Vehicle integrated intelligent control method and system
By real-time detection of vehicle driving speed and scenarios, and controlling vehicle deceleration and suspension damping, the problem of vehicle rolling and rolling in sharp corners is solved, and the vehicle stability and occupant comfort are improved.
Patent Information
- Application Number
- CN202411452916.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-17
- Publication Date
- 2024-12-31
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
When a vehicle passes through sharp bends at high speed, adjusting the suspension damping alone cannot effectively prevent the vehicle from rolling, reducing occupant comfort, and there is a risk of rolling.
By real-time detection of vehicle driving speed and driving scenarios, determine the forward curve and control the vehicle deceleration and engine output torque to reduce the vehicle speed; improve the outer suspension damping of the corner at the curve, and combine the front and rear suspension damping adjustment to ensure that the vehicle passes through sharp bends smoothly. .
It effectively reduces the possibility of vehicle overturning, improves the stability and occupant comfort of the vehicle on sharp curves, and enhances the vehicle's grip ability.
Smart Images
Figure CN119218215A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to intelligent driving technology and vehicle integrated control technology, and in particular to a vehicle integrated intelligent control method and system. Background Art
[0002] With the rapid development of control systems of various vehicle modules, the gradual integration of vehicle control is an inevitable trend. Technologies such as chassis integrated control, intelligent cockpit and autonomous driving integrated control, and body domain integrated control are gradually emerging and becoming the research direction of the automotive industry. Certain results have also been achieved, such as integrated control of the vehicle steering system and the vehicle suspension system when the vehicle is turning.
[0003] In the related art, when a vehicle turns, on the basis of controlling the operation of the vehicle's steering system, the suspension damping on the outer side of the vehicle's turn is also synchronously controlled to increase to prevent the vehicle from rolling over and improve passenger comfort.
[0004] However, the vehicle suspension damping adjustment range is limited. When the vehicle passes a sharp curve at high speed, adjusting the suspension damping alone cannot effectively prevent the vehicle from rolling, which will reduce the comfort of the passengers and may even cause the vehicle to roll over. Summary of the invention
[0005] The present disclosure provides a vehicle integrated intelligent control method and system, which can solve the problem of the vehicle easily rolling over when passing through a sharp curve at high speed through integrated control of the vehicle, achieve smooth operation of the vehicle, and improve the riding comfort of the passengers.
[0006] The technical solution is as follows:
[0007] In one aspect, a vehicle integrated intelligent control method is provided, comprising:
[0008] Obtain vehicle speed and vehicle driving scene;
[0009] According to the vehicle driving scene, determine whether there is a curve in front of the vehicle and the turning radius of the curve;
[0010] When it is determined that a curve appears ahead of the vehicle, and the turning radius of the curve ahead is less than or equal to the set turning radius, and the vehicle's driving speed is greater than a first set speed, determining the distance between the vehicle and the curve;
[0011] According to the distance between the vehicle and the curve, the vehicle is controlled to decelerate and the engine output torque is reduced, so that when the vehicle reaches the curve, the vehicle travel speed is reduced to a second set speed and the engine output torque is reduced to the set output torque;
[0012] When the vehicle reaches a curve, the vehicle is controlled to increase the suspension damping on the outside of the turn and steer.
[0013] In some embodiments, when it is determined that a curve appears in front of the vehicle and the turning radius of the curve appears in front is greater than a set turning radius, the vehicle is controlled to increase the suspension damping on the outer side of the turn and use rear-wheel steering to pass the curve.
[0014] In some embodiments, it is also determined whether the vehicle needs to decelerate or accelerate, and the deceleration when deceleration is required and the acceleration when acceleration is required, based on the vehicle driving scene and the vehicle driving speed;
[0015] When it is determined that the vehicle needs to decelerate and the deceleration is greater than the set deceleration, the vehicle is controlled to increase the front suspension damping;
[0016] When it is determined that the vehicle needs to accelerate and the acceleration is greater than the set acceleration, the vehicle is controlled to increase the rear suspension damping.
[0017] In some embodiments, the damping adjustment value of the front suspension or the rear suspension is determined according to the vehicle's running speed, the vehicle's axle load transfer, the vehicle's suspension damping characteristic parameters, and the vehicle's required deceleration or acceleration.
[0018] In some embodiments, when the braking system fails during vehicle driving, the motor is controlled to reverse and brake.
[0019] In some embodiments, when the steering system fails during a vehicle turning process, braking control is performed on the wheels on the inner side of the vehicle turning.
[0020] In another aspect, a vehicle integrated intelligent control system is provided, comprising:
[0021] A data acquