Vehicle control method, vehicle, and computer-readable storage medium

Abstract

The embodiment of the present disclosure discloses a vehicle control method, a vehicle and a computer readable storage medium. The method comprises: acquiring an accelerator pedal signal of a vehicle; in the case that the accelerator pedal signal indicates that the accelerator pedal is faulty, acquiring a brake pedal signal of the vehicle; in the case that the brake pedal signal indicates that the brake pedal is not faulty, starting a vehicle speed control mode to control the vehicle to travel according to the vehicle speed control mode; in the case that the brake pedal signal indicates that the brake pedal is faulty, controlling the current torque of the vehicle to reduce to a first value, so that the vehicle is in a coasting state.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of electric vehicles, and more particularly, to a vehicle control method, a vehicle and a computer readable storage medium. BACKGROUND

[0002] The accelerator pedal, as a key component for identifying the driving intention of a user, is used to identify the acceleration and deceleration operation of the user. The voltage signal output by the sensor of the accelerator pedal is the source of the output torque of the automotive power system, so that the automotive power system controls the vehicle to travel according to the voltage signal output by the sensor of the accelerator pedal. However, as an electronic sensor, the accelerator sensor has the risk of poor contact of the connector, short circuit and open circuit of the signal line, which may cause uncontrollable power and affect the safety of vehicle driving.

[0003] To this end, in the related art, the accelerator signal is collected in real time during vehicle driving, so as to detect whether the accelerator pedal has a fault according to the accelerator signal. If the accelerator pedal has a fault, corresponding fault processing is performed, that is, no power demand is defaulted. However, this way will cause the vehicle speed to decrease rapidly when the user steps on the accelerator pedal, which has a great safety hazard. SUMMARY

[0004] The purpose of the embodiments of the present disclosure is to provide a new technical solution for vehicle control.

[0005] According to a first aspect of the present disclosure, a vehicle control method is provided, the method comprising:

[0006] obtaining an accelerator pedal signal of a vehicle;

[0007] in a case where the accelerator pedal signal indicates that the accelerator pedal has a fault, obtaining a brake pedal signal of the vehicle;

[0008] in a case where the brake pedal signal indicates that the brake pedal has no fault, starting a vehicle speed control mode to control the vehicle to travel according to the vehicle speed control mode;

[0009] in a case where the brake pedal signal indicates that the brake pedal has a fault, controlling the current torque of the vehicle to decrease to a first value, so that the vehicle is in a coasting state.

[0010] According to a second aspect of the present disclosure, a vehicle is provided, the vehicle comprising:

[0011] a memory for storing executable computer instructions;

[0012] a processor for executing the vehicle control method according to the first aspect of the present disclosure according to the control of the executable computer instructions.

[0013] According to a third aspect of the present disclosure, a computer readable storage medium is provided, and computer instructions are stored on the computer readable storage medium, and the computer instructions are executed by a processor to perform the vehicle control method according to the first aspect of the present disclosure.

[0014] According to the embodiments of the present disclosure, during the driving of the vehicle, the accelerator pedal signal of the vehicle is acquired, and it is determined whether the accelerator pedal is faulty according to the accelerator pedal signal of the vehicle. In the case that the accelerator pedal is faulty, the brake pedal signal is acquired, and it is determined whether the brake pedal is faulty according to the brake pedal signal, so as to control the driving of the vehicle according to the fault conditions of the accelerator pedal and the brake pedal. Further, in the case that both the accelerator pedal and the brake pedal are faulty, the vehicle is controlled to be in a coasting state, and in the case that the accelerator pedal is faulty and the brake pedal is normal, the vehicle speed is controlled to be slowly reduced based on a vehicle speed control mode. In this way, compared with the existing way of setting the torque of the vehicle to zero in the case that the accelerator pedal is faulty, the present disclosure can avoid accidents caused by directly controlling the vehicle to lose power when the accelerator pedal is abnormal, and make the vehicle maintain basic driving functions and not be stranded due to accelerator failure, thereby reducing the risk coefficient of the driver and passengers and avoiding great losses to the user.

[0015] Other features and advantages of the present application will become apparent from the following detailed description of illustrative embodiments thereof, which proceeds with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present disclosure, and therefore should not be considered as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0017] Figure 1 is one of the flow schematic diagrams of the vehicle control method according to an embodiment;

[0018] Figure 2 is the second flow schematic diagram of the vehicle control method according to an embodiment;

[0019] Figure 3 is the third flow schematic diagram of the vehicle control method according to an embodiment;

[0020] Figure 4 is the fourth flow schematic diagram of the vehicle control method according to an embodiment;

[0021] Figure 5 is the hardware structure schematic diagram of the vehicle control device according to an embodiment;

[0022] Figure 6 is one of hardware structure schematic diagrams of a vehicle according to one embodiment;

[0023] Figure 7 is another of hardware structure schematic diagrams of a vehicle according to one embodiment. DETAILED DESCRIPTION

[0024] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps set forth in the examples, as well as the numerical expressions and numerical values, are not limiting to the scope of the present application unless otherwise specifically stated.

[0025] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the application, its application, or uses.

[0026] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0027] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of exemplary embodiments can have different values.

[0028] It should be noted that like references and characters herein relate to like items throughout the figures, and once an item is defined in one figure, it need not be discussed further in subsequent figures.

[0029] <Method Embodiment>

[0030] Reference is made to Figure 1 which is a flow diagram of a vehicle control method provided by an embodiment of the present disclosure. The vehicle control method is implemented by a vehicle. As shown in Figure 1 , the vehicle control method can include the following steps 1100-1400.

[0031] Step 1100, obtaining an accelerator pedal signal of a vehicle.

[0032] Step 1200, obtaining a brake pedal signal of the vehicle in a case where the accelerator pedal signal indicates that the accelerator pedal is faulty.

[0033] In this embodiment, the accelerator pedal signal can be a voltage signal output by an accelerator sensor arranged on the accelerator pedal. According to the accelerator pedal signal of the vehicle, it can be determined whether the accelerator pedal is faulty. The accelerator pedal being faulty can include the accelerator pedal signal being abnormal, or can include the accelerator pedal signal being abnormal in verification.

