Vehicle Control Method, Apparatus, Storage Medium, and Electronic Device

Abstract

26 Abstract The present disclosure provides a vehicle control method, an apparatus, a storage medium, and an electronic device, which relate to the fields of autonomous driving technology, vehicle technology, and unmanned vehicle technology. The method includes that: terrain-related information at a preview distance is determined; based on the terrain-related information at the preview distance, a type of an upcoming slope is determined; and a target vehicle is controlled to enter a slope control mode corresponding to the type of the upcoming slope. Embodiments of the present disclosure is capable of reducing speed control inaccuracies caused by control delays. Abstract The present disclosure provides a vehicle control method, an apparatus, a storage medium, and an electronic device, which relate to the fields of autonomous driving technology, vehicle technology, and unmanned vehicle technology. The method includes that: terrain-related information at a preview distance is determined; based on the terrain-related information at the preview distance, a type of an upcoming slope is determined; and a target vehicle is controlled to enter a slope control mode corresponding to the type of the upcoming slope. Embodiments of the present disclosure is capable of reducing speed control inaccuracies caused by control delays. 26 20 25 20 25 69 10 A pr 2 02 5 A b s t r a c t 2 0 2 5 2 0 2 5 6 9 1 0 A p r 2 0 2 5 2 6 1 / 5 Drawings Based on the terrain-related information at the preview distance, a type of an upcoming slope is determined S120 Terrain-related information at a preview distance is determined in a forward direction of a target vehicle S110 The target vehicle is controlled to enter a slope control mode corresponding to the type of the upcoming slope S130 FIG. 1 Target vehicle Flat road section Uphill slope d1 d2 A B C d 3 l 34.0° g FIG. 2 1 / 5 Drawings S110 Terrain-related information at a preview distance is determined in a forward direction of a target vehicle S120 Based on the terrain-related information at the preview distance, a type of an upcoming slope is determined S130 The target vehicle is controlled to enter a slope control mode corresponding to the type of the upcoming slope FIG. 1 CUphill slope g Flat road section 34.0° Target vehicle B A d1 d2 FIG. 2 20 25 20 25 69 10 A pr 2 02 5 2 0 2 5 2 0 2 5 6 9 1 0 A p r 2 0 2 5 F I G . 1 l / d 3 B A d 1 d 2 F I G . 2

