Vehicle control method, system, vehicle and storage medium

Abstract

The present invention discloses a vehicle control method, system, vehicle and storage medium, wherein the method comprises: monitoring the gear state of the vehicle, wherein the gear state includes an in-gear state and an out-of-gear state; in response to the gear state being an in-gear state, determining the initial position of the shift fork; according to the initial position, determining the relative position and movement speed of the shift fork; according to the relative position and movement speed, determining the output torque, wherein the output torque is used to guide the output of the gear execution system. The present invention solves the technical problem in the prior art that the vehicle is easily out of gear on a bumpy road or under a large input torque requirement.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular, relates to a vehicle control method, system, vehicle and storage medium. Background Art

[0002] Synchronizers are widely used in modern transmissions, especially passenger car transmissions. Even with the rapid development of vehicle electrification, synchronizers are still widely used in hybrid transmissions. They are popular among automatic transmission design engineers for their low noise and low vibration.

[0003] However, the design of the gear sleeve's inverted cone angle cannot fully take into account the requirements of gear stability (to prevent gear disengagement) and low gear disengagement force. Although the smaller inverted cone angle reduces the power requirement of the gear disengagement and engagement execution system, it brings the risk of gear disengagement, especially on bumpy roads or under large input torque requirements, the vehicle is prone to the risk of gear disengagement. Summary of the invention

[0004] The embodiments of the present invention provide a vehicle control method, system, vehicle and storage medium to at least solve the technical problem in the prior art that the vehicle is easily out of gear on a bumpy road or under a large input torque requirement.

[0005] According to a first aspect of an embodiment of the present invention, a vehicle control method is provided, comprising: monitoring the gear state of the vehicle, wherein the gear state includes an in-gear state and an out-of-gear state; in response to the gear state being an in-gear state, determining an initial position of a shift fork; based on the initial position, determining a relative position and a movement speed of the shift fork; and determining an output torque based on the relative position and the movement speed, wherein the output torque is used to guide the output of a gear execution system.

[0006] Optionally, determining the relative position of the shift fork according to the initial position includes: acquiring the position of the shift fork to obtain the current position; and in response to a difference between the current position and the initial position being equal to a gear shift, determining the current position as the relative position.

[0007] Optionally, the vehicle control method further includes: in response to a difference between the current position and the initial position being less than the gear shifting position, executing the step of acquiring the position of the shift fork to obtain the current position.

[0008] Optionally, determining the movement speed of the fork according to the initial position includes: obtaining the movement time of the fork from the initial position to the relative position; determining the movement distance between the initial position and the relative position; and determining the movement speed according to the movement time and the movement distance.

[0009] Optionally, determining the output torque according to the relative position and the movement speed includes: according to the relative position and the movement speed, querying a preset torque comparison table to determine the output torque, wherein the preset torque comparison table includes a comparison relationship between the movement speed and the output torque.

[0010] Optionally, the preset torque comparison table is obtained by calibrating an actual vehicle.

[0011] Optionally, determining the output torque according to the relative position and the movement speed includes: determining an initial torque according to the relative position and the movement speed; and in response to the initial torque belonging to a preset torque range, determining the initial torque as the output torque.

[0012] According to a second aspect of an embodiment of the present invention, there is further provided a vehicle control system, comprising:

[0013] A monitoring module is used to monitor the gear state of the vehicle, wherein the gear state includes an in-gear state and an out-of-gear state; a first determination module is used to determine the initial position of the shift fork in response to the gear state being the in-gear state; a second determination module is used to determine the relative position and movement speed of the shift fork based on the initial position; and a third determination module is used to determine the output torque based on the relative position and movement speed, wherein the output torque is used to guide the output of the gear execution system.

[0014] Optionally, the second determination module is further used to: acquire the position of the shift fork to obtain the current position; in response to the difference between the current position and the initial position being equal to the gear shift, determine the current position as the relative position.