[0034] For example, the process of determining that the accelerator pedal is faulty is described by taking the accelerator pedal signal anomaly as an example. Specifically, during vehicle driving, the voltage signal output by the accelerator sensor is collected at a predetermined frequency, the number of times that the voltage signal output by the accelerator sensor is abnormal is obtained, and in the case where the number of times that the abnormal voltage signal occurs is greater than a predetermined number threshold, it is determined that the accelerator pedal is faulty. Wherein, the voltage signal output by the accelerator sensor is abnormal, which can be that the voltage signal output by the accelerator sensor is not in the normal voltage signal range.

[0035] For example, the process of determining that the accelerator pedal is faulty is described by taking the accelerator pedal signal anomaly as an example. Specifically, during vehicle driving, the voltage signal output by the accelerator sensor is collected at a predetermined frequency, the number of times that the voltage signal output by the accelerator sensor is abnormal is obtained, and in the case where the number of times that the abnormal voltage signal occurs is greater than a predetermined number threshold, it is determined that the accelerator pedal is faulty. Wherein, the voltage signal output by the accelerator sensor is abnormal, which can be that the voltage signal output by the accelerator sensor is not in the normal voltage signal range.

[0036] In this embodiment, the brake pedal signal can be the voltage signal output by the brake sensor provided on the brake pedal. According to the brake pedal signal of the vehicle, it can be determined whether the brake pedal is faulty. The brake pedal being faulty can include brake pedal signal anomaly, and can also include brake pedal signal verification anomaly.

[0037] For example, the process of determining that the accelerator pedal is faulty is described by taking the accelerator pedal signal anomaly as an example. Specifically, during vehicle driving, the voltage signal output by the accelerator sensor is collected at a predetermined frequency, the number of times that the voltage signal output by the accelerator sensor is abnormal is obtained, and in the case where the number of times that the abnormal voltage signal occurs is greater than a predetermined number threshold, it is determined that the accelerator pedal is faulty. Wherein, the voltage signal output by the accelerator sensor is abnormal, which can be that the voltage signal output by the accelerator sensor is not in the normal voltage signal range.

[0038] For example, the brake pedal signal verification exception is taken as an example to illustrate the process of determining whether the brake pedal is faulty. Specifically, two brake sensors are arranged on the brake pedal, i.e., a first brake sensor and a second brake sensor, and a voltage signal output by the first brake sensor and a voltage signal output by the second brake sensor are acquired. According to a functional relationship between the voltage signal output by the first brake sensor and the voltage signal output by the second brake sensor, it can be determined whether the brake pedal is faulty. For example, a difference between a voltage value (V3) of the voltage signal output by the first brake sensor and twice (2V4) of a voltage value of the voltage signal output by the second brake sensor is determined, and the difference is compared with a second threshold value. If the difference is greater than the second threshold value, it is considered that the brake pedal signal verification exception occurs, i.e., the brake pedal is faulty. In this way, based on the preset functional relationship between the voltage signal output by the first brake sensor and the voltage signal output by the second brake sensor, it can be determined whether the brake pedal is faulty, which can ensure the accuracy of detection and reduce the complexity of operation.

[0039] In step 1300, in a case where the brake pedal signal indicates that the brake pedal is not faulty, a vehicle speed control mode is started to control the vehicle to travel according to the vehicle speed control mode.

[0040] In this embodiment, when the vehicle starts the vehicle speed control mode, the vehicle can be controlled to accelerate or decelerate by an electric drive system of the vehicle, and thus the speed of the vehicle is limited.

[0041] In step 1400, in a case where the brake pedal signal indicates that the brake pedal is faulty, a current torque of the vehicle is controlled to decrease to a first value, so that the vehicle is in a coasting state.

[0042] For example, the first value can be zero.

[0043] According to the embodiments of the present disclosure, during the travel of the vehicle, an accelerator pedal signal of the vehicle is acquired, and it is determined whether the accelerator pedal is faulty according to the accelerator pedal signal of the vehicle. In a case where the accelerator pedal is faulty, a brake pedal signal is acquired, and it is determined whether the brake pedal is faulty according to the brake pedal signal, so as to control the vehicle to travel according to the fault conditions of the accelerator pedal and the brake pedal. Further, in a case where both the accelerator pedal and the brake pedal are faulty, the vehicle is controlled to be in a coasting state, and in a case where the accelerator pedal is faulty and the brake pedal is normal, the vehicle speed is controlled to decrease slowly based on a vehicle speed control mode. In this way, compared with the existing way of setting the torque of the vehicle to zero when the accelerator pedal is faulty, it can be avoided that the vehicle loses power directly when the accelerator pedal is abnormal and an accident occurs, and the vehicle can maintain the basic driving function and will not be stranded due to the accelerator fault, which reduces the risk coefficient of the driver and passengers and avoids causing great loss to the user.

[0044] In one embodiment, after the accelerator pedal signal of the vehicle is acquired, the method further comprises: in the case that the accelerator pedal signal indicates that the accelerator pedal is faulty, outputting third prompt information to prompt the driver that the accelerator pedal is faulty.

[0045] The third prompt information is used to prompt the driver of the vehicle that the current vehicle speed will be reduced. Illustratively, the third prompt information can be voice prompt information, text prompt information, vibration prompt information, etc. For example, the third prompt information is "accelerator pedal is faulty, please pull over".

[0046] In this embodiment, when the accelerator pedal signal indicates that the accelerator pedal is faulty, the third prompt information is output to prompt the driver that the accelerator pedal is faulty, so that the driver can quickly take corresponding measures, increase the safety factor of the vehicle, and avoid traffic accidents.

[0047] In one embodiment, after the accelerator pedal signal of the vehicle is acquired, the method can further comprise: in the case that the accelerator pedal signal indicates that the accelerator pedal is faulty, controlling the vehicle to output an alarm information.

[0048] In specific implementation, when the accelerator pedal signal indicates that the accelerator pedal is faulty, the vehicle is controlled to turn on double flash, so as to remind surrounding vehicles to avoid, further improving the safety of driving.

[0049] In one embodiment, in the case that the brake pedal signal indicates that the brake pedal is not faulty, starting the vehicle speed control mode to control the vehicle to travel according to the vehicle speed control mode can further comprise steps 2100-2300.