Description

The present disclosure claims priority of Chinese Patent Application No. 202410675513.6, filed to China National Intellectual Property Administration on May 29, 2024 and titled “Vehicle Control Method, Apparatus, Storage Medium, and Electronic Device”, the content of which is hereby incorporated by reference in its entirety. TECHNICAL FIELD The present disclosure relates to the fields of autonomous driving technology, vehicle technology, and unmanned vehicle technology, and in particular to a vehicle control method, an apparatus, a storage medium, and an electronic device. BACKGROUND OF THE INVENTION In recent years, with the rapid development of technologies such as autonomous driving, autonomous driving vehicles have been increasingly widely applied in more industries, especially in higher-risk industries, such as mining operations and so on. However, in actual application of the autonomous driving vehicles, a slope scenario has always been one of the more challenging scenes for the autonomous driving vehicles. In particular, for a heavy autonomous driving vehicle or an autonomous driving vehicle required to transport goods, since this vehicle mechanically follows based on a current actual speed and a desired speed, and vehicle control has a certain degree of delay, which lead to unsatisfactory speedfollowing performance in the slope scenarios and higher energy consumption. The reference to prior art in the background is not and should not be taken as an acknowledgement or suggestion that the referenced prior art forms part of the common general knowledge in Australia or in any other country. SUMMARY OF THE INVENTION In view of this, embodiments of the present disclosure provide a vehicle control method, an apparatus, a storage medium, and an electronic device. In a first aspect, some embodiments of the present disclosure provide a vehicle control method, including that: terrain-related information at a preview distance is determined in a forward direction of a target vehicle; based on the terrain-related information at the preview distance, 2025202569   31 Aug 2026 a type of an upcoming slope is determined; and the target vehicle is controlled to enter a slope control mode corresponding to the type of the upcoming slope, where the slope control mode includes a downhill slope control mode or an uphill slope control mode, and under the downhill slope control mode, the target vehicle is controlled based on a downhill control strategy, and under the uphill slope control mode, the target vehicle is controlled based on an uphill control strategy; where the downhill control strategy includes: adjusting a current target speed of the target vehicle and controlling the target vehicle to follow the adjusted speed until the target vehicle enters an upcoming downhill slope; and / or the uphill control strategy includes: controlling the target vehicle to determine, based on at least one of a gradient of the upcoming slope and a current actual speed of the target vehicle, whether to perform speed following for the current target speed; where the current target speed is a target speed corresponding to a current moment issued by a planning module or a target speed corresponding to a current moment obtained by previewing trajectory points. Combined with the first aspect, in some embodiments of the first aspect, an operation of adjusting the current target speed of the target vehicle includes that: a speed adjustment value is determined based on a normal downhill overshoot speed, where the normal downhill overshoot speed represents an additional speed amount by which an actual speed of the target vehicle exceeds the current target speed due to actuator delay during downhill travel; and the current target speed of the target vehicle is adjusted based on the speed adjustment value. Combined with the first aspect, in some embodiments of the first aspect, the method further includes that: in response to determining, based on terrain-related information at a current arrival position of the target vehicle, that the target vehicle has entered the downhill slope, the target vehicle is controlled to exit the downhill slope control mode and the target vehicle is controlled to perform speed following based on the current target speed. Combined with the first aspect, in some embodiments of the first aspect, an operation of controlling the target vehicle to determine, based on at least one of the gradient of the upcoming slope and the current actual speed of the target vehicle, whether to perform speed following for the current target speed includes that: speed following is performed based on the current target speed, and in response to the gradient of the upcoming slope being greater than a target gradient, the target vehicle is controlled to stop performing speed following for the current 2025202569   31 Aug 2026 target speed; and / or, in response to the current actual speed being less than a real-time target speed of the target vehicle during a uphill process, the target vehicle is controlled to perform speed following for the current target speed, where the real-time target speed is a target speed corresponding to a moment during a uphill process of the target vehicle issued by the planning module or obtained by previewing trajectory points. Combined with the first aspect, in some embodiments of the first aspect, after controlling the target vehicle to stop performing speed following for the current target speed, the method further includes that: a throttle of the target vehicle is controlled to a specified opening, and the target vehicle is controlled to climb the slope based on the throttle at the specified opening until the current actual speed is less than the real-time target speed of the target vehicle during the uphill process. Combined with the first aspect, in some embodiments of the first aspect, the specified opening is less than a preset opening threshold. Combined with the first aspect, in some embodiments of the first aspect, before determining the terrain-related information at the preview distance in the forward direction of the target vehicle, the method further includes that: a current actual speed of the target vehicle is acquired; and the preview distance in the forward direction of the target vehicle is determined based on the current actual speed. Combined with the first aspect, in some embodiments of the first aspect, the terrain-related information includes at least one of gradient information and point cloud data representing the gradient information. Combined with the first aspect, in some embodiments of the first aspect, the method further includes that: in response to receiving an emergency braking request when the target vehicle is in the downhill slope control mode or the uphill slope control mode, the target vehicle is controlled to exit the slope control mode and the target vehicle is controlled to perform speed following based on the current target speed. An embodiment of the first aspect provides a vehicle control method, comprising: determining terrain-related information at a preview distance in a forward direction of a target vehicle; based on the terrain-related information at the preview distance, determining a type of an 2025202569   31 Aug 2026 upcoming slope; and controlling the target vehicle to enter a slope control mode corresponding to the type of the upcoming slope, wherein the slope control mode comprises a downhill slope control mode or an uphill slope control mode, and under the downhill slope control mode, the target vehicle is controlled based on a downhill control strategy, and under the uphill slope control mode, the target vehicle is controlled based on an uphill control strategy; wherein the downhill control strategy comprises: adjusting a current target speed of the target vehicle and controlling the target vehicle to follow the adjusted speed until the target vehicle enters an upcoming downhill slope; and / or the uphill control strategy comprises: controlling the target vehicle to determine, based on at least one of a gradient of the upcoming slope and a current actual speed of the target vehicle, whether to perform speed following for the current target speed; wherein the current target speed is a target speed corresponding to a current moment issued by a planning module or a target speed corresponding to a current moment obtained by previewing trajectory points; in response to determining, based on terrain-related information at a current arrival position of the target vehicle, that the target vehicle has entered the downhill slope, controlling the target vehicle to exit the downhill slope control mode and controlling the target vehicle to perform speed following based on the current target speed. In a second aspect, some embodiments of the present disclosure provide a vehicle control apparatus, including that: a first determination module, arranged for determining terrain-related information at a preview distance in a forward direction of a target vehicle; a second determination module, arranged for, based on the terrain-related information at the preview distance, determining a type of an upcoming slope; and a control module, arranged for controlling the target vehicle to enter a slope control mode corresponding to the type of the upcoming slope, where the slope control mode includes a downhill slope control mode or an uphill slope control mode, and under the downhill slope control mode, the target vehicle is controlled based on a downhill control strategy, and under the uphill slope control mode, the target vehicle is controlled based on an uphill control strategy; where the downhill control strategy includes: adjusting a current target speed of the target vehicle and controlling the target vehicle to follow the adjusted speed until the target vehicle enters an upcoming downhill slope; and / or the uphill control strategy includes: controlling the target vehicle to determine, based on at least one of a gradient of the upcoming slope and a current actual speed of the target vehicle, whether to perform speed following for the current target speed; where the current 2025202569   31 Aug 2026 target speed is a target speed corresponding to a current moment issued by a planning module or a target speed corresponding to a current moment obtained by previewing trajectory points. An embodiment of the second aspect provides a vehicle control apparatus, comprising: a first determination module, arranged for determining terrain-related information at a preview distance in a forward direction of a target vehicle; a second determination module, arranged for, based on the terrain-related information at the preview distance, determining a type of an upcoming slope; and a control module, arranged for controlling the target vehicle to enter a slope control mode corresponding to the type of the upcoming slope, wherein the slope control mode comprises a downhill slope control mode or an uphill slope control mode, and under the downhill slope control mode, the target vehicle