A vehicle driving control method, a vehicle controller, and a vehicle

Abstract

An embodiment of the present application provides a vehicle driving control method, a vehicle controller, and a vehicle. The method includes: obtaining the actual rotational speed of the motor of the vehicle and the unit time slope change value of the road surface where the vehicle is located; the unit time slope change value is used to represent the influence degree of the road surface bumpiness on the rotational speed of the motor; if the actual rotational speed of the motor is greater than the first preset rotational speed, and the unit time slope change value is greater than the slope change threshold of the unit time, determining whether the driving parameters of the vehicle are within the preset conditions to obtain a first determination result; when the first determination result indicates that the driving parameters of the vehicle are within the preset conditions, controlling the vehicle by using a rotational speed control method. The vehicle driving control method provided by the embodiment of the present application can improve the driving stability of the vehicle.

Description

Technical Field

[0001] This application relates to the technical field of electric engineering vehicles, and particularly relates to a vehicle traveling control method, a vehicle controller, and a vehicle. Background Art

[0002] Currently, torque control is generally adopted for the traveling control of electric engineering vehicles. Through dynamic torque control technology, the motor output torque can be adjusted in real time according to the load change to achieve high efficiency, energy saving, and precise control.

[0003] A loader is a heavy machine used for shoveling, transporting, and short-distance transporting bulk materials. When the loader runs at high speed in the first gear and encounters a bumpy road surface, the vehicle body is prone to jitter. At this time, the stability of the vehicle controlled by torque is poor.

[0004] Therefore, there is an urgent need for a vehicle traveling control method to control the vehicle by speed when the vehicle body jitters, so as to improve the traveling stability of the vehicle. Summary of the Invention

[0005] The embodiments of this application provide a vehicle traveling control method, a vehicle controller, and a vehicle to improve the stability of the vehicle during traveling.

[0006] According to the first aspect of the embodiments of this application, a vehicle traveling control method is provided. The method includes:

[0007] Obtain the actual motor speed of the vehicle and the unit time slope change value of the road surface where the vehicle is located; the unit time slope change value is used to represent the influence degree of the road surface bump on the motor speed;

[0008] If the actual motor speed is greater than the first preset speed, and the unit time slope change value is greater than the slope change threshold per unit time,

[0009] Judge whether the driving parameters of the vehicle are within the preset conditions to obtain a first judgment result;

[0010] When the first judgment result indicates that the driving parameters of the vehicle are within the preset conditions, control the vehicle by using a speed control method.

[0011] In one embodiment, the driving parameters include the accelerator pedal opening. Judging whether the driving parameters of the vehicle are within the preset conditions to obtain a first judgment result includes:

[0012] Judge whether the accelerator pedal opening of the vehicle is greater than the first preset opening threshold to obtain a second judgment result;

[0013] When the second judgment result indicates that the accelerator pedal opening is greater than the first preset opening threshold, the driving parameters are within the preset conditions.

[0014] In one embodiment, the driving parameters include the state of charge (SOC) of the battery. Determining whether the driving parameters of the vehicle are within a preset condition to obtain a first determination result includes:

[0015] Determining whether the SOC of the vehicle is within a first preset state-of-charge range of the battery to obtain a third determination result;

[0016] When the third determination result indicates that the SOC of the vehicle is within the first preset state-of-charge range of the battery, the driving parameters are within the preset condition.

[0017] In one embodiment, the driving parameters include the gradient value of the road surface where the vehicle is located. Determining whether the driving parameters of the vehicle are within a preset condition to obtain a first determination result includes:

[0018] Determining whether the gradient value is within a preset gradient range to obtain a fourth determination result;

[0019] When the fourth determination result indicates that the gradient value is within the preset gradient range, the driving parameters are within the preset condition.

[0020] In one embodiment, controlling the vehicle using a rotational speed control method includes:

[0021] Sending a rotational speed control signal and a target rotational speed to a microcontroller unit (MCU).

[0022] In one embodiment, the driving parameters include the accelerator pedal opening and the SOC of the battery. The method further includes: when the actual rotational speed of the motor is less than a second preset rotational speed, determining whether the accelerator pedal opening is less than a second preset opening threshold to obtain a fifth determination result; determining whether the SOC is less than a second preset state-of-charge value to obtain a sixth determination result;

[0023] When the fourth determination result indicates no, or when the fifth determination result or the sixth determination result indicates yes, controlling the vehicle using a torque control method.