[0050] Step 2100, acquiring the current driving mode of the vehicle.

[0051] The driving mode of the vehicle can include a normal driving mode and an auxiliary driving mode. The vehicle is usually provided with an auxiliary driving switch, and the driver can start the auxiliary driving mode through the auxiliary driving switch. It can be understood that the auxiliary driving switch can be a physical switch provided on the vehicle, or a control on the multimedia device of the vehicle, or a control on other smart devices (for example, a terminal device in communication connection with the vehicle).

[0052] Illustratively, during the driving of the vehicle, the whole vehicle control system can receive a switch signal output by the auxiliary driving switch, and when the switch signal is a first signal, control the vehicle to start the auxiliary driving mode, and when the switch signal is a second signal, control the vehicle to remain in the normal driving mode. It can be understood that the first signal is a high-level signal, and the second signal is a low-level signal.

[0053] It should be noted that the step of obtaining the current driving mode of the vehicle can be performed after the step of determining whether the accelerator pedal and the brake pedal are faulty, or can be performed before the step of determining whether the accelerator pedal and the brake pedal are faulty, and the execution order of the step of obtaining the current driving mode of the vehicle and the step of determining whether the accelerator pedal and the brake pedal are faulty is not limited in the embodiments of the present disclosure.

[0054] In step 2200, when the current driving mode is the normal driving mode, a vehicle speed control mode is started to control the vehicle to travel according to the vehicle speed control mode.

[0055] In step 2300, when the current driving mode is the auxiliary driving mode, the vehicle speed control mode is started to control the vehicle to travel according to the vehicle speed control mode, and first prompt information is output to prompt the driver to start the emergency driving mode.

[0056] In the embodiment, in the auxiliary driving mode, if the accelerator pedal is faulty and the brake pedal is not faulty, the emergency driving mode can be started. For example, the emergency driving mode can be started by a cruise switch of the vehicle. In the emergency driving mode, in the case that the accelerator pedal is faulty and the brake pedal is normal, the vehicle can be controlled to travel at a preset speed, so that in the case that the accelerator pedal of the vehicle is faulty, the vehicle can be controlled to continue to travel, and further can be controlled to travel to a nearby destination, for example, an emergency lane, a service station, a repair point.

[0057] The first prompt information is used to prompt the driver of the vehicle to start the emergency driving mode. For example, the first prompt information can be voice prompt information, text prompt information, vibration prompt information, etc. For example, the first prompt information is "the accelerator pedal is faulty, the brake pedal is not faulty, please start the emergency driving mode". For example, the first prompt information can also be output in a preset display effect. For example, in the case that the current driving mode is the auxiliary driving mode, if the accelerator pedal is faulty and the brake pedal is not faulty, the cruise switch used to start the emergency driving mode is controlled to be displayed in a preset manner to prompt the user to start the emergency driving mode through the cruise switch.

[0058] In the embodiment, in the case that the accelerator pedal signal is faulty and the brake pedal is not faulty, the current driving mode of the vehicle can be obtained, if the current driving mode is the auxiliary driving mode, the vehicle is automatically controlled to enter the vehicle speed control mode, and the first prompt information is output to prompt the driver to start the emergency driving mode, so as to timely start the emergency driving mode. In this way, in the case that the accelerator pedal of the vehicle is faulty, the cruise driving function of the vehicle can be reused, and the cruise driving function of the vehicle is utilized to control the vehicle to drive in the emergency driving mode, so that the vehicle can continue to drive in the case that the accelerator pedal is faulty, the safety hazard of directly setting the torque of the vehicle to zero is avoided, the inconvenience brought to the driver is avoided, the safety of driving is further ensured, and the driving experience is improved.

[0059] The emergency driving mode is described below with specific embodiments.

[0060] In one embodiment, after the first prompt information is output to prompt the driver to start the emergency driving mode, the method can further include: in the case that the emergency driving mode is started, the vehicle speed control mode is closed, and the vehicle is controlled to drive at a first set speed.

[0061] In the embodiment, the first set speed can be a driving speed of the vehicle set by the user in an emergency, and the emergency can include accelerator pedal failure. In specific implementation, after the emergency driving mode is started, the vehicle control system receives the first set speed output by the cruise control system, and controls the torque of the vehicle to increase or decrease according to the first set speed, so that the current vehicle speed of the vehicle is maintained at the first set speed. In this way, in the case that the accelerator pedal of the vehicle is faulty, the cruise driving function of the vehicle can be reused to control the vehicle to drive in the emergency driving mode. Moreover, in the case that the accelerator pedal is faulty, the driving demand of the user can be normally input, the sliding distance of the vehicle in the case of failure can be minimized, the safety coefficient of the vehicle is increased, and the occurrence of traffic accidents is avoided.

[0062] The control method of the vehicle in the normal driving mode is described below with a specific example. Please refer to Figure 2 The control method of the vehicle includes the following steps.

[0063] Step 301, control the vehicle to be in the normal driving mode;

[0064] Step 302, determine whether the accelerator pedal is faulty according to the accelerator pedal signal, if yes, execute step 303, otherwise, repeat step 302;

[0065] Step 303, output the third prompt information to prompt the driver that the accelerator pedal is faulty;

[0066] Step 304, judging whether the brake pedal is faulty according to the brake pedal signal, if yes, executing step 305, otherwise, executing step 306;

[0067] Step 305, setting the current torque of the vehicle to zero to make the vehicle in coasting state;

[0068] Step 306, starting the vehicle speed control mode.

[0069] In this example, in the normal driving mode, if the accelerator pedal is faulty, further judging whether the brake pedal is faulty, in the case that the brake pedal is faulty, immediately controlling the vehicle in coasting state, in the case that the brake pedal is not faulty, starting the vehicle speed control mode to control the vehicle to slow down. Thus, compared with the prior art of setting the torque of the vehicle to zero in the case that the accelerator pedal is faulty, the vehicle can avoid accidents caused by directly controlling the vehicle to lose power in the case that the accelerator pedal is abnormal, and the vehicle can keep the basic driving function and not be stranded due to accelerator failure, thereby reducing the risk coefficient of the driver and passengers and avoiding great loss to the user.