[0015] Optionally, the second determination module is further used for: in response to a difference between the current position and the initial position being less than the gear shifting position, executing the step of acquiring the position of the shift fork to obtain the current position.

[0016] Optionally, the second determination module is further used to: obtain the movement time of the shift fork from the initial position to the relative position; determine the movement distance between the initial position and the relative position; and determine the movement speed according to the movement time and the movement distance.

[0017] Optionally, the third determination module is further used to: query a preset torque comparison table according to the relative position and the movement speed to determine the output torque, wherein the preset torque comparison table includes a comparison relationship between the movement speed and the output torque.

[0018] Optionally, the preset torque comparison table in the third determination module is obtained by calibrating an actual vehicle.

[0019] Optionally, the third determination module is further used to: determine the initial torque according to the relative position and the movement speed; and in response to the initial torque belonging to a preset torque range, determine the initial torque as the output torque.

[0020] According to a third aspect of an embodiment of the present invention, a vehicle is also provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the vehicle control method described in any embodiment of the first aspect above.

[0021] According to a fourth aspect of an embodiment of the present invention, a non-volatile storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to execute the vehicle control method described in any embodiment of the first aspect when running on a computer or a processor.

[0022] In an embodiment of the present invention, the gear state of the vehicle is first monitored, wherein the gear state includes an in-gear state and an out-of-gear state; then, in response to the gear state being an in-gear state, the initial position of the shift fork is determined; then, based on the initial position, the relative position and movement speed of the shift fork are determined; finally, the output torque is determined based on the relative position and movement speed, wherein the output torque is used to guide the output of the gear-engaging execution system. The present invention determines the output torque to guide the output of the gear-engaging execution system based on the relative position and movement speed of the shift fork when the position of the shift fork changes, so as to return the shift fork to the correct position and avoid the shift fork from being disengaged, thereby solving the technical problem in the prior art that the vehicle is easily disengaged on a bumpy road or under a large input torque requirement. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a flow chart of a vehicle control method according to one embodiment of the present invention;

[0025] Figure 2 is a structural block diagram of a vehicle control system according to one embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] According to an embodiment of the present invention, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system containing at least one set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] The method embodiment can also be executed in an electronic device including a memory and a processor, a similar control device or a cloud. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device and a display device for communication functions. It can be understood by those of ordinary skill in the art that the above structural description is only illustrative and does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0030] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, and the like. Among them, different processing units may be independent components or integrated into one or more processors. In some instances, the electronic device may also include one or more processors.

[0031] The memory can be used to store computer programs, such as storing the computer program corresponding to the vehicle control method in the embodiment of the present invention, and the processor implements the above-mentioned vehicle control method by running the computer program stored in the memory. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0032] The communication device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (radio frequency, RF) module, which is used to communicate with the Internet wirelessly. In some embodiments of the present solution, the communication device is used to connect to mobile devices such as mobile phones and tablets, and instructions can be sent to electronic devices through the mobile device.

[0033] The display device may be a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of the electronic device. In some embodiments, the electronic device has a graphical user interface (GUI), and a user may interact with the GUI by touching a finger release and / or gestures on a touch-sensitive surface, and executable instructions for executing the above-mentioned human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0034] Figure 1 is a flow chart of a vehicle control method according to one embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0035] Step S101, monitoring the gear status of the vehicle.

[0036] The gear status includes a gear state and an out-of-gear state.

[0037] It should be noted that the vehicle's in-gear state means that the vehicle's transmission is in a specific gear position, which can provide appropriate power output according to changes in vehicle speed and rotation speed. In the gear state, the vehicle can accelerate, decelerate or maintain a constant speed to adapt to different road conditions and driving needs. The vehicle's out-of-gear state means that the vehicle's transmission is in neutral or the clutch pedal is pressed. At this time, there is no direct power transmission between the engine and the wheels, and the vehicle can coast or stop freely. In the out-of-gear state, the driver can perform operations such as shifting, starting, stopping and coasting in neutral.

[0038] Step S102, in response to the gear state being in gear, determining an initial position of the shift fork.