[0024] In one embodiment, controlling the vehicle using a torque control method includes:

[0025] Sending a torque control signal and a required rotational speed to the MCU.

[0026] According to a second aspect of the embodiments of the present application, a vehicle controller is provided. The vehicle controller includes a memory and a processor;

[0027] The memory is connected to the processor and is used to store a program;

[0028] The processor is used to implement the vehicle driving control method according to the first aspect or any embodiment of the first aspect by running the program in the memory.

[0029] According to a third aspect of the embodiments of the present application, a vehicle is provided, and the vehicle includes the vehicle controller of the second aspect.

[0030] For the vehicle driving control method provided by the embodiments of the present application, by obtaining the actual motor speed of the vehicle and the unit time slope change value of the road surface where the vehicle is located, if the actual motor speed of the vehicle is greater than the first preset speed and the unit time slope change value is greater than the slope change threshold per unit time, it is determined whether the driving parameters of the vehicle are within the preset conditions to obtain a first determination result. When the first determination result indicates that the driving parameters of the vehicle are within the preset conditions, the speed control method is used to control the vehicle. In the vehicle driving control method in the embodiments of the present application, when the vehicle speed is relatively high and the road conditions are poor, speed control can be adopted to avoid fluctuations caused by vehicle speed changes and improve the driving stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0032] Figure 1 It is a schematic diagram of the implementation scenario of the vehicle driving control provided by the embodiments of the present application;

[0033] Figure 2 It is a flowchart of the vehicle driving control method provided by the embodiments of the present application;

[0034] Figure 3 It is a schematic diagram of the hardware structure of an electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0036] Currently, electric construction machinery vehicles generally adopt torque control for driving control. Through dynamic torque control technology, the motor output torque can be adjusted in real time according to load changes to achieve high efficiency, energy saving and precise control.

[0037] A loader is a heavy machinery used for shoveling, transporting, and short-distance transporting bulk materials. When the loader is running at high speed in the first gear and encounters a bumpy road surface, the vehicle body is prone to jitter, and at this time, the use of torque control for vehicle stability is poor.

[0038] The embodiment of the present application provides a vehicle traveling control method, a vehicle controller, and a vehicle. Based on the actual motor speed of the vehicle and the slope change value per unit time, when the vehicle speed is high and the road conditions are poor, speed control is adopted, which can avoid the speed fluctuation caused by the load change of the vehicle and improve the traveling stability of the vehicle.

[0039] Exemplary implementation environment

[0040] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the implementation environment related to the present invention.

[0041] The vehicle can be an electric engineering vehicle, such as a loader. During the driving process of the vehicle, relevant information during the driving process can be sent to the server, such as: the speed information of the vehicle, the road surface information of the vehicle driving, etc. The server calculates whether the vehicle meets the conditions for speed control based on the information sent by the vehicle, and enables speed control when the conditions are met. The vehicle can improve the traveling stability under speed control.

[0042] Exemplary method

[0043] The execution subject of the method provided by the embodiment of the present application is a device with data processing functions, such as a computer, a server, etc., or a cloud platform composed of devices such as a computer and a server.

[0044] Figure 2 This is a flowchart of the vehicle traveling control method provided by the embodiment of the present application. Please refer to Figure 2 , in an exemplary embodiment, a vehicle traveling control method is provided, and the method includes:

[0045] S210: Obtain the actual motor speed of the vehicle and the slope change value per unit time of the road surface where the vehicle is located.

[0046] The actual motor speed can be the speed of the motor in the current state of the vehicle. The slope change value per unit time can be used to represent the influence degree of the road surface bumpiness on the vehicle speed. The slope change value per unit time is positively correlated with the vehicle speed. The smaller the slope change value per unit time, the smaller the influence on the vehicle speed; the larger the slope change value per unit time, the greater the influence on the vehicle speed. In practical applications, the slope change value per unit time can be determined according to the bumpiness of the road surface. For example, the slope change value per unit time can be a natural number between 0 and 1.