[0070] The following is an example of the control method of the vehicle in the auxiliary driving mode. Please refer to Figure 3 The control method of the vehicle comprises the following steps.

[0071] Step 401, controlling the vehicle in auxiliary driving mode;

[0072] Step 402, judging whether the accelerator pedal is faulty according to the accelerator pedal signal, if yes, executing step 403, otherwise, repeating step 402;

[0073] Step 403, judging whether the brake pedal is faulty according to the brake pedal signal, if yes, executing step 404, otherwise, executing step 405;

[0074] Step 404, setting the current torque of the vehicle to zero to make the vehicle in coasting state, and outputting prompt information to prompt the driver that the accelerator pedal and the brake pedal are faulty;

[0075] Step 405, starting the vehicle speed control mode, and outputting first prompt information to prompt the driver to start the emergency driving mode;

[0076] Step 406, judging whether an activation instruction of the cruise system is received, if yes, executing step 407, otherwise, returning to step 405;

[0077] Step 407, starting the emergency driving mode, and closing the vehicle speed control mode.

[0078] In the example, in the case that the vehicle is in the assisted driving mode, if the accelerator pedal is faulty, it is further determined whether the brake pedal is faulty, in the case that the brake pedal is faulty, the vehicle is immediately controlled to be in the coasting state, in the case that the brake pedal is not faulty, the vehicle speed control mode is started, and the user is prompted to start the emergency driving mode. In this way, in the case that the accelerator pedal of the vehicle is faulty, the cruise driving function of the vehicle can be reused to control the vehicle to drive in the emergency driving mode, so that the vehicle can continue to drive in the case that the accelerator pedal is faulty, and the vehicle will not be stranded due to the accelerator fault, thereby reducing the risk coefficient of the driver and the passengers and avoiding causing great loss to the user.

[0079] The vehicle speed control mode is described below with specific examples.

[0080] In one embodiment, the step of controlling the vehicle to drive according to the vehicle speed control mode can further include steps 5100-5300.

[0081] Step 5100, obtaining the current vehicle speed of the vehicle.

[0082] Step 5200, in the case that the current vehicle speed is within a set speed range, controlling the current vehicle speed to reduce to a second set speed.

[0083] Step 5300, in the case that the current vehicle speed is outside the set speed range and the current vehicle speed is greater than or equal to a third set speed, controlling the vehicle to gradually reduce speed according to a predetermined strategy.

[0084] The set speed range can be used to determine whether the current vehicle speed is low, so as to directly control the current vehicle speed to reduce to the second set speed when the vehicle drives at a low speed, thereby ensuring the safety of driving the vehicle in the accelerator fault state. It can be understood that the set speed range can be set by a person skilled in the art according to actual experience or simulation test results, for example, the set speed range is greater than or equal to 10 km / h and less than 30 km / h.

[0085] The third set speed can be an upper limit value of the set speed range, for example, the third set speed is 30 km / h. Based on the set speed range and the third set speed, it can be determined whether the current vehicle speed is high, and the vehicle can be controlled to gradually reduce speed, thereby avoiding the vehicle from reducing speed too fast and improving the safety of driving.

[0086] The second set speed can be a safe driving speed of the vehicle in the case that the accelerator pedal of the vehicle is faulty. Exemplarily, the second set speed can be a lower limit value of the set speed range, for example, the second set speed is 10 km / h. Exemplarily, the second set speed can also be other values, for example, 12 km / h, 8 km / h, etc.

[0087] In a specific implementation, after entering the vehicle speed control mode, the current vehicle speed can be acquired, the current vehicle speed is compared with the set speed interval, and in the case that the current vehicle speed of the vehicle is in the set speed interval, it is indicated that the vehicle travels at a low speed, and the vehicle can be directly controlled to reduce to the second set speed. In the case that the current vehicle speed of the vehicle is outside the set speed interval, it is further judged whether the current vehicle speed is greater than or equal to the third set speed, so that in the case that the current vehicle speed is outside the set speed interval and greater than or equal to the third set speed, it is indicated that the vehicle travels at a high speed, and the vehicle can be controlled to gradually reduce speed according to the predetermined strategy. In this way, in the vehicle speed control mode, the vehicle can be controlled to gradually reduce speed according to the current vehicle speed, avoiding rapid speed reduction to ensure driving safety, and avoiding the vehicle being unstable due to too rapid torque reduction of the vehicle, and avoiding the vehicle being too slow to reduce speed, resulting in a prolonged deceleration time and increased safety hazards.

[0088] In an embodiment, after acquiring the current vehicle speed, the method can further include: in the case that the current vehicle speed is outside the set speed interval and the current vehicle speed is less than the fourth set speed, controlling the vehicle to idle.

[0089] The fourth set speed can be a lower limit value of the set speed interval, for example, the fourth set speed is 10 km / h. Based on the set speed interval and the fourth set speed, it can be judged whether the current vehicle speed is in a low safe driving speed range, so that in the case that the current vehicle speed of the vehicle is between the set speed interval and the current vehicle speed is less than the fourth set speed, the vehicle does not need to be controlled to reduce speed and is directly controlled to idle. In this way, in the case of accelerator pedal failure, the vehicle can maintain basic driving functions and will not be stranded due to accelerator failure, reducing the risk coefficient of the driver and passengers, avoiding causing the user to suffer greater losses, and improving driving safety.

[0090] In an embodiment, the step of controlling the vehicle to gradually reduce speed according to the predetermined strategy can further include: steps 6100-6300.

[0091] Step 6100: determining a current speed level corresponding to the current vehicle speed according to the current vehicle speed.

[0092] In this embodiment, the speed level of the vehicle can be pre-set, and different speed levels correspond to different speed ranges. In a specific implementation, the current vehicle speed can be compared with the speed range corresponding to different speed levels to determine the current speed level corresponding to the current vehicle speed.

[0093] For example, four speed levels are set, i.e., a first speed level, a second speed level, a third speed level, and a fourth speed level; wherein the speed range of the first speed level is v≥80km / h, the speed range of the second speed level is 60km / h≤v<80km / h, the speed range of the third speed level is 30km / h≤v<60km / h, and the speed range of the fourth speed level is 10km / h≤v<30km / h. Assuming that the current speed of the vehicle is 90km / h, the current speed level corresponding to the current speed is the first speed level.