[0039] Specifically, during the process of the vehicle switching from the non-gear state to the gear state, the transmission torque of the gear is 0. When switching to the target gear, the current position of the shift fork in the transmission is used as the initial position.

[0040] Step S103, determining the relative position and movement speed of the shift fork according to the initial position.

[0041] Specifically, after the initial position of the shift fork is obtained, the relative position of the shift fork and the movement speed of the shift fork can be determined according to the initial position of the shift fork, wherein the relative position of the shift fork is the position when the gear is shifted by the difference between the initial position and the relative position of the shift fork.

[0042] Step S104, determining the output torque according to the relative position and the movement speed.

[0043] Among them, the output torque is used to guide the output of the gear execution system.

[0044] Specifically, after the relative position and movement speed of the shift fork are determined, the output torque required by the gear shift execution system can be further determined according to the relative position and movement speed of the shift fork, and the torque acts on the shift fork to prevent the shift fork from being disengaged.

[0045] It should be noted that, the greater the value of the relative position and the movement speed, the greater the output torque required by the gear-engaging execution system, and conversely, the smaller the torque required by the gear-engaging execution system.

[0046] In an embodiment of the present invention, the gear state of the vehicle is first monitored, wherein the gear state includes an in-gear state and an out-of-gear state; then, in response to the gear state being an in-gear state, the initial position of the shift fork is determined; then, based on the initial position, the relative position and movement speed of the shift fork are determined; finally, the output torque is determined based on the relative position and movement speed, wherein the output torque is used to guide the output of the gear-engaging execution system. The present invention determines the output torque to guide the output of the gear-engaging execution system based on the relative position and movement speed of the shift fork when the position of the shift fork changes, so as to return the shift fork to the correct position and avoid the shift fork from being disengaged, thereby solving the technical problem in the prior art that the vehicle is easily disengaged on a bumpy road or under a large input torque requirement.

[0047] Optionally, in step S103, determining the relative position of the fork according to the initial position may include the following steps:

[0048] Step S1031, acquiring the position of the shift fork to obtain the current position.

[0049] Step S1032, in response to the difference between the current position and the initial position being equal to the gear shift, the current position is determined as a relative position.

[0050] Specifically, when determining the relative position of the shift fork according to the initial position of the shift fork, first obtain the current position of the shift fork. If the difference between the current position of the shift fork and the initial position of the shift fork is equal to the gear shift, the current position is determined as the relative position of the shift fork.

[0051] It is understandable that if the difference in the relative positions of the shift forks is equal to the gear position, there may be a risk of gear slipping.

[0052] Optionally, the vehicle control method further includes: in response to a difference between the current position and the initial position being less than the gear shifting position, executing the step of acquiring the position of the shift fork to obtain the current position.

[0053] It can be understood that if the difference between the current position and the initial position is less than the gear shift, it is not easy to shift out of gear at this time. Continue to execute the step of obtaining the current position of the shift fork until the difference between the current position of the shift fork and the initial position is equal to the gear shift, then execute step S1032.

[0054] Optionally, in step S103, determining the movement speed of the shift fork according to the initial position may include the following steps:

[0055] Step S1033, obtaining the movement time of the shift fork from the initial position to the relative position.

[0056] Step S1034, determining the movement distance between the initial position and the relative position.

[0057] Step S1035, determining the movement speed according to the movement time and movement distance.

[0058] Specifically, when determining the movement speed of the fork, it is first necessary to determine the relative position of the fork, then obtain the movement time of the fork from the initial position to the relative position, then determine the movement distance the fork needs to move between the initial position and the relative position, and finally determine the movement speed based on the movement distance and movement time using a preset calculation formula.

[0059] Optionally, in step S104, determining the output torque according to the relative position and the movement speed may include the following steps: according to the relative position and the movement speed, querying a preset torque comparison table to determine the output torque, wherein the preset torque comparison table includes a comparison relationship between the movement speed and the output torque.