[0047] S230: If the actual motor speed is greater than the first preset speed, and the slope change value per unit time is greater than the slope change threshold per unit time, determine whether the driving parameters of the vehicle are within the preset conditions to obtain a first determination result;

[0048] The first preset speed can be the highest speed close to the current gear of the vehicle. For example, when the vehicle is traveling in the first gear, the highest speed is 3,500 revolutions per minute, and the first preset speed can be 3,400 revolutions per minute. The slope change threshold per unit time can be set according to actual experience. For example, the slope change threshold per unit time can be set to 0.8. When the slope change value per unit time is 0.8, when the vehicle adopts torque control, the vehicle shakes violently, and the slope change value per unit time at this time can be used as the slope change value threshold per unit time.

[0049] S250: When the first determination result indicates that the driving parameters of the vehicle are within the preset conditions, control the vehicle using a speed control method.

[0050] When the actual speed of the vehicle is close to the target speed, when the vehicle adopts torque control, it will cause fluctuations in speed. When the driving parameters of the vehicle meet the preset conditions, the vehicle can be controlled using a speed control method.

[0051] The vehicle driving control method in the embodiments of the present application can adopt speed control when the vehicle speed is high and the vehicle is driving on a road surface with poor road conditions, avoid speed fluctuations caused by changes in vehicle speed, and improve the driving stability of the vehicle.

[0052] In one embodiment, the driving parameters may include the accelerator pedal opening. Determining whether the driving parameters of the vehicle are within the preset conditions to obtain a first determination result may include:

[0053] Determine whether the accelerator pedal opening of the vehicle is greater than the first preset opening threshold to obtain a second determination result;

[0054] When the second determination result indicates that the accelerator pedal opening is greater than the first preset opening threshold, the driving parameters are within the preset conditions.

[0055] The greater the accelerator pedal opening, the stronger the acceleration force requested by the driver. The vehicle electronic control unit ECU will correspondingly increase the current output of the motor, making the vehicle accelerate faster. The application scenario of the embodiments of the present application is that the vehicle speed is close to the target speed, that is, the vehicle is running at a high speed. Therefore, the first preset opening threshold can be 90%.

[0056] In one embodiment, the driving parameters include the state of charge of the battery SOC. Determining whether the driving parameters of the vehicle are within the preset conditions to obtain a first determination result includes:

[0057] Determine whether the SOC of the vehicle is within the first preset state of charge range of the battery to obtain a third determination result;

[0058] When the third determination result indicates that the SOC of the vehicle is within the first preset state of charge range of the battery, the driving parameters are within the preset conditions.

[0059] SOC represents the percentage value of the current remaining battery charge. The first preset state of charge range of the battery can be [20%, 90%]. It should be noted that the allowable charge and discharge current satisfies the limit torque adjustment control under the maximum vehicle speed condition.

[0060] In one embodiment, the driving parameters include the gradient value of the road surface where the vehicle is located. Determine whether the driving parameters of the vehicle are within the preset conditions to obtain a first determination result, including:

[0061] Determine whether the gradient value is within the preset gradient range to obtain a fourth determination result;

[0062] When the fourth determination result indicates that the gradient value is within the preset gradient range, the driving parameters are within the preset conditions.

[0063] The preset gradient value can be set to [-7°, 7°].

[0064] In one embodiment, controlling the vehicle using a rotational speed control method may include:

[0065] Send a rotational speed control signal and a required rotational speed to the microcontroller unit MCU.

[0066] When the control mode of the vehicle is switched to the rotational speed control mode, the actual required rotational speed of the vehicle is sent to the MCU. After the MCU obtains the rotational speed control signal, it controls the vehicle according to the required rotational speed, avoiding fluctuations in the vehicle's rotational speed and improving the stability of the vehicle's movement.

[0067] In one embodiment, the vehicle movement control method provided in this application embodiment may further include: the driving parameters include the accelerator pedal opening and the state of charge SOC of the battery. If the actual rotational speed of the motor is less than the second preset rotational speed, determine whether the accelerator pedal opening is less than the second preset opening threshold to obtain a fifth determination result; determine whether the SOC is less than the second preset state of charge value of the battery to obtain a sixth determination result;

[0068] When the fourth determination result indicates no, or when the fifth determination result or the sixth determination result indicates yes, control the vehicle using a torque control method.

