting speed to a motor controller so that the motor controller controls the motor to drive the engine to rotate; allowing the engine to inject fuel for ignition when the engine speed is greater than or equal to a first set value; linearly limiting the motor torque to 0 within a first set time when the engine speed is greater than or equal to the target speed; controlling the engine to perform self-speed control when the engine running time is less than a second set time; and setting an engine running flag when the engine running time is greater than or equal to the second set time, controlling the engine to exit self-speed control and releasing the motor torque limit to restore the motor-controlled engine speed. This can improve the reliability of successful engine starting. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flowchart of an engine starting method provided by an embodiment of the present invention; Figure 2 A flowchart of another engine starting method provided by an embodiment of the present invention; Figure 3 Schematic diagram of the engine starting and safe driving control process of a hybrid vehicle according to an embodiment of the present invention; Figure 4 A schematic structural diagram of an engine starting device provided by an embodiment of the present invention; Figure 5 A schematic diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0017] It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0018] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "an", "the" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0019] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0020] Figure 1 A flowchart of an engine starting method provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the method includes: Step 101: Send the target speed for starting the engine to a motor controller, so that the motor controller controls the motor to drive the engine to rotate.

[0021] Step 102: When the engine speed is greater than or equal to a first set value, the engine is allowed to inject fuel for ignition.

[0022] Step 103: When the engine speed is greater than or equal to the target speed, linearly limit the torque of the motor to 0 within a first set time.

[0023] Step 104: When the engine operation time is less than the second set time, the engine is controlled to perform self-speed control.

[0024] Step 105: When the engine operation time is greater than or equal to the second set time, the engine operation flag is set to the position, the engine is controlled to exit its own speed control and the motor torque limit is released to restore the motor to control the engine speed.

[0025] An embodiment of the present invention provides a technical solution for an engine starting method, comprising: sending a target engine starting speed to a motor controller so that the motor controller controls the motor to drive the engine to rotate; allowing the engine to inject fuel for ignition when the engine speed is greater than or equal to a first set value; linearly limiting the motor torque to 0 within a first set time when the engine speed is greater than or equal to the target speed; controlling the engine to perform self-speed control when the engine operating time is less than a second set time; and setting an engine operating flag when the engine operating time is greater than or equal to the second set time, controlling the engine to exit self-speed control and releasing the motor torque limit to restore motor-controlled engine speed. This can improve the reliability of successful engine starting.

[0026] Figure 2A flowchart of another engine starting method provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the method includes: Step 201: When the driving system of the vehicle is activated, obtain target parameters of the vehicle.

[0027] In the embodiment of the present invention, each step may be executed by a PCU (Power system control unit) of the vehicle.

[0028] In this embodiment of the present invention, the PCU obtains the current vehicle target parameters via the CAN / LIN network or hard-wired signals. These target parameters include engine water temperature, intake air pressure, intake air temperature, ambient temperature, power battery charge, power battery temperature, actual P1 motor torque, MCU status, and P1 motor status.

[0029] Step 202 : Determine whether the vehicle meets the engine starting conditions based on the target parameters. If so, execute step 203 ; if not, execute step 216 .

[0030] In this embodiment of the present invention, the engine start conditions include: the ambient temperature is less than a first threshold, or the engine water temperature is less than a second threshold, or the power battery charge is less than a third threshold, or the power battery temperature is greater than a fourth threshold or less than a fifth threshold, or the driving power is greater than a sixth threshold for a duration greater than a seventh threshold, or an external start request is received. The fourth threshold is greater than the fifth threshold.

[0031] The embodiment of the present invention monitors signals such as ambient temperature, engine water temperature, drive power, and power battery charge to determine whether the engine needs to be started to ensure the power and power conservation performance of the entire vehicle.

[0032] Step 203: Send the target speed for starting the engine to the motor controller so that the motor controller controls the motor to drive the engine to rotate.