[0060] Specifically, each relative position is combined with a movement speed value, and a unique output torque value can be obtained by looking up from a preset torque comparison table.

[0061] Optionally, the preset torque comparison table is obtained by calibrating an actual vehicle.

[0062] Optionally, in step S104, determining the output torque according to the relative position and the movement speed may include the following steps:

[0063] Step S1041, determining the initial torque according to the relative position and the movement speed.

[0064] Step S1042: in response to the initial torque belonging to the preset torque range, determining the initial torque as the output torque.

[0065] Specifically, when determining the output torque based on the relative position and the movement speed, the initial torque is first determined based on the relative position and the movement speed. If the initial torque belongs to the preset torque range, it means that the determined initial torque is a torque that meets the requirements. At this time, the initial torque can be determined as the output torque.

[0066] It is understandable that if the initial torque determined based on the relative position and the movement speed is not within the preset torque range, it means that the initial torque is incorrectly determined and cannot be used as the output torque.

[0067] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0068] In this embodiment, a vehicle control system is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" is a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0069] Figure 2 is a structural block diagram of a vehicle control system 200 according to one embodiment of the present invention. Figure 2 As shown, a system 200 for testing a vehicle high-voltage system is used as an example, including: a monitoring module 201, used to monitor the gear state of the vehicle, wherein the gear state includes an in-gear state and an out-of-gear state; a first determination module 202, used to determine the initial position of the shift fork in response to the gear state being an in-gear state; a second determination module 203, used to determine the relative position and movement speed of the shift fork based on the initial position; a third determination module 204, used to determine the output torque based on the relative position and movement speed, wherein the output torque is used to guide the gear execution system output.

[0070] Optionally, the second determination module 203 is further used to: acquire the position of the shift fork to obtain the current position; and in response to the difference between the current position and the initial position being equal to the gear shift, determine the current position as a relative position.

[0071] Optionally, the second determination module 203 is further configured to: in response to a difference between the current position and the initial position being less than the gear shifting position, execute the step of acquiring the position of the shift fork to obtain the current position.

[0072] Optionally, the second determination module 203 is further used to: obtain the movement time of the shift fork from the initial position to the relative position; determine the movement distance between the initial position and the relative position; and determine the movement speed according to the movement time and the movement distance.

[0073] Optionally, the third determination module 204 is further used to query a preset torque comparison table to determine the output torque according to the relative position and the movement speed, wherein the preset torque comparison table includes a comparison relationship between the movement speed and the output torque.

[0074] Optionally, the preset torque comparison table in the third determination module 204 is obtained by calibrating an actual vehicle.

[0075] Optionally, the third determination module 204 is further used to: determine the initial torque according to the relative position and the movement speed; and determine the initial torque as the output torque in response to the initial torque belonging to a preset torque range.

[0076] An embodiment of the present invention further provides a vehicle, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the vehicle control method described in any one of the above embodiments.

[0077] Optionally, in this embodiment, the processor in the vehicle may be configured to run a computer program to perform the following steps:

[0078] Step S101, monitoring the gear status of the vehicle.

[0079] Step S102, in response to the gear state being in gear, determining an initial position of the shift fork.

[0080] Step S103, determining the relative position and movement speed of the shift fork according to the initial position.

[0081] Step S104, determining the output torque according to the relative position and the movement speed.

[0082] Optionally, the processor in the vehicle can be configured to run a computer program to perform the following steps: acquiring the position of the shift fork to obtain the current position; in response to the difference between the current position and the initial position being equal to the gear shift, determining the current position as a relative position.

[0083] Optionally, the processor in the vehicle may be configured to run a computer program to perform the following steps: in response to a difference between the current position and the initial position being less than the gear shifting position, performing the step of acquiring the position of the shift fork to obtain the current position.

[0084] Optionally, the processor in the vehicle can be configured to run a computer program to perform the following steps: obtaining the movement time of the shift fork from the initial position to the relative position; determining the movement distance between the initial position and the relative position; and determining the movement speed based on the movement time and the movement distance.

