Limp speed control method, device and equipment and storage medium

The invention relates to the technical field of vehicle control, and discloses a limp speed control method, device and equipment and a storage medium, and the method comprises the steps: obtaining an MAP curve between the rotating speed of a motor and back electromotive force; acquiring a limp rotating speed threshold value, and determining a limp rotating speed range based on the limp rotating speed threshold value; determining a back electromotive force range according to the MAP curve and the limp speed range; the voltage range of a power battery of the whole vehicle is obtained, and the voltage range of the limp speed is determined according to the voltage range and the back electromotive force range; and when the vehicle enters the limping mode, the limping speed of the vehicle is controlled according to the limping speed voltage range. The back electromotive force range is determined according to the MAP curve and the rotating speed range, so that the limp speed voltage range is determined, the limp spe