[0033] For example, the motor controller may be an MCU, and the motor may be a P1 motor.

[0034] Step 204: Obtain a second set time according to the engine water temperature.

[0035] In the embodiment of the present invention, the second set time is the sending time T1 of the engine running flag.

[0036] Step 205: When the engine speed is greater than or equal to a first set value, the engine is allowed to inject fuel for ignition.

[0037] In the embodiment of the present invention, step 203 and step 204 may be performed simultaneously.

[0038] For example, the first setting value is setting value 1. Figure 3 FIG. 1 is a schematic diagram of a hybrid vehicle engine starting and safe driving control process according to an embodiment of the present invention. Figure 3 As shown, the PCU determines that the vehicle meets the conditions for starting the engine. It then uses a table to calculate the engine start flag transmission time T1 based on different engine water temperatures. It also sends the engine start target speed N to the motor controller, which then controls motor P1 to start the engine. When the engine speed is ≥ the set value 1, the PCU allows the engine to inject fuel for ignition.

[0039] Step 206 : When the engine speed is greater than or equal to the target speed, linearly limit the torque of the motor to 0 within a first set time.

[0040] In the embodiment of the present invention, Figure 3 As shown, when the engine speed is greater than or equal to the target speed N, the PCU linearly limits the torque of the P1 motor to 0 within a first set time T2.

[0041] Step 207: When the engine operation time is less than the second set time, the engine is controlled to perform self-speed control.

[0042] In the embodiment of the present invention, Figure 3 As shown, when the engine operating time is less than the second set time T1, the PCU controls the engine's own speed control. The engine uses the speed PID to ensure that the engine operates at the target speed without the P1 motor drag, thereby ensuring engine starting reliability.

[0043] In the embodiment of the present invention, step 206 and step 207 may be performed simultaneously.

[0044] Step 208: When the engine running time is greater than or equal to the second set time, the engine running flag is set to the position, the engine is controlled to exit its own speed control and the motor torque limit is released to restore the motor to control the engine speed.

[0045] In the embodiment of the present invention, Figure 3 As shown, when the engine running time is greater than or equal to the second set time T1, the engine running flag is set, the PCU controls the engine to exit its own speed control and releases the P1 motor torque limit to restore the P1 motor to control the engine speed.

[0046] After the engine has been running stably for the second set time T1 after starting, the engine running flag is set, the PCU control exits the engine speed control and at the same time releases the P1 motor torque limit, and resumes the P1 motor control of the engine speed. At this time, the engine starts successfully and can respond normally to torque requirements.

[0047] Step 209: Send the required torque to the engine and receive the generated torque fed back by the motor.

[0048] After the engine starts successfully and the engine running flag is set, the PCU sends the torque demand to the engine normally, and at the same time monitors the real-time feedback of the power generation torque of the P1 motor at the steady-state speed of the engine.

[0049] Step 210: Convert the power generation torque into the actual engine torque.

[0050] Step 211: Obtain a ratio of the actual engine torque to the required torque based on the actual engine torque and the required torque.

[0051] Step 212 , determine whether the ratio is greater than a second set value. If so, execute step 213 ; if not, execute step 214 .

[0052] Step 213: Control the vehicle to operate in hybrid mode. The process ends.

[0053] For example, Figure 3 As shown, the second set value is set value 2. The PCU converts the generated torque into actual engine torque and calculates the ratio of the actual engine torque to the required torque. When the ratio is greater than set value 2, it is determined that the engine is operating normally and can normally respond to the torque demand, drive in hybrid mode, and charge the power battery on demand.

[0054] Step 214: Count the time during which the comparison value is less than or equal to the second set value.

[0055] Step 215 , determine whether the timing time is greater than the third set time, if so, execute step 216 ; if not, continue to execute step 215 .