is controlled based on a downhill control strategy, and under the uphill slope control mode, the target vehicle is controlled based on an uphill control strategy; wherein the downhill control strategy comprises: adjusting a current target speed of the target vehicle and controlling the target vehicle to follow the adjusted speed until the target vehicle enters an upcoming downhill slope; and / or the uphill control strategy comprises: controlling the target vehicle to determine, based on at least one of a gradient of the upcoming slope and a current actual speed of the target vehicle, whether to perform speed following for the current target speed; wherein the current target speed is a target speed corresponding to a current moment issued by a planning module or a target speed corresponding to a current moment obtained by previewing trajectory points; wherein the vehicle control apparatus further arranged for in response to determining, based on terrain-related information at a current arrival position of the target vehicle, that the target vehicle has entered the downhill slope, controlling the target vehicle to exit the downhill slope control mode and controlling the target vehicle to perform speed following based on the current target speed. In a third aspect, some embodiments of the present disclosure provide a computer-readable storage medium, the storage medium stores a computer program, where the computer program is used for executing the vehicle control method in the first aspect. In a fourth aspect, some embodiments of the present disclosure provide an electronic device, including: a processor; a memory, arranged for storing executable instructions of the processor; and the processor is arranged for executing the vehicle control method in the first aspect. 2025202569   31 Aug 2026 Through the terrain information at the preview distance, the type of slope can be identified in advance and a control mode corresponding to the type of slope can be entered, which allows for more effective management of the target vehicle speed and reduces the risk caused by inaccurate speed control due to control delay as well as the risks associated with excessive or insufficient speed. In addition, through precise speed control, unnecessary acceleration or deceleration is avoided, thereby reducing energy consumption, especially in heavy or cargocarrying autonomous mining vehicles. Furthermore, this solution can adapt to different slope conditions, providing appropriate control strategies for both uphill and downhill scenarios, thereby enhancing the adaptability of autonomous driving vehicles and improving overall driving efficiency. BRIEF DESCRIPTION OF DRAWINGS Through a more detailed description of embodiments of the present disclosure in conjunction with the accompanying drawings, the above and other objectives, features, and advantages of the present disclosure will become more apparent. The accompanying drawings are used for providing a further understanding of the embodiments of the present disclosure, form a part of the description, and are used together with the embodiments of the present disclosure to explain the present disclosure without limiting the present disclosure. In the drawings, the same reference numerals generally refer to the same components or steps. FIG. 1 illustrates a flowchart of a vehicle control method according to some embodiments of the present disclosure. FIG. 2 illustrates a schematic diagram of an uphill slope according to some embodiments of the present disclosure. FIG. 3 illustrates a schematic diagram of a downhill slope according to some embodiments of the present disclosure. FIG. 4 illustrates a schematic diagram of adjusting a current target speed according to some embodiments of the present disclosure. FIG. 5 illustrates a flowchart of determining whether to perform speed following for a current target speed according to some embodiments of the present disclosure. 2025202569   31 Aug 2026 FIG. 6 illustrates a flowchart of controlling a target vehicle to exit a slope control mode according to some embodiments of the present disclosure. FIG. 7 illustrates a flowchart of another vehicle control method according to some embodiments of the present disclosure. FIG. 8 illustrates a structural schematic diagram of a vehicle control apparatus according to some embodiments of the present disclosure. FIG. 9 illustrates a structural schematic diagram of an electronic device according to some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION The following is a clear and complete description of the technical solution in the embodiments of the present disclosure in conjunction with the drawings in the embodiments of the present disclosure. It should be apparent that the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments of the present disclosure. All other embodiments obtained by a person having ordinary skill in the art without making inventive efforts are within the scope of protection of the present disclosure. In a mining field, the application of unmanned mining vehicles is becoming increasingly widespread, especially in large open-pit coal mines. Due to the increasing depth of mining operations, phenomena such as steep slopes and numerous bends are gradually increasing, which poses significant challenges for driving mining vehicles. In such environments, the unmanned mining vehicles not only deal with complex road conditions and harsh climate conditions, but also ensure safety and efficiency during operation. Specifically, due to the presence of slopes, the speed of the vehicle is required to control when descending to avoid over-speeding and sudden deceleration, thereby preventing damage to the vehicle. At the same time, when ascending slopes, the vehicle is required to fully utilize inertia to reduce the use of brakes and accelerators, thereby lowering energy consumption. However, for unmanned vehicles performing speed following, a control strategy includes typically following based on a current speed and a desired speed. This control strategy works well on flat roads or simple road conditions, but in slope scenarios, due to the influence of gravitational acceleration, there may be deviations between an actual driving speed of the 2025202569   31 Aug 2026 vehicle and the desired speed. Furthermore, due to the delay in the control system, the unmanned vehicles cannot make adjustments in a timely manner. As a result, during downhill driving, the speed of the vehicle may become too high, leading to sudden deceleration after over-speeding, or during uphill driving, the vehicle first decelerates and then accelerates, ultimately affecting the speed-following effect and increasing energy consumption. In order to solve these problems, the present disclosure is provided. Specifically, FIG. 1 illustrates a flowchart of a vehicle control method according to some embodiments of the present disclosure. As shown in FIG. 1, the method includes the following steps. In step S110, terrain-related information at a preview distance is determined in a forward direction of a target vehicle. Specifically, the forward direction refers to a current driving direction of the target vehicle. The preview distance is a preset distance value indicating how far in advance an autonomous driving system is required to perceive and analyze terrain information ahead. This distance is set based on factors such as the speed of the target vehicle, road conditions, and safety requirements. Exemplarily, devices such as LiDAR or cameras are used for scanning forward road environment to construct a real-world environmental map and obtain the terrain-related information at the preview distance through this map. The terrain-related information is used for representing information for directly or indirectly determining terrain. For example, the LiDAR is adopted to obtain a position, distance, and height of a forward road section to construct a three-dimensional terrain map based on scanning data. Additionally, the terrain-related information for the forward road is further obtained by combining a Global Positioning System (GPS) with map data. Optionally, the terrain-related information is obtained from a map pre-stored in the vehicle or from a map issued by a server. In some embodiments, the terrain-related information includes at least one of gradient information and point cloud data representing the gradient information. Specifically, the slope information refers to an inclination degree of a road or terrain relative to a horizontal plane, and the slope information is represented in terms of an angle or a percentage. In an autonomous driving system, the slope information helps a vehicle predict dynamic changes during driving, such as required increases in power, possible sliding risks, and impacts on vehicle stability. 2025202569   31 Aug 2026 The point cloud data is a dataset composed of a large number of points, where each point contains position information in a three-dimensional space (typically X, Y, Z coordinates). The point cloud data represents the slope information in various ways, such as through height changes, angular changes, and surface fitting. Exemplarily, the heights of different points are compared to determine ascending or descending areas of the terrain. Alternatively, through calculating an angle between a plane formed by adjacent points in the point cloud data and the horizontal plane, the magnitude of the slope can be quantified. Additionally, a mathematical model (such as polynomial surface fitting) is used for simulating a surface formed by the point cloud data, thereby estimating the slope. From this, the slope information describes an inclination degree of the terrain, while the point cloud data provides a method for representing this inclination degree using positional information of numerous points in the three-dimensional space. In the autonomous driving system, the slope information is crucial for vehicle navigation, stability control and driving safety. In step S120, based on the terrain-related information at the preview distance, a type of an upcoming slope is determined. In some embodiments, the current slope type includes an uphill slope and a downhill slope. Exemplarily, when a ratio of a vertical rise distance of a road to a horizontal advance distance exceeds a certain threshold (such as, 10% or 15%), the uphill slope is determined. For the downhill slope, the same logic applies, meaning that when a ratio of a vertical drop distance of the road to the horizontal advance distance exceeds another certain threshold, or when an inclination angle of the road exceeds 5 to 10 degrees, it can be considered that there is a significant uphill slope or downhill slope. In some embodiments, FIG. 2 illustrates a schematic diagram of an uphill slope according to some embodiments of the present disclosure. FIG. 3 illustrates a schematic diagram of a downhill slope according to some embodiments of the present disclosure. As shown in FIG. 2, d3 is the vertical rise distance, and d2 is the horizontal advance distance. When d3 / d2 exceeds a preset threshold, it is determined that the current slope type is the uphill slope. Similarly, as shown in FIG. 3, d5 is the horizontal advance distance, and d6 is the vertical drop distance. 