[0069] In this embodiment, the second preset rotational speed can be a rotational speed lower than the first preset rotational speed. For example: the maximum rotational speed of the current gear is 3500 revolutions per minute, the first preset rotational speed can be 3400 revolutions per minute, and the second preset rotational speed can be 3300 revolutions per minute.

[0070] When the fourth judgment result indicates no, or when the fifth judgment or the sixth judgment result indicates yes, that is, when the slope value is not within the preset range, or the accelerator pedal opening is less than the second preset threshold, or the SOC is less than the second preset state of charge value of the battery, when any of the above situations occurs, the vehicle exits the rotational speed control mode and switches to the torque control mode to control the vehicle.

[0071] The second preset opening threshold can be 80%, and the second preset state of charge value of the battery can be 20%.

[0072] In one embodiment, controlling the vehicle in the torque control mode includes:

[0073] Sending a torque control signal and a target torque to the MCU.

[0074] When the control mode of the vehicle switches to the torque control mode, it slowly transitions from the current actual motor torque to the requested torque calculated by the accelerator pedal and the brake pedal, preventing the switching jitter caused by the jump of the requested torque.

[0075] Exemplary electronic device

[0076] Another embodiment of the present application further proposes a vehicle controller. Refer to Figure 3 As shown, the device includes:

[0077] A memory 300 and a processor 310;

[0078] Wherein, the memory 300 is connected to the processor 310 and is used for storing programs;

[0079] The processor 310 is configured to implement the vehicle driving control method disclosed in any of the above embodiments by running the programs stored in the memory 300.

[0080] Specifically, the above vehicle driving control method may further include: a bus, a communication interface 320, an input device 330, and an output device 340.

[0081] The processor 310, the memory 300, the communication interface 320, the input device 330, and the output device 340 are interconnected through a bus. Among them:

[0082] The bus may include a path for transmitting information between various components of the computer system.

[0083] The processor 310 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the solution of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0084] The processor 310 may include a main processor, and may also include a baseband chip, a modem, etc.

[0085] The memory 300 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include program code, and the program code includes computer operation instructions. More specifically, the memory 300 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk memory, a flash memory, etc.

[0086] The input device 330 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer or a gravity sensor, etc.

[0087] The output device 340 may include a device for allowing information to be output to a user, such as a display screen, a printer, a speaker, etc.

[0088] The communication interface 320 may include a device of any transceiver type for communicating with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0089] The processor 310 executes the program stored in the memory 300 and calls other devices, and can be used to implement each step of any vehicle driving control method provided in the above embodiments of the present application.

[0090] Exemplary computer program product and storage medium

[0091] In addition to the above methods and devices, the embodiments of the present application may also be a computer program product, which includes computer program instructions, and when the computer program instructions are run by a processor, the processor is caused to execute the steps in the vehicle driving control method according to various embodiments of the present application described in any of the above embodiments of this specification.

[0092] The computer program product can be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The programming code can be executed entirely on the user's computing device, partially on the user's device, executed as an independent software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0093] In addition, an embodiment of the present application can also be a storage medium on which a computer program is stored. The computer program is executed by a processor to perform the steps in the vehicle driving control method according to various embodiments of the present application described in any of the above embodiments of the present specification. Specifically, the following steps can be implemented:

[0094] S210: Obtain the actual rotational speed of the motor of the vehicle and the value of the slope change per unit time of the road surface where the vehicle is located;

[0095] S230: If the actual rotational speed of the motor is greater than the first preset rotational speed, and the value of the slope change per unit time is greater than the slope change threshold per unit time, determine whether the driving parameters of the vehicle are within the preset conditions to obtain a first determination result;

[0096] S250: When the first determination result indicates that the driving parameters of the vehicle are within the preset conditions, control the vehicle using a rotational speed control method.

[0097] For the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0098] It should be noted that the embodiments in this specification are all described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0099] The steps in the methods of the embodiments of the present application can be adjusted, combined, and deleted according to actual needs. The technical features recorded in each embodiment can be replaced or combined.

[0100] In each embodiment of the present application, the modules and sub-modules in the device and the terminal can be combined, divided, and deleted according to actual needs.