[0056] For example, Figure 3 As shown, when the ratio is less than the set value 2 and lasts for a certain period of time, it is determined that the engine is operating abnormally and there may be a fault that damages the engine or parts. A low torque achievement rate fault is reported and the engine is gradually controlled to stop. The vehicle driving control is performed according to steps 216 to 220 to avoid damage to the engine or parts caused by the engine operating in an abnormal state.

[0057] Step 216 : Determine whether the power battery level and the power battery temperature meet the pure electric driving conditions. If so, execute step 217 ; if not, execute step 218 .

[0058] In an embodiment of the present invention, when the engine does not need to be started or the engine torque achievement rate is too low, a driving safety control determination is performed, first determining whether the power battery power level and power battery temperature meet the pure electric driving conditions.

[0059] Exemplarily, the pure electric driving conditions include: the power level of the power battery is greater than a third set value and the power battery discharge power is greater than a fourth set value.

[0060] For example, the third set value is set value 3, and the fourth set value is set value 4. Then the pure electric driving condition is: power battery power > set value 3 & power battery discharge power > set value 4.

[0061] Step 217: Control the vehicle to run in pure electric mode. The process ends.

[0062] Step 218: Limit the vehicle speed and turn on the slow speed indicator.

[0063] Step 219 : Determine whether the power battery level and the power battery temperature meet the vehicle speed limit condition. If so, proceed to step 218 ; if not, proceed to step 220 .

[0064] Exemplarily, the vehicle speed limiting conditions include: the power battery charge is greater than a fifth set value and less than a third set value, and the power battery discharge power is greater than a sixth set value and less than a fourth set value.

[0065] For example, the third set value is set value 3, the fourth set value is set value 4, the fifth set value is set value 5, and the sixth set value is set value 6. Then the vehicle speed limiting condition is: set value 3 > power battery power > set value 5 & set value 4 > power battery discharge power > set value 6.

[0066] Step 220: restrict vehicle travel.

[0067] Exemplarily, when it is determined that the power battery power is less than the fifth set value and the power battery discharge power is less than the sixth set value, the vehicle is restricted from traveling.

[0068] For example, when it is determined that the set value 5 is greater than the power battery power & the set value 6 is greater than the power battery discharge power, the vehicle is restricted from traveling.

[0069] The embodiment of the present invention uses driving safety control judgment to ensure safe driving of the vehicle while preventing the power battery from being over-discharged and thus affecting its performance and life.

[0070] The embodiment of the present invention determines the time when the engine running flag is set according to the engine water temperature, and during this time, the engine speed controlled by the P1 motor is switched to the engine's own speed control, thereby improving the reliability of engine starting.

[0071] The embodiment of the present invention determines the engine torque achievement rate, that is, the ratio of the actual engine torque to the required torque, based on the engine demand torque and the actual power generation torque of the P1 motor. The engine operation reliability is judged by the achievement rate. When the achievement rate is too low, the engine is controlled to shut down to protect the engine and components.

[0072] The embodiment of the present invention provides a method for switching speed control during engine starting, thereby ensuring reliable engine starting performance.

[0073] The embodiment of the present invention provides a method for controlling the torque achievement rate during engine operation to ensure reliable engine operation performance.

[0074] An embodiment of the present invention provides a technical solution for an engine starting method, comprising: sending a target engine starting speed to a motor controller so that the motor controller controls the motor to drive the engine to rotate; allowing the engine to inject fuel for ignition when the engine speed is greater than or equal to a first set value; linearly limiting the motor torque to 0 within a first set time when the engine speed is greater than or equal to the target speed; controlling the engine to perform self-speed control when the engine operating time is less than a second set time; and setting an engine operating flag when the engine operating time is greater than or equal to the second set time, controlling the engine to exit self-speed control and releasing the motor torque limit to restore motor-controlled engine speed. This can improve the reliability of successful engine starting.