2025202569   31 Aug 2026 When d6 / d5 exceeds another preset threshold, it is determined that the current slope type is the downhill slope. In step S130, the target vehicle is controlled to enter a slope control mode corresponding to the type of the upcoming slope. The slope control mode includes a downhill slope control mode or an uphill slope control mode, and under the downhill slope control mode, the target vehicle is controlled based on a downhill control strategy, and under the uphill slope control mode, the target vehicle is controlled based on an uphill control strategy. Specifically, the downhill control strategy includes: adjusting a current target speed of the target vehicle and controlling the target vehicle to follow the adjusted speed until the target vehicle enters an upcoming downhill slope; and / or the uphill control strategy includes: controlling the target vehicle to determine, based on at least one of a gradient of the upcoming slope and a current actual speed of the target vehicle, whether to perform speed following for the current target speed; where the current target speed is a target speed corresponding to a current moment issued by a planning module or a target speed corresponding to a current moment obtained by previewing trajectory points. Exemplarily, it is assumed that the current target speed of the target vehicle is V1. Specifically, before the target vehicle is about to enter the downhill slope, the current target speed of the target vehicle will be adjusted based on factors such as the slope, length, and road surface conditions of the downhill slope to ensure safe passage through the downhill slope. After adjusting the current target speed, the target vehicle is further controlled to travel at this adjusted speed until the target vehicle enters a downhill section. That is, the target vehicle will decelerate in advance to maintain an appropriate speed during descent, avoiding over-speeding caused by gravitational acceleration. Taking FIG. 3 as an example, when the target vehicle determines at a point D, based on terrain-related information at a preview distance E, that the upcoming slope type is the downhill slope, then the target vehicle begins to adjust V1 at the point D to obtain V2, and the target vehicle is controlled to follow the V2 while traveling along a segment DE. When the target vehicle is about to enter the uphill slope, the slope of the upcoming slope and the actual speed of the target vehicle will be evaluated to decide whether the current target 2025202569   31 Aug 2026 speed should continue to be followed. Taking FIG. 2 as an example, at a certain point on a segment BC, when the slope encountered by the target vehicle exceeds a preset threshold, the target vehicle will be controlled to no longer follow the V1. In the embodiments of the present disclosure, through the terrain information at the preview distance, the type of slope can be identified in advance and a control mode corresponding to the type of slope can be entered, which allows for more effective management of the target vehicle speed and reduces the risk caused by inaccurate speed control due to control delay as well as the risks associated with excessive or insufficient speed. In addition, through precise speed control, unnecessary acceleration or deceleration is avoided, thereby reducing energy consumption, especially in heavy or cargo-carrying autonomous mining vehicles. Furthermore, this solution can adapt to different slope conditions, providing appropriate control strategies for both uphill and downhill scenarios, thereby enhancing the adaptability of autonomous driving vehicles and improving overall driving efficiency. FIG. 4 illustrates a schematic diagram of adjusting a current target speed according to some embodiments of the present disclosure. The embodiment shown in FIG. 4 is derived from the embodiment shown in FIG. 1. Below, the differences between the embodiment shown in FIG. 4 and the embodiment shown in FIG. 1 will be emphasized, while the similarities will not be repeated. As shown in FIG. 4, in some embodiments, an operation of adjusting the current target speed of the target vehicle includes the following steps. In step S410, a speed adjustment value is determined based on a normal downhill overshoot speed. The normal downhill overshoot speed represents an additional speed amount by which an actual speed of the target vehicle exceeds the current target speed due to actuator delay during downhill travel. In some embodiments, the speed adjustment value is equal to the normal downhill overshoot speed. Exemplarily, the slope of the upcoming downhill slope in front of the target vehicle is 15%, and a cruise speed of the target vehicle on a flat road section is set to 60 km / h. At a starting point of the downhill slope, due to actuator delay, the actual speed of the vehicle exceeds the 2025202569   31 Aug 2026 preset cruise speed of 60 km / h. It is assumed that without any intervention, the actual speed of the vehicle increases to 65 km / h, then the normal downhill overshoot speed refers to a portion by which the actual speed exceeds the target speed. In this example, the overshoot speed is 65 km / h - 60 km / h = 5 km / h. In step S420, the current target speed of the target vehicle is adjusted based on the speed adjustment value. In other words, based on the vehicle speed adjustment value, the current target speed is correspondingly reduced to ensure that the actual speed during the descent does not exceed a safe or comfortable threshold. In some embodiments, the vehicle speed is dynamically adjusted according to different downhill slopes, enhancing the adaptability of the autonomous driving vehicle to varying terrains. Moreover, through adjusting the speed to suit the downhill section, the risk of losing control due to over-speeding can be reduced. Through precise speed control, unnecessary acceleration and braking can be minimized, and the energy consumption of the target vehicle can further be reduced. FIG. 5 illustrates a flowchart of determining whether to perform speed following for a current target speed according to some embodiments of the present disclosure. The embodiment shown in FIG. 5 is derived from the embodiment shown in FIG. 1. Below, the differences between the embodiment shown in FIG. 5 and the embodiment shown in FIG. 1 will be emphasized, while the similarities will not be repeated. As shown in FIG. 5, in some embodiments, an operation of controlling the target vehicle to determine, based on at least one of the gradient of the upcoming slope and the current actual speed of the target vehicle, whether to perform speed following for the current target speed includes the following steps. In step S510, speed following is performed based on the current target speed, and in response to the gradient of the upcoming slope being greater than a target gradient, the target vehicle is controlled to stop performing speed following for the current target speed. Exemplarily, continuing to refer to FIG. 2, the target vehicle performs speed following based on the current target speed on a slope BC. During this process, the target vehicle continuously 2025202569   31 Aug 2026 collects the terrain-related information and determines the slope at the current driving position. When the target vehicle reaches a point g, the slope at this point is determined to be 34° based on a tangent line l at this point. Since the slope at this point of 34° is greater than the target slope of 30°, the target vehicle is controlled to stop following the current target speed. In some embodiments, after controlling the target vehicle to stop following the current target speed, the throttle of the target vehicle is further adjusted to the specified opening, and the target vehicle is controlled to climb the slope based on the throttle at the specified opening until the current actual speed is less than the real-time target speed of the target vehicle during the uphill process. It can be understood that adjusting the throttle to the specified opening means that the throttle opening at the current moment is smaller than the throttle opening at the previous moment. Exemplarily, the size of the reduced throttle is determined by sensing and acquiring the terrain of the slope (such as concave / convex features, small obstacles, etc.). In some examples, the specified opening is less than a preset opening threshold, which ensures that the target vehicle does not over-accelerate during the uphill process, thereby avoiding unnecessary energy consumption and excessive pressure on a power system of the vehicle. In some embodiments, the preset opening threshold is calculated based on factors such as the weight of the vehicle, the slope, road conditions, and vehicle performance, aiming to provide appropriate power for uphill driving. In other examples, the specified opening is zero, meaning that after stopping the speed-following control, the throttle is set to zero, and the target vehicle relies on the inertia of this target vehicle to climb the slope. After adjusting the throttle to the specified opening, the target vehicle will drive at this specified opening until the target vehicle reaches the top of an uphill section or until the current actual speed is lower than the real-time target speed of the target vehicle during the uphill process. The real-time target speed is either the target speed issued by the planning module for the corresponding moment during the uphill process of the target vehicle or the target speed obtained through trajectory preview. In some embodiments, when the current actual speed is lower than the real-time target speed during the uphill process, it indicates that the current driving speed of the target vehicle has not reached the planned or previewed target speed provided by a control system of the vehicle. This may occur because the target vehicle lacks sufficient power to achieve the predetermined speed. At this point, the target vehicle cannot 2025202569   31 Aug 2026 continue to drive with the throttle at the specified opening, otherwise, the target vehicle may fail to safely complete the climb. Additionally, in some embodiments, after entering the uphill slope control mode, the target vehicle performs speed following based on the target speed at the moment the target vehicle enters the uphill slope control mode. When the slope of the upcoming slope exceeds the target slope, the target vehicle stops following the target speed at the moment the target vehicle entered the uphill slope control mode. It can be understood that during uphill driving, to overcome the influence of gravity, the target vehicle is required to increase the speed of the target vehicle to maintain power and climbing ability, ensuring sufficient power during the uphill