[0094] In step 6200, the current speed is adjusted to a target speed corresponding to the current speed level.

[0095] In this embodiment, different target speeds corresponding to different speed levels can be set, and the target speed is used to limit the driving speed of the vehicle. For example, the target speed corresponding to the speed level can be the lower limit value of the speed range of the speed level. For example, the target speed corresponding to the first speed level is 80km / h, the target speed corresponding to the second speed level is 60km / h, the target speed corresponding to the third speed level is 30km / h, and the target speed corresponding to the fourth speed level is 10km / h.

[0096] In specific implementation, after determining the current speed level corresponding to the current speed, the current speed is compared with the target speed corresponding to the current speed level, and in the case that the current speed is greater than the target speed corresponding to the current speed level, the current speed is adjusted to the target speed corresponding to the current speed level, so that the current speed is slowly decreased to limit the driving speed of the vehicle.

[0097] Optionally, adjusting the current speed to the target speed corresponding to the current speed level can further include: adjusting the current speed to the target speed corresponding to the current speed level within a second predetermined time.

[0098] The second predetermined time can be set by those skilled in the art according to actual experience, for example, the second predetermined time is 1min, and the present embodiment is not limited in this regard.

[0099] In this embodiment, when determining the current speed level corresponding to the current speed, the current speed is adjusted to the target speed corresponding to the current speed level within the second predetermined time, so that the vehicle speed can be controlled in the safe driving speed range in time, the sliding distance of the vehicle in case of failure can be minimized, the safety factor of the vehicle is increased, and the occurrence of traffic accidents is avoided.

[0100] At step 6300, if the duration of the vehicle driving at the target speed corresponding to the current speed level reaches a first predetermined time, the current vehicle speed is controlled to decrease to a target speed corresponding to a target speed level until the current vehicle speed after the decrease is located in the set speed interval. The target speed level is a next speed level lower than the current speed level. For example, the current speed level is the first speed level, and the target speed level is the second speed level.

[0101] The first predetermined time can be preset. The first predetermined time can be used as a time condition for controlling the current vehicle speed to decrease each time. The speed level can be used as a magnitude condition for controlling the current vehicle speed to decrease each time. That is, when the current vehicle speed is adjusted to the target speed corresponding to the current speed level, the duration of the vehicle driving at the target speed corresponding to the current speed level is recorded, and the current vehicle speed is controlled to decrease again if the duration reaches the first predetermined time. Moreover, the current vehicle speed is controlled to decrease from the target speed corresponding to the current speed level to the target speed corresponding to the target speed level until the current vehicle speed after the decrease is located in the set speed interval.

[0102] It should be noted that the first predetermined time can be set by a person skilled in the art according to actual experience. For example, the first predetermined time is 2 minutes, which is not limited in the embodiments of the present disclosure.

[0103] Continuing with the example that the current vehicle speed is 90 km / h, in the vehicle speed control mode, the current vehicle speed is controlled to decrease from 90 km / h to the target speed (80 km / h) corresponding to the first speed level; after 2 minutes, the current vehicle speed is controlled to decrease from 80 km / h to the target speed (60 km / h) corresponding to the second speed level; after 2 minutes, the current vehicle speed is controlled to decrease from 60 km / h to the target speed (30 km / h) corresponding to the third speed level; and after 2 minutes, the current vehicle speed is controlled to decrease from 30 km / h to the target speed (10 km / h) corresponding to the fourth speed level, that is, the current vehicle speed after the decrease is located in the set speed interval.

[0104] In the embodiment, after the vehicle speed control mode is started, if the current vehicle speed is outside the set speed interval and is relatively high, the current speed level corresponding to the current vehicle speed is determined according to the current vehicle speed, and the current vehicle speed is adjusted to the target speed corresponding to the current speed level. Then, the vehicle is controlled to decrease in speed gradually according to the speed level until the current vehicle speed after the decrease is located in the set speed interval. In this way, when the accelerator pedal is faulty, the current vehicle speed can be quickly decreased to ensure the safety of the vehicle. Moreover, the vehicle can be prevented from being unstable due to the current torque decreasing too fast, and the time for deceleration can be prevented from being lengthened due to the current torque decreasing too slowly, which increases the safety risk.

[0105] Optionally, the controlling the current vehicle speed to decrease to the target speed corresponding to the target speed level until the current vehicle speed after the decrease is located in the set speed interval can further include: controlling the current vehicle speed to decrease to the target speed corresponding to the target speed level until the current vehicle speed after the decrease is located in the set speed interval within a second predetermined time.

[0106] The second predetermined time can be set by a person skilled in the art according to actual experience, for example, the second predetermined time is 1 min, and the embodiment of the present disclosure does not limit this.

[0107] In the embodiment, in the case that the current vehicle speed is outside the set speed interval and the current vehicle speed is large, the current vehicle speed can be controlled to decrease step by step, and in each time of controlling the current vehicle speed to decrease, the current vehicle speed is limited to be stabilized within a second predetermined time, so that the vehicle speed can be prevented from decreasing rapidly, at the same time, the vehicle speed can be controlled in the safe driving speed range in time, the sliding distance of the vehicle in the case of failure can be minimized, the safety factor of the vehicle is increased, and the occurrence of traffic accidents is avoided.

[0108] In one embodiment, in the case that the duration that the vehicle travels at the target speed corresponding to the current speed level reaches the first predetermined time, the controlling the current vehicle speed to decrease to the target speed corresponding to the target speed level until the current vehicle speed decreases to the target vehicle speed, the method can further include: outputting second prompt information to prompt the driver that the current vehicle speed is about to be controlled to decrease.

[0109] The second prompt information is used to prompt the driver of the vehicle that the current vehicle speed is about to be decreased. Exemplarily, the second prompt information can be voice prompt information, text prompt information, vibration prompt information, etc. For example, the second prompt information is "the accelerator pedal is faulty, the vehicle will decrease speed in 2 minutes, please pay attention".