[0075] Figure 4 A schematic diagram of the structure of an engine starting device provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the device includes: The transceiver module 11 is used to send the target speed of the engine start to the motor controller so that the motor controller controls the motor to drive the engine to rotate; The processing module 12 is used to allow the engine to inject fuel for ignition when the engine speed is greater than or equal to a first set value; linearly limit the torque of the motor to 0 within a first set time when the engine speed is greater than or equal to the target speed; control the engine to perform its own speed control when the engine running time is less than a second set time; and set the engine running flag to a position when the engine running time is greater than or equal to the second set time, control the engine to exit its own speed control and release the motor torque limit to restore the motor to control the engine speed.

[0076] In some possible embodiments, the second set time is the sending time of the engine running flag; the processing module 12 is further configured to obtain the sending time of the engine running flag according to the engine water temperature.

[0077] In some possible embodiments, the transceiver module 11 is further configured to obtain target parameters of the vehicle when the vehicle's drive system is activated. The processing module 12 is further configured to determine whether the vehicle meets engine start conditions based on the target parameters. The transceiver module 11 is further configured to send the target engine start speed to the motor controller if the processing module 12 determines that the vehicle meets the engine start conditions.

[0078] In some possible embodiments, the processing module 12 is also used to determine whether the vehicle does not meet the engine starting conditions, and whether the power battery power and power battery temperature meet the pure electric driving conditions; if the power battery power and power battery temperature meet the pure electric driving conditions, control the vehicle to drive purely on electric power.

[0079] In some possible embodiments, the processing module 12 is also used to determine that the power battery power and the power battery temperature do not meet the pure electric driving conditions, limit the vehicle speed and light up the turtle speed light; determine whether the power battery power and the power battery temperature meet the vehicle speed limiting conditions; determine that the power battery power and the power battery temperature do not meet the vehicle speed limiting conditions, and limit vehicle driving.

[0080] In some possible embodiments, after the engine is successfully started and the engine running flag is set, the transceiver module 11 is further configured to send a requested torque to the engine and receive the generated torque fed back by the motor. The processing module 12 is further configured to convert the generated torque into actual engine torque; determine a ratio of the actual engine torque to the requested torque based on the actual engine torque and the requested torque; determine whether the ratio is greater than a second set value; and if the ratio is determined to be greater than the second set value, control the vehicle to operate in hybrid mode.

[0081] In some possible embodiments, the processing module 12 is further used to determine that the ratio is less than or equal to a second set value, and to time the time when the ratio is less than or equal to the second set value; when it is determined that the timed time is greater than a third set time, it is determined whether the power battery power and the power battery temperature meet the pure electric driving conditions.

[0082] In the technical solution provided by the embodiment of the present invention, the target speed for engine startup is sent to the motor controller, so that the motor controller controls the motor to drag the engine to rotate; when the engine speed is greater than or equal to a first set value, the engine is allowed to inject fuel for ignition; when the engine speed is greater than or equal to the target speed, the motor torque is linearly limited to 0 within a first set time; when the engine running time is less than a second set time, the engine is controlled to perform self-speed control; when the engine running time is greater than or equal to the second set time, the engine running flag is set, the engine is controlled to exit self-speed control and release the motor torque limit to restore the motor-controlled engine speed. This can improve the reliability of successful engine starting.

[0083] An embodiment of the present application provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the above method.

[0084] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, wherein the program instructions implement the steps of the above method when loaded and executed by the processor.

[0085] Figure 5 A schematic diagram of the structure of a computer device provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the computer device 20 includes: a processor 21, a memory 22, and a computer program 23 stored in the memory 22 and executable on the processor 21. When the computer program 23 is executed by the processor 21, the engine start control method in the embodiment is implemented. To avoid repetition, they are not described here one by one.

[0086] The computer device 20 includes, but is not limited to, a processor 21 and a memory 22. Those skilled in the art will understand that Figure 5 This is merely an example of the computer device 20 and does not constitute a limitation of the computer device 20. The computer device 20 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device 20 may also include input and output devices, network access devices, buses, etc.