process and preventing the vehicle from stopping or reversing due to excessively low speed. Therefore, the target speed V3 when the target vehicle enters the uphill slope control mode is greater than the current target speed V1 before entering the uphill slope control mode. Taking FIG. 2 as an example, it is assumed that the target vehicle previews at a point A that a segment BC is an uphill slope. The target vehicle then enters the uphill slope control mode at the point A and continues to perform speed following based on the target speed V3 in this mode until reaching a certain position on the BC slope where the slope at this position exceeds the target slope. In step S520, in response to the current actual speed being less than a real-time target speed of the target vehicle during an uphill process, the target vehicle is controlled to perform speed following for the current target speed. As described above, the real-time target speed is determined based on the planning module or trajectory preview and reflects the speed that the target vehicle should achieve at a specific moment. When the actual speed is lower than this target, the control system will take measures, such as increasing the throttle opening, to maintain the expected driving speed. In some embodiments, during the uphill process, the current actual speed of the target vehicle is matched with the target speed provided by the planning module or the target speed obtained through trajectory preview to ensure that the target vehicle climbs the slope according to the predetermined driving strategy. Exemplarily, during this process, the throttle opening is dynamically adjusted in real-time based on a driving status to achieve speed following for the current target speed. 2025202569   31 Aug 2026 In some embodiments, the driving strategy of the vehicle is adjusted based on the actual slope and the vehicle speed. Through reasonably distributing power output according to the real-time slope and the vehicle speed, overloading of the engine or motor can be avoided. At the same time, the risk of losing control on the slope can be reduced, thereby enhancing driving safety and improving the adaptability and reliability of the target vehicle. FIG. 6 illustrates a flowchart of controlling a target vehicle to exit a slope control mode according to some embodiments of the present disclosure. The embodiment shown in FIG. 6 is derived from the embodiment shown in FIG. 1. Below, the differences between the embodiment shown in FIG. 6 and the embodiment shown in FIG. 1 will be emphasized, while the similarities will not be repeated. As shown in FIG. 6, in some embodiments, an operation of controlling the target vehicle to exit the slope control mode includes the following steps. In step S610, in response to determining, based on terrain-related information at a current arrival position of the target vehicle, that the target vehicle has entered the downhill slope, the target vehicle is controlled to exit the downhill slope control mode and the target vehicle is controlled to perform speed following based on the current target speed. After previewing an upcoming downhill slope ahead, the target vehicle enters the downhill slope control mode, first decelerating and then performing speed following based on the reduced speed. Then, after actually entering the downhill slope, the target vehicle exits the downhill slope control mode, and the target vehicle no longer follows the reduced speed but instead follows the normal target speed before entering the downhill slope control mode for driving. Specifically, the deceleration during the preview of the downhill slope is performed to safely prepare for entering the downhill section. Once the target vehicle is already in the downhill state, the control system is required to adapt to new driving conditions. At this point, the target vehicle no longer follows the adjusted speed but controls the target vehicle to perform speed following based on the current target speed. In step S620, in response to receiving an emergency braking request when the target vehicle is in the downhill slope control mode or the uphill slope control mode, the target vehicle is 2025202569   31 Aug 2026 controlled to exit the slope control mode and the target vehicle is controlled to perform speed following based on the current target speed. Specifically, the emergency braking request includes an emergency stop signal issued through an emergency braking pedal, a potential collision risk detected by an automatic emergency braking system, a loss-of-control risk detected by a vehicle stability control system or other safety systems, etc. In case of an emergency situation, immediate action is required, and the speed adjustment under the slope control mode may not meet the requirements of emergency braking. Therefore, when the emergency braking request is received, a response is immediately made, and the current slope control mode is exited. After exiting the slope control mode, speed-following control is switched, that is, speed following is performed based on the current target speed. In some embodiments, through exiting the slope control mode when entering the downhill slope and performing speed following based on the current target speed, the response to sudden situations can be more flexible, thereby enhancing driving safety. Furthermore, the present solution can dynamically adjust driving strategies according to real-time terrain information and the status of the target vehicle, ensuring that the target vehicle maintains optimal driving performance under different road conditions. Especially in emergency situations, it can quickly respond to the emergency braking request, reducing the burden of driving operations. Through timely emergency braking and reasonable speed control, traffic accidents can be effectively reduced, thereby protecting driving safety. FIG. 7 illustrates a flowchart of another vehicle control method according to some embodiments of the present disclosure. Based on the embodiment shown in FIG. 1, the embodiment shown in FIG. 7 is derived. Below, the differences between the embodiment shown in FIG. 7 and the embodiment shown in FIG. 1 will be emphasized, while the similarities will not be repeated. As shown in FIG. 7, before determining the terrain-related information at the preview distance in the forward direction of the target vehicle, the method further includes the following steps. In step S710, a current actual speed of the target vehicle is acquired. 2025202569   31 Aug 2026 Exemplarily, a rotational speed of each wheel is directly measured by a vehicle speed sensor, and rotational speed information is converted into speed data of the target vehicle; alternatively, the current actual speed of the target vehicle is obtained via a GPS receiver. In step S720, the preview distance in the forward direction of the target vehicle is determined based on the current actual speed. Exemplarily, the preview distance S=V1*T, where V1 is the current actual speed (unit: m / s) of the vehicle, and T is a preview time period (unit: s). Therefore, the meaning of the preview distance is a distance traveled by the vehicle from a current position after the preview time period T, thus obtaining the slope at a position S ahead based on the preview distance can be used for determining whether the road ahead is an uphill or downhill slope. Generally, the faster the vehicle speed, the longer the required preview distance is required to be in order to allow sufficient time for response. In some embodiments, through acquiring vehicle speed information and determining the preview distance, more comprehensive and accurate road information is provided for the target vehicle, thereby enhancing driving safety, comfort, energy efficiency, and intelligence. Moreover, through acquiring the current vehicle speed and determining the preview distance, it becomes possible to better predict and respond to upcoming road conditions, thus taking appropriate measures to avoid potential hazards. More specifically, understanding the terrain information within the preview distance helps the autonomous driving system make more precise driving decisions. The above description, in conjunction with FIG. 1 to FIG. 7, provides a detailed explanation of the embodiments of the vehicle control method of the present disclosure. Below, in conjunction with FIG. 8, a detailed description of the embodiments of the vehicle control apparatus of the present disclosure will be provided. It should be understood that the description of the vehicle control method embodiments corresponds to the description of the vehicle control apparatus embodiments. Therefore, parts not described in detail may refer to the preceding method embodiments. FIG. 8 illustrates a structural schematic diagram of a vehicle control apparatus according to some embodiments of the present disclosure. As shown in FIG. 8, the vehicle control apparatus 80 provided by some embodiments of the present disclosure includes: 2025202569   31 Aug 2026 a first determination module 810, arranged for determining terrain-related information at a preview distance in a forward direction of a target vehicle; a second determination module 820, arranged for, based on the terrain-related information at the preview distance, determining a type of an upcoming slope; and a control module 830, arranged for controlling the target vehicle to enter a slope control mode corresponding to the type of the upcoming slope, where the slope control mode includes a downhill slope control mode or an uphill slope control mode, and under the downhill slope control mode, the target vehicle is controlled based on a downhill control strategy, and under the uphill slope control mode, the target vehicle is controlled based on an uphill control strategy; where the downhill control strategy includes: adjusting a current target speed of the target vehicle and controlling the target vehicle to follow the adjusted speed until the target vehicle enters an upcoming downhill slope; and / or the uphill control strategy includes: controlling the target vehicle to determine, based on at least one of a gradient of the upcoming slope and a current actual speed of the target vehicle, whether to perform speed following for the current target speed; and the current target speed is a target speed corresponding to a current moment issued by a planning module or a target speed corresponding to a current moment obtained by previewing trajectory points. In some embodiments, the control module 830 is further arranged for determining a speed adjustment value based on a normal downhill overshoot speed, where the normal downhill overshoot speed represents an additional speed amount by which an actual speed of the target vehicle exceeds the current target speed due to actuator delay during downhill travel; and adjusting the current target speed of the target vehicle based on the speed adjustment value. In some embodiments, the control module 830 is further arranged for in response to determining, based on terrain-related information at a current arrival position of the target vehicle, that the target vehicle has entered the downhill slope, controlling the target vehicle to exit the downhill slope control mode and controlling the target vehicle to perform speed following based on the current target speed. 