[0085] Optionally, the processor in the vehicle can be configured to run a computer program to perform the following steps: query a preset torque comparison table based on the relative position and movement speed to determine the output torque, wherein the preset torque comparison table includes a comparison relationship between the movement speed and the output torque.

[0086] Optionally, the processor in the vehicle can be configured to run a computer program to perform the following steps: determining an initial torque based on the relative position and the speed of movement; and in response to the initial torque belonging to a preset torque range, determining the initial torque as the output torque.

[0087] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0088] An embodiment of the present invention further provides a non-volatile storage medium, in which a computer program is stored, wherein the computer program is configured to execute the vehicle control method described in any of the above embodiments when running on a computer or a processor.

[0089] Optionally, in this embodiment, the above-mentioned computer program may be configured to store a computer program for performing the following steps:

[0090] Step S101, monitoring the gear status of the vehicle.

[0091] Step S102, in response to the gear state being in gear, determining an initial position of the shift fork.

[0092] Step S103, determining the relative position and movement speed of the shift fork according to the initial position.

[0093] Step S104, determining the output torque according to the relative position and the movement speed.

[0094] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0095] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0096] In some embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the modules can be a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, modules or indirect coupling or communication connection of modules, which can be electrical or other forms.

[0097] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0098] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0099] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0100] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Monitoring the gear state of the vehicle, wherein the gear state includes an in-gear state and an out-of-gear state; In response to the gear state being an in-gear state, determining an initial position of the shift fork; Determining the relative position and movement speed of the shift fork according to the initial position; Determine an output torque according to the relative position and the movement speed, wherein the output torque is used to guide the output of a gear-engaging execution system; Wherein, according to the initial position, determining the relative position and movement speed of the shift fork includes: Acquire the position of the shift fork to obtain the current position; In response to a difference between the current position and the initial position being equal to a gear-in, the current position is determined as the relative position.

2. The vehicle control method according to claim 1, characterized in that: Also includes: In response to the difference between the current position and the initial position being less than the gear shift, the step of acquiring the position of the shift fork to obtain the current position is performed.

3. The vehicle control method according to claim 1, characterized in that: Determining the movement speed of the shift fork according to the initial position includes: Acquire the movement time of the shift fork from the initial position to the relative position; determining a movement distance between the initial position and the relative position; The movement speed is determined according to the movement time and the movement distance.

4. The vehicle control method according to claim 1, characterized in that: Determining the output torque according to the relative position and the movement speed comprises: According to the relative position and the movement speed, a preset torque comparison table is queried to determine the output torque, wherein the preset torque comparison table includes a comparison relationship between the movement speed and the output torque.

5. The vehicle control method according to claim 4, characterized in that: The preset torque comparison table is obtained by calibrating an actual vehicle.

6. The vehicle control method according to claim 1, characterized in that: Determining the output torque according to the relative position and the movement speed comprises: determining an initial torque according to the relative position and the movement speed; In response to the initial torque belonging to a preset torque range, the initial torque is determined as the output torque.

7. A vehicle control system, characterized in that: include: A monitoring module, used to monitor the gear state of the vehicle, wherein the gear state includes an in-gear state and an out-of-gear state; A first determination module, configured to determine an initial position of a shift fork in response to the gear position being in gear; A second determination module, used to determine the relative position and movement speed of the shift fork according to the initial position; A third determination module, configured to determine an output torque according to the relative position and the movement speed, wherein the output torque is used to guide the output of a gear-engaging execution system; The second determination module is further used to: obtain the position of the shift fork to obtain the current position, and in response to the difference between the current position and the initial position being equal to the gear shift, determine the current position as the relative position.

8. A vehicle comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the vehicle control method described in any one of claims 1 to 6.

9. A non-volatile storage medium, characterized in that: The non-volatile storage medium stores a computer program, wherein the computer program is configured to execute the vehicle control method described in any one of claims 1 to 6 when running on a computer or a processor.

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