[0110] In specific implementation, the outputting the second prompt information can include: outputting the second prompt information to prompt the driver that the vehicle is about to decrease speed when the current vehicle speed is adjusted to the target speed corresponding to the current speed level. The outputting the second prompt information can also include: outputting the second prompt information to prompt the driver that the vehicle is about to decrease speed when the speed level of the current vehicle speed is decreased by one level each time and the current vehicle speed is between the set speed intervals.

[0111] In the embodiment, in the process of controlling the current speed of the vehicle to decrease step by step, the second prompt information is outputted to prompt the driver that the vehicle is about to decrease speed, which can remind the driver to control the vehicle to travel according to the vehicle speed, so that the vehicle can be quickly driven into the safe area, the safety factor of the vehicle is increased, and the occurrence of traffic accidents is avoided.

[0112] In one embodiment, the controlling the vehicle to travel according to the vehicle speed control mode can further include: obtaining a pedal depression state of the brake pedal; and in a case where the pedal depression state of the brake pedal is a depressed state, controlling the current torque of the vehicle to decrease to a first value so that the vehicle is in a coasting state.

[0113] In the embodiment, the first value can be zero, and the current torque is set to zero so that the vehicle is quickly stopped.

[0114] The pedal depression state of the brake pedal can include a depressed state and a non-depressed state. According to the pedal depression state of the brake pedal, it can be determined whether the driver has a stopping intention, so that in a case where the driver has the stopping intention, the current torque of the vehicle is immediately set to zero so that the vehicle is in the coasting state.

[0115] For example, the pedal depression state of the brake pedal can be determined according to a switch signal output by a brake pedal switch. More specifically, in the vehicle speed control mode, the vehicle control system can receive the switch signal output by the brake pedal switch, and in a case where the switch signal output by the brake pedal switch is a first signal, it is determined that the pedal depression state of the brake pedal is the depressed state, i.e., the driver depresses the brake pedal; and in a case where the switch signal output by the brake pedal switch is a second signal, it is determined that the pedal depression state of the brake pedal is the non-depressed state, i.e., the driver does not depress the brake pedal. It can be understood that the first signal is a high-level signal, and the second signal is a low-level signal.

[0116] For example, the pedal depression state of the brake pedal can also be determined according to a depth signal output by a brake pedal sensor. More specifically, in the vehicle speed control mode, the vehicle control system can receive the depth signal output by the brake pedal sensor, and in a case where the pedal depression depth value of the depth signal reaches a predetermined depth threshold, it is determined that the pedal depression state of the brake pedal is the depressed state, i.e., the driver depresses the brake pedal.

[0117] In the embodiment, in the vehicle speed control mode, in a case where the driver does not depress the brake pedal, the vehicle speed is controlled to decrease slowly, and in a case where the driver depresses the brake pedal, the current torque of the vehicle is immediately set to zero so that the vehicle is in the coasting state. In this way, in a case where the accelerator pedal is faulty, the vehicle can be controlled to travel according to the current driving condition, and the safety of driving is further ensured.

[0118] In one embodiment, after the vehicle speed control mode is started, the method can further include: controlling the vehicle to issue an alarm information.

[0119] In a specific implementation, the controlling the vehicle to issue the alarm information can be controlling the vehicle to flash double flashes to remind surrounding vehicles to avoid, and the safety of driving is further improved.

[0120] The following describes the vehicle speed control mode with a specific example. Please refer to Figure 4 The control method of the vehicle includes the following steps.

[0121] Step 701, start the vehicle speed control mode;

[0122] Step 702, determine whether the current vehicle speed is greater than or equal to 80 km / h, if yes, execute step 703, otherwise, execute step 704;

[0123] Step 703, adjust the current vehicle speed to 80 km / h, and output the second prompt information, control the double flash to be on, and then execute step 705;

[0124] Step 704, determine whether the current vehicle speed is greater than or equal to 60 km / h, if yes, execute step 706, otherwise, execute step 707;

[0125] Step 705, determine whether the duration of the vehicle driving at 80 km / h is greater than the first predetermined time (2 min), if yes, execute step 706, otherwise, execute step 714;

[0126] Step 706, adjust the current vehicle speed to 60 km / h, and output the second prompt information, control the double flash to be on, and then execute step 708;

[0127] Step 707, determine whether the current vehicle speed is greater than or equal to 30 km / h, if yes, execute step 709, otherwise, execute step 710;

[0128] Step 708, determine whether the duration of the vehicle driving at 60 km / h is greater than the first predetermined time (2 min), if yes, execute step 709, otherwise, execute step 714;

[0129] Step 709, adjust the current vehicle speed to 30 km / h, and output the second prompt information, control the double flash to be on, and then execute step 711;

[0130] Step 710, determine whether the current vehicle speed is greater than or equal to 10 km / h, if yes, execute step 712, otherwise, execute step 713;

[0131] Step 711, determine whether the duration of the vehicle driving at 30 km / h is greater than the first predetermined time (2 min), if yes, execute step 712, otherwise, execute step 714;

[0132] Step 712, adjust the current vehicle speed to 10 km / h, and output the second prompt information, control the double flash to be on, and then execute step 714;

[0133] Step 713, control the vehicle to idle, and then perform step 714;

[0134] Step 714, determine whether the brake pedal is depressed, if yes, perform step 715, otherwise, perform step 716;

[0135] Step 715, set the torque to 0, enter the coasting state, and then perform step 717;

[0136] Step 716, maintain the previous state;

[0137] Step 717, determine whether the brake pedal is released, if yes, return to step 702, otherwise, return to step 715.

[0138] It should be noted that maintaining the previous state can be maintaining the adjusted vehicle speed to continue driving.

[0139] In this example, after starting the vehicle speed control mode, in the case that the current vehicle speed is outside the set speed interval and the vehicle speed is large, the current speed level corresponding to the current vehicle speed is determined according to the current vehicle speed, and the current vehicle speed is adjusted to the target vehicle speed corresponding to the current speed level, and then the vehicle is controlled to gradually reduce the speed according to the speed level until the reduced current vehicle speed is located in the set speed interval. In this way, when the accelerator pedal is faulty, the current vehicle speed can be quickly reduced to ensure the safety of the vehicle. Moreover, it can avoid the vehicle being unstable due to the current torque being reduced too quickly, and also avoid the deceleration time being lengthened and the safety risk being increased due to the current torque being reduced too slowly.