2025202569   31 Aug 2026 In some embodiments, the control module 830 is further arranged for performing speed following based on the current target speed, and in response to the gradient of the upcoming slope being greater than a target gradient, controlling the target vehicle to stop performing speed following for the current target speed; and / or, in response to the current actual speed being less than a real-time target speed of the target vehicle during a uphill process, controlling the target vehicle to perform speed following for the current target speed, where the real-time target speed is a target speed corresponding to a moment during a uphill process of the target vehicle issued by the planning module or obtained by previewing trajectory points. In some embodiments, the control module 830 is further arranged for controlling a throttle of the target vehicle to a specified opening, and controlling the target vehicle to climb the slope based on the throttle at the specified opening until the current actual speed is less than the realtime target speed of the target vehicle during the uphill process. In some embodiments, the specified opening is less than a preset opening threshold. In some embodiments, the first determination module 810 is further arranged for acquiring a current actual speed of the target vehicle; and determining the preview distance in the forward direction of the target vehicle based on the current actual speed. In some embodiments, the terrain-related information includes at least one of gradient information and point cloud data representing the gradient information. In some embodiments, the control module 830 is further arranged for, in response to receiving an emergency braking request when the target vehicle is in the downhill slope control mode or the uphill slope control mode, controlling the target vehicle to exit the slope control mode and controlling the target vehicle to perform speed following based on the current target speed. As shown in FIG. 9, the following descripts an electronic device provided by some embodiments of the present disclosure. FIG. 9 illustrates a structural schematic diagram of an electronic device according to some embodiments of the present disclosure. As shown in FIG. 9, the electronic device 90 includes at least one processor 901 and a memory 902. 2025202569   31 Aug 2026 The processor 901 is a central processing unit (CPU) or another form of processing unit with at least one of a data processing capability and an instruction execution capability, and controls other components of the electronic device 90 to perform desired functions. The memory 902 includes at least one computer program product, which includes various forms of a computer-readable storage medium, such as a transitory memory and / or a non-transitory memory. The transitory memory includes a random access memory (RAM) and / or a high speed cache memory, among others. The non-transitory memory includes a read-only memory (ROM), a hard drive, a flash memory, etc. The computer-readable storage medium stores at least one computer program instruction, and the processor 901 executes the at least one computer program instruction to achieve the vehicle control methods of various embodiments of the present disclosure as described above, as well as / or other desired functions. The computer-readable storage medium further stores various contents including terrain-related information, current actual speed, uphill slope control strategy, downhill slope control strategy, etc. In some examples, the electronic device 90 further includes: an input device 903 and an output device 904, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown). The input device 903 includes a keyboard, a mouse, etc. The output device 904 outputs various information externally, including terrain-related information, current actual speed, uphill slope control strategy, downhill slope control strategy, etc. The output device 904 includes a display, a speaker, a printer, and a remote output device connected with a communication network, etc. Of course, for simplification, FIG. 9 shows some of the components of the electronic device 90 relevant to the present disclosure, omitting components such as buses, input / output interfaces, etc. In addition, depending on specific application scenarios, the electronic device 90 further includes any other appropriate components. Besides the aforementioned methods and devices, some embodiments of the present disclosure further provide a computer program product including computer program instructions. When the computer program instructions executed by the processor, the computer program 2025202569   31 Aug 2026 instructions make the processor to perform the steps of the vehicle control methods described in the present disclosure according to various embodiments. The computer program product is written in at least one programming language in any combination for executing program code according to the operations of the embodiments of the present disclosure. The at least one programming language includes an object-oriented programming language such as Java, C++, and further includes a conventional procedural programming language such as “C” or a similar programming language. The program code is entirely executed on a user computing device, partially executed on a user equipment, executed as an independent software package, partially executed on the user computing device and partially executed on a remote computing device, or entirely executed on a remote computing device or server. In addition, some embodiments of the present disclosure further provide a computer-readable storage medium storing computer program instructions. When the computer program instructions are executed by the processor, the computer program instructions cause the processor to perform the steps of the vehicle control methods described in the present disclosure according to various embodiments. The computer-readable storage medium adopts any combination of at least one readable medium. The readable medium is a readable signal medium or a readable storage medium. Examples of readable storage medium include but are not limited to electric, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or components, or any combination thereof. More specific examples of the readable storage medium (non-exhaustive list) include: an electrical connection having at least one wire, a portable disk, a hard drive, a random access memory (RAM), a read-only memory (ROM), an erasable programmable readonly memory (EPROM or flash memory), a fiber optic, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. The above description combining specific embodiments describes the basic principles of the present disclosure. However, it should be noted that the advantages, benefits, effects, etc., mentioned in the present disclosure are exemplary and not restrictive, and these advantages, benefits, effects, etc., are not required to be possessed by all embodiments of the present 2025202569   31 Aug 2026 disclosure. Furthermore, the specific details disclosed above are for illustrative purposes and to facilitate understanding, and these details do not limit the present disclosure to necessarily implement the specific details disclosed herein. The block diagrams of components, apparatuses, devices and systems involved in the present disclosure are provided as illustrative examples and do not intend to require or imply that these components, apparatuses, devices and systems must be connected, arranged, or configured in the manner shown in the block diagrams. As a person having ordinary skill in the art will recognize, these components, apparatuses, devices and systems can be connected, arranged, or configured in any manner. Words such as “include”, “contain”, “have” etc., are open-ended terms meaning “including but not limited to” and may be used interchangeably. The terms “or” and “and” used herein refer to the term “and / or” and may be used interchangeably unless the context explicitly indicates otherwise. The term “such as” used herein refers to the phrase “such as but not limited to” and may be used interchangeably. It should also be pointed out that, in the apparatuses, devices and methods of the present disclosure, various components or steps can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure. The foregoing description of the disclosed aspects is provided to enable a person having ordinary skill in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to a person having ordinary skill in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. For the purpose of illustration and description, the above description has been given. Moreover, the above description does not intend to restrict the implementations of the present disclosure to the forms disclosed herein. Although multiple exemplary aspects and embodiments have been discussed above, a person having ordinary skill in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A vehicle control method, comprising:determining terrain-related information at a preview distance in a forward direction of a target vehicle;based on the terrain-related information at the preview distance, determining a type of an upcoming slope; andcontrolling the target vehicle to enter a slope control mode corresponding to the type of the upcoming slope, wherein the slope control mode comprises a downhill slope control mode or an uphill slope control mode, and under the downhill slope control mode, the target vehicle is controlled based on a downhill control strategy, and under the uphill slope control mode, the target vehicle is controlled based on an uphill control strategy;wherein the downhill control strategy comprises: adjusting a current target speed of the target vehicle and controlling the target vehicle to follow the adjusted speed until the target vehicle enters an upcoming downhill slope; and / or the uphill control strategy comprises: controlling the target vehicle to determine, based on at least one of a gradient of the upcoming slope and a current actual speed of the target vehicle, whether to perform speed following for the current target speed;wherein the current target speed is a target speed corresponding to a current moment issued by a planning module or a target speed corresponding to a current moment obtained by previewing trajectory points;in response to determining, based on terrain-related information at a current arrival position of the target vehicle, that the target vehicle has entered the downhill slope, controlling the target vehicle to exit the downhill slope control mode and controlling the target vehicle to perform speed following based on the current target speed.