[0087] The processor 21 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0088] The memory 22 can be an internal storage unit of the computer device 20, such as the hard disk or memory of the computer device 20. The memory 22 can also be an external storage device of the computer device 20, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped on the computer device 20. Furthermore, the memory 22 can include both the internal storage unit of the computer device 20 and an external storage device. The memory 22 is used to store computer programs and other programs and data required by the computer device 20. The memory 22 can also be used to temporarily store data that has been output or is about to be output.

[0089] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, which may be electrical, mechanical or other forms.

[0091] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0092] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0093] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform some of the steps of the method described in each embodiment of this application. The aforementioned storage medium includes: USB flash drives, mobile hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0094] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. An engine starting method, characterized in that: The method comprises: Sending the target speed of the engine start to the motor controller so that the motor controller controls the motor to drive the engine to rotate; When the speed of the engine is greater than or equal to a first set value, allowing the engine to spray fuel for ignition; When the speed of the engine is greater than or equal to the target speed, linearly limiting the torque of the motor to 0 within a first set time; When the engine operation time is less than a second set time, controlling the engine to perform self-speed control; When the engine operation time is greater than or equal to the second set time, the engine operation flag is set to a position, the engine is controlled to exit the self-speed control and the motor torque limit is released to resume the motor control of the engine speed.

2. The method according to claim 1, characterized in that The second set time is the sending time of the engine running flag; the method further includes: The sending time of the engine running flag is obtained according to the engine water temperature.

3. The method according to claim 1 or 2, characterized in that The method further comprises: When a driving system of a vehicle is activated, obtaining target parameters of the vehicle; determining whether the vehicle meets an engine starting condition according to the target parameter; It is determined that the vehicle meets the engine starting condition, and the target speed for starting the engine is sent to a motor controller.

4. The method according to claim 3, characterized in that The method further comprises: determining that the vehicle does not meet the engine starting condition, and determining whether the power battery power and the power battery temperature meet the pure electric driving condition; It is determined that the power battery power level and the power battery temperature meet the pure electric driving condition, and the vehicle is controlled to travel in pure electric mode.

5. The method according to claim 4, characterized in that The method further comprises: determining that the power battery power level and the power battery temperature do not meet the pure electric driving condition, limiting the vehicle speed and lighting a slow speed indicator; determining whether the power battery power level and the power battery temperature meet a vehicle speed limiting condition; It is determined that the power battery power level and the power battery temperature do not satisfy the vehicle speed limiting condition, and the vehicle is restricted from traveling.

6. The method according to claim 1, characterized in that The method further comprises: After the engine is started successfully and the engine running flag is set, a required torque is sent to the engine and a power generation torque fed back by the motor is received; converting the power generation torque into actual engine torque; obtaining a ratio of the actual engine torque to the required torque according to the actual engine torque and the required torque; determining whether the ratio is greater than a second set value; It is determined that the ratio is greater than the second set value, and the vehicle is controlled to travel in hybrid mode.

7. The method according to claim 6, characterized in that The method further comprises: determining that the ratio is less than or equal to the second set value, timing the time during which the ratio is less than or equal to the second set value; When it is determined that the timed time is greater than the third set time, it is determined whether the power battery power and the power battery temperature meet the pure electric driving conditions.

8. An engine starting device, characterized in that: include: a transceiver module, configured to send a target engine starting speed to a motor controller, so that the motor controller controls the motor to drive the engine to rotate; The processing module is configured to allow the engine to inject fuel for ignition when the engine speed is greater than or equal to a first set value; linearly limit the torque of the motor to 0 within a first set time when the engine speed is greater than or equal to the target speed; control the engine to perform its own speed control when the engine operation time is less than a second set time; and set an engine operation flag to a position when the engine operation time is greater than or equal to the second set time, control the engine to exit its own speed control, and release the motor torque limit to restore the motor to control the engine speed.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. A computer device comprising a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, wherein: When the program instructions are loaded and executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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