[0101] In several embodiments provided by the present application, it should be understood that the disclosed terminal, device, and method can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or sub-modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple sub-modules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or module can be in electrical, mechanical, or other forms.

[0102] The modules or sub-modules described as separate components may or may not be physically separated. The components as modules or sub-modules may or may not be physical modules or sub-modules, that is, they can be located in one place, or they can be distributed to multiple network modules or sub-modules. Some or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0103] In addition, in each embodiment of the present application, each functional module or sub-module can be integrated in a processing module, or each module or sub-module can exist physically alone, or two or more modules or sub-modules can be integrated in one module. The above-mentioned integrated modules or sub-modules can be implemented in the form of hardware or in the form of software functional modules or sub-modules.

[0104] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present application.

[0105] The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be implemented directly in hardware, in a software unit executed by a processor, or in a combination thereof. The software unit may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0106] Finally, it should also be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0107] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle running control method, characterized in that, Including: Obtain the actual rotational speed of the motor of the vehicle and the value of the slope change per unit time of the road surface where the vehicle is located; The value of the slope change per unit time is used to represent the influence degree of the road surface bump on the rotational speed of the motor; If the actual rotational speed of the motor is greater than the first preset rotational speed, and the value of the slope change per unit time is greater than the slope change threshold per unit time, the first preset rotational speed is a preset proportional value of the highest rotational speed of the current gear of the vehicle; Judge whether the driving parameters of the vehicle are within the preset conditions to obtain a first judgment result; When the first judgment result indicates that the driving parameters of the vehicle are within the preset conditions, control the vehicle by means of rotational speed control.

2. The vehicle running control method according to claim 1, characterized in that The driving parameters include the opening degree of the accelerator pedal. The step of judging whether the driving parameters of the vehicle are within the preset conditions to obtain a first judgment result includes: Judge whether the opening degree of the accelerator pedal of the vehicle is greater than a first preset opening threshold to obtain a second judgment result; When the second judgment result indicates that the opening degree of the accelerator pedal is greater than the first preset opening threshold, the driving parameters are within the preset conditions.

3. The vehicle running control method according to claim 1, wherein The driving parameters include the state of charge (SOC) of the battery, The step of judging whether the driving parameters of the vehicle are within the preset conditions to obtain a first judgment result includes: Judge whether the SOC of the vehicle is within a first preset state of charge interval of the battery to obtain a third judgment result; When the third judgment result indicates that the SOC of the vehicle is within the first preset state of charge interval of the battery, the driving parameters are within the preset conditions.

4. The vehicle driving control method according to claim 1, wherein The driving parameters include the slope value of the road surface where the vehicle is located, The step of judging whether the driving parameters of the vehicle are within the preset conditions to obtain a first judgment result includes: Judge whether the slope value is within a preset slope interval to obtain a fourth judgment result; When the fourth judgment result indicates that the slope value is within the preset slope interval, the driving parameters are within the preset conditions.

5. The vehicle running control method according to any one of claims 1 to 4, characterized in that The step of controlling the vehicle by means of rotational speed control includes: Send a rotational speed control signal and a required rotational speed to the microcontroller unit (MCU).

6. The vehicle travel control method according to claim 4, wherein The driving parameters include the opening degree of the accelerator pedal and the state of charge (SOC) of the battery. The method further includes: If the actual rotational speed of the motor is less than a second preset rotational speed, Judge whether the opening degree of the accelerator pedal is less than a second preset opening threshold to obtain a fifth judgment result; Judge whether the SOC is less than a second preset state of charge value of the battery to obtain a sixth judgment result; When the fourth judgment result indicates no, or when the fifth judgment result or the sixth judgment result indicates yes, control the vehicle by means of torque control.

7. The vehicle travel control method according to claim 6, characterized in that The step of controlling the vehicle by means of torque control includes: Send a torque control signal and a target torque to the MCU.

8. A vehicle controller, characterized in that, Including a memory and a processor; The memory is connected to the processor and is used for storing programs; The processor is used for implementing the vehicle driving control method according to any one of claims 1 to 7 by running the programs in the memory.

9. A vehicle, characterized in that, The vehicle includes the vehicle controller according to claim 8.

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