2. The vehicle control method according to claim 1, wherein adjusting the current target speed of the target vehicle comprises:determining a speed adjustment value based on a normal downhill overshoot speed, wherein the normal downhill overshoot speed represents an additional speed amount by which an actual speed of the target vehicle exceeds the current target speed due to actuator delay during downhill travel; andadjusting the current target speed of the target vehicle based on the speed adjustment value.2025202569   31 Aug 20263. The vehicle control method according to claim 1 or 2, wherein controlling the target vehicle to determine, based on at least one of the gradient of the upcoming slope and the current actual speed of the target vehicle, whether to perform speed following for the current target speed comprises:performing speed following based on the current target speed, and in response to the gradient of the upcoming slope being greater than a target gradient, controlling the target vehicle to stop performing speed following for the current target speed; and / or,in response to the current actual speed being less than a real-time target speed of the target vehicle during an uphill process, controlling the target vehicle to perform speed following for the current target speed, wherein the real-time target speed is a target speed corresponding to a moment during an uphill process of the target vehicle issued by the planning module or obtained by previewing trajectory points.

4. The vehicle control method according to claim 3, wherein after controlling the target vehicle to stop performing speed following for the current target speed, the vehicle control method further comprises:controlling a throttle of the target vehicle to a specified opening, and controlling the target vehicle to climb the slope based on the throttle at the specified opening until the current actual speed is less than the real-time target speed of the target vehicle during the uphill process.

