This paper proposes an energy management event-triggered control strategy based on hybrid electric vehicle-waste heat recovery system (HEV-WHRS) integrated system. Firstly, the hybrid vehicle model integrated with waste heat recovery system (WHRS) is studied, and the energy efficiency enhancement characteristics of WHRS for HEV are analyzed. Next, the coupling characteristics of HEV and traffic network are studied, and a double-layer energy management strategy (EMS) of HEV based on model predictive control-event-triggered (MPC-ET) control strategy is proposed. The simulation analysis is carried out for driving cycles of Worldwide harmonized Light vehicles Test Cycle (WLTC), China light-duty vehicle test cycle (CLTC), and New European Driving Cycle (NEDC). Finally, the simulation results show that the energy consumption of HEV based on WHRS is lower. The EMS of HEV based on MPC-ET control can optimize the working mode of power battery and WHRS and improve the fuel economy of HEV. The improvement rate of the system efficiency of the hybrid electric vehicle is 3.19–4.16%, the improvement rate of the engine thermal efficiency is 1.72–1.82%, and the improvement rate of the average operating efficiency of the motor is 0.72–1.07%.