[0140] <Device Embodiment>

[0141] Please refer to Figure 5 The embodiments of the present disclosure also provide a vehicle control device. As shown in Figure 5 The vehicle control device 800 can include a first acquisition module 810, a second acquisition module 820, a first control module 830, and a second control module 840.

[0142] The first acquisition module 810 can be configured to acquire an accelerator pedal signal of a vehicle.

[0143] The second acquisition module 820 can be configured to acquire a brake pedal signal of the vehicle in the case that the accelerator pedal signal indicates that the accelerator pedal is faulty.

[0144] The first control module 830 can be configured to start a vehicle speed control mode in the case that the brake pedal signal indicates that the brake pedal is not faulty, and control the vehicle to drive according to the vehicle speed control mode.

[0145] The second control module 840 can be configured to control the current torque of the vehicle to decrease to a first value to make the vehicle in a coasting state in a case where the brake pedal signal indicates that the brake pedal is faulty.

[0146] In an embodiment, the first control module 830 is specifically configured to: acquire a current driving mode of the vehicle; start a vehicle speed control mode to control the vehicle to travel according to the vehicle speed control mode in a case where the current driving mode is a normal driving mode; and start the vehicle speed control mode to control the vehicle to travel according to the vehicle speed control mode and output first prompt information to prompt the driver to start an emergency driving mode in a case where the current driving mode is an auxiliary driving mode.

[0147] In an embodiment, the vehicle control apparatus 800 further includes:

[0148] The third control module is configured to close the vehicle speed control mode and control the vehicle to travel at a first set speed in a case where the emergency driving mode is started.

[0149] In an embodiment, the first control module 830 includes:

[0150] The first acquisition unit is configured to acquire a current vehicle speed of the vehicle.

[0151] The first control unit is configured to control the current vehicle speed to decrease to a second set speed in a case where the current vehicle speed is within a set speed range.

[0152] The second control unit is configured to control the vehicle to gradually decrease in speed according to a predetermined strategy in a case where the current vehicle speed is outside the set speed range and the current vehicle speed is greater than or equal to a third set speed.

[0153] In an embodiment, the second control unit is specifically configured to: determine a current speed level corresponding to the current vehicle speed according to the current vehicle speed; adjust the current vehicle speed to a target speed corresponding to the current speed level; and control the current vehicle speed to decrease to a target speed corresponding to a target speed level until the current vehicle speed after the decrease is within the set speed range in a case where a duration for which the vehicle travels at the target speed corresponding to the current speed level reaches a first predetermined time, wherein the target speed level is a next speed level lower than the current speed level.

[0154] In an embodiment, the vehicle control apparatus 800 further includes:

[0155] The first output module is configured to, in a case where the duration of the vehicle driving at the target speed corresponding to the current speed level reaches a first predetermined time, control the current vehicle speed to decrease to a target speed corresponding to a target speed level, and output a second prompt information to prompt the driver to control the current vehicle speed to decrease before the current vehicle speed decreases to the target speed.

[0156] In one embodiment, the first control module 830 further comprises:

[0157] The third control unit is configured to, in a case where the current vehicle speed is outside the set speed interval and the current vehicle speed is less than a fourth set speed, control the vehicle to idle.

[0158] In one embodiment, the first control module 830 further comprises:

[0159] The second acquisition unit is configured to acquire a depression state of the brake pedal.

[0160] The fourth control unit is configured to, in a case where the depression state of the brake pedal is a depressed state, control the current torque of the vehicle to decrease to a first value to make the vehicle in a coasting state.

[0161] In one embodiment, the vehicle control device 800 further comprises:

[0162] The second output module is configured to, in a case where the accelerator pedal signal indicates that the accelerator pedal is faulty, output a third prompt information to prompt the driver that the accelerator pedal is faulty.

[0163] Please refer to Figure 6 The embodiments of the present disclosure also provide a vehicle. As shown in Figure 6 The vehicle 900 comprises a memory 910 and a processor 920. The memory 910 is configured to store executable computer instructions. The processor 920 is configured to execute the vehicle control method according to the preceding embodiments according to the control of the executable computer instructions.

[0164] In one embodiment, as shown in Figure 7 The vehicle 100 comprises an accelerator pedal sensor 101, a brake pedal sensor 102, a vehicle speed sensor 103, an auxiliary driving switch 104, a vehicle control system 105, an electric drive system 106, a brake system 107, and an intelligent voice multimedia system 108.

[0165] The accelerator pedal sensor 101 is connected with the vehicle control system 105, and is configured to output an accelerator pedal signal to the vehicle control system 105, so that the vehicle control system 105 judges whether the accelerator pedal is faulty according to the accelerator pedal signal. Generally, the accelerator pedal signal is a hard-wired signal.

[0166] The brake pedal sensor 102 is connected with the vehicle control system 105, and is configured to output a brake pedal signal to the vehicle control system 105, so that the vehicle control system 105 determines whether the brake pedal is faulty according to the brake pedal signal. The brake pedal signal is generally a hard-wired signal.

[0167] The vehicle speed sensor 103 is connected with the vehicle control system 105, and is configured to send a current vehicle speed to the vehicle control system 105, so that the vehicle control system 105 controls the vehicle according to the current vehicle speed.

[0168] The auxiliary driving switch 104 is connected with the vehicle control system 105, and is configured to send a switch signal to the vehicle control system 105, so that the vehicle control system 105 controls the start of the auxiliary driving mode according to the switch signal of the auxiliary driving switch 104.

[0169] The electric drive system 106 is connected with the vehicle control system 105, and is configured to receive a torque request of the vehicle control system 105, and control the acceleration driving or deceleration braking of the vehicle according to the torque request.

[0170] The brake system 107 is connected with the vehicle control system 105, and is configured to receive a brake torque request of the vehicle control system 105 in response to the brake torque request of the vehicle control system 105 when the user steps on the brake pedal.