5. The vehicle control method according to claim 4, wherein the specified opening is less than a preset opening threshold.

6. The vehicle control method according to claim 1 or 2, wherein before determining the terrain-related information at the preview distance in the forward direction of the target vehicle, the vehicle control method further comprises:acquiring a current actual speed of the target vehicle; anddetermining the preview distance in the forward direction of the target vehicle based on the current actual speed.

7. The vehicle control method according to claim 1 or 2, wherein the terrain-related information comprises at least one of gradient information and point cloud data representing the gradient information.

8. The vehicle control method according to claim 1 or 2, further comprising:2025202569   31 Aug 2026in response to receiving an emergency braking request when the target vehicle is in the downhill slope control mode or the uphill slope control mode, controlling the target vehicle to exit the slope control mode and controlling the target vehicle to perform speed following based on the current target speed.

9. The vehicle control method according to claim 1, wherein the forward direction refers to a current driving direction of the target vehicle.

10. The vehicle control method according to claim 1, wherein the preview distance is a preset distance value indicating how far in advance an autonomous driving system of the target vehicle is required to perceive and analyze terrain information ahead.

11. The vehicle control method according to claim 1, wherein the target vehicle scans forward road environment to construct a real-world environmental map and obtain the terrain-related information at the preview distance through the real-world environmental map.

12. The vehicle control method according to claim 1, wherein the type of the upcoming slope comprises an uphill slope and a downhill slope.

13. The vehicle control method according to claim 2, wherein the speed adjustment value is equal to the normal downhill overshoot speed.

14. The vehicle control method according to claim 4, wherein controlling the throttle of the target vehicle to the specified opening refers to a throttle opening at the current moment is smaller than a throttle opening at the previous moment.

15. The vehicle control method according to claim 5, wherein the specified opening is zero.

16. The vehicle control method according to claim 8, wherein the emergency braking request comprises one of the followings:an emergency stop signal issued through an emergency braking pedal;a potential collision risk detected by an automatic emergency braking system; anda loss-of-control risk detected by a vehicle stability control system or other safety systems.

17. A vehicle control apparatus, comprising:a first determination module, arranged for determining terrain-related information at a preview distance in a forward direction of a target vehicle;a second determination module, arranged for, based on the terrain-related information at the preview distance, determining a type of an upcoming slope; anda control module, arranged for controlling the target vehicle to enter a slope control mode2025202569   31 Aug 2026corresponding to the type of the upcoming slope, wherein the slope control mode comprises a downhill slope control mode or an uphill slope control mode, and under the downhill slope control mode, the target vehicle is controlled based on a downhill control strategy, and under the uphill slope control mode, the target vehicle is controlled based on an uphill control strategy;wherein the downhill control strategy comprises: adjusting a current target speed of the target vehicle and controlling the target vehicle to follow the adjusted speed until the target vehicle enters an upcoming downhill slope; and / or the uphill control strategy comprises: controlling the target vehicle to determine, based on at least one of a gradient of the upcoming slope and a current actual speed of the target vehicle, whether to perform speed following for the current target speed;wherein the current target speed is a target speed corresponding to a current moment issued by a planning module or a target speed corresponding to a current moment obtained by previewing trajectory points;wherein the vehicle control apparatus further arranged for in response to determining, based on terrain-related information at a current arrival position of the target vehicle, that the target vehicle has entered the downhill slope, controlling the target vehicle to exit the downhill slope control mode and controlling the target vehicle to perform speed following based on the current target speed.

18. A computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program is used for executing the vehicle control method as claimed in any one of claims 1 to 16.

19. An electronic device, comprising:a processor;a memory, arranged for storing executable instructions of the processor; andthe processor is arranged for executing the vehicle control method as claimed in any one of claims 1 to 16.

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