[0171] The intelligent voice multimedia system 108 is connected with the vehicle control system 105, and is configured to receive a command of the vehicle control system 105, and send text warning, voice warning, and reminder information to the driver.

[0172] It can be understood that the first obtaining module can be implemented by the accelerator pedal sensor 101 shown in the figure; the second obtaining module can be implemented by the brake pedal sensor 102 shown in the figure; the first control module, the second control module, the third control module, and the fourth control module can be implemented by the vehicle control system 105 shown in the figure. Figure 7 Figure 7 Figure 7

[0173] ​​​According to the embodiment of the present disclosure, during vehicle driving, an accelerator pedal signal of the vehicle is acquired, and whether the accelerator pedal is faulty is determined according to the accelerator pedal signal of the vehicle; in the case that the accelerator pedal is faulty, a brake pedal signal is acquired, and whether the brake pedal is faulty is determined according to the brake pedal signal, so as to control the vehicle driving according to the fault conditions of the accelerator pedal and the brake pedal. Further, in the case that both the accelerator pedal and the brake pedal are faulty, the vehicle is controlled to be in a coasting state, and in the case that the accelerator pedal is faulty and the brake pedal is normal, the vehicle speed is controlled to be slowly reduced based on a vehicle speed control mode. In this way, compared with the prior art of setting the torque of the vehicle to zero in the case that the accelerator pedal is faulty, the present application can avoid accidents caused by directly controlling the vehicle to lose power when the accelerator pedal is abnormal, and can make the vehicle maintain basic driving functions, so that the vehicle will not be stranded due to accelerator failure, reduce the risk coefficient of the driver and passengers, and avoid causing great loss to the user.

[0174] <Medium embodiment>

[0175] In the embodiment, a computer readable storage medium is also provided, which stores computer instructions readable and executable by a computer, and the computer instructions perform the vehicle control method of the foregoing embodiments when executed by a processor.

[0176] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment mainly describes the difference from other embodiments. However, it should be clear for those skilled in the art that the above-mentioned embodiments can be used alone or in combination according to the needs. In addition, for the device embodiment, since it is corresponding to the method embodiment, it is described more simply, and the related parts can be referred to the description of the corresponding part of the method embodiment. The system embodiment described above is only schematic, and the modules described as separate components can be or can not be physically separated.

[0177] The present application can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present application.

[0178] Computer readable storage media can be tangible storage media which can retain and store instructions for use by an instruction execution device. Computer readable storage media can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer readable storage media include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0179] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0180] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0181] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0182] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0183] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0184] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0185] Embodiments of the present application have been described above, and the description is intended to be illustrative, and not restrictive, of the various embodiments of the present application. Many modifications and variations of the described embodiments of the present application are possible, given the benefit of the present disclosure, without departing from the scope and spirit of the described embodiments of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Get the vehicle's accelerator pedal signal; When the accelerator pedal signal indicates that there is a fault in the accelerator pedal, obtaining a brake pedal signal of the vehicle; When the brake pedal signal indicates that there is no brake pedal fault, starting a vehicle speed control mode to control the vehicle according to the vehicle speed control mode; When the brake pedal signal indicates that there is a brake pedal fault, controlling the current torque of the vehicle to decrease to a first value so that the vehicle is in a coasting state; The controlling the vehicle to travel according to the vehicle speed control mode includes: Obtaining the current speed of the vehicle; When the current vehicle speed is within the set speed range, controlling the current vehicle speed to decrease to a second set speed; When the current vehicle speed is outside the set speed range and the current vehicle speed is greater than or equal to a third set speed, controlling the vehicle to decelerate step by step according to a predetermined strategy; The step of controlling the vehicle to gradually decelerate according to a predetermined strategy includes: Determining a current speed level corresponding to the current vehicle speed according to the current vehicle speed; adjusting the current vehicle speed to a target speed corresponding to the current speed level; When the duration of the vehicle traveling at the target speed corresponding to the current speed level reaches a first predetermined time, controlling the current vehicle speed to decrease to the target speed corresponding to the target speed level until the current vehicle speed after the decrease is within the set speed range; The target speed level is a next speed level lower than the current speed level.

2. The method according to claim 1, characterized in that The starting of the vehicle speed control mode to control the vehicle running according to the vehicle speed control mode includes: Obtaining a current driving mode of the vehicle; When the current driving mode is the normal driving mode, starting a vehicle speed control mode to control the vehicle driving according to the vehicle speed control mode; When the current driving mode is the assisted driving mode, a vehicle speed control mode is activated to control the vehicle driving according to the vehicle speed control mode, and a first prompt message is output to prompt the driver to activate the emergency driving mode.

3. The method according to claim 2, characterized in that After outputting the first prompt information to prompt the driver to activate the emergency driving mode, the method further includes: When the emergency travel mode is activated, the vehicle speed control mode is deactivated, and the vehicle is controlled to travel at a first set speed.

4. The method according to claim 1, wherein When the duration of the vehicle traveling at the target speed corresponding to the current speed level reaches a first predetermined time, controlling the current vehicle speed to decrease to the target speed corresponding to the target speed level until the current vehicle speed decreases to the target speed, the method further includes: A second prompt message is output to prompt the driver to control the current vehicle speed to decrease.

5. The method according to claim 1, wherein After obtaining the current speed of the vehicle, the method further includes: When the current vehicle speed is outside the set speed range and is less than a fourth set speed, the vehicle is controlled to idle.

6. The method according to claim 1 or 2, characterized in that The controlling the vehicle to travel according to the vehicle speed control mode further includes: Obtaining a stepped state of the brake pedal; When the brake pedal is in the depressed state, the current torque of the vehicle is controlled to be reduced to a first value so that the vehicle is in a coasting state.

7. The method according to claim 1, characterized in that After obtaining the accelerator pedal signal of the vehicle, the method further includes: When the accelerator pedal signal indicates that there is a fault in the accelerator pedal, a third prompt message is output to prompt the driver that there is a fault in the accelerator pedal.

8. A vehicle, characterized in that: include: Memory for storing executable computer instructions; A processor is configured to execute the vehicle control method according to any one of claims 1 to 7 under the control of the executable computer instructions.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the vehicle control method according to any one of claims 1 to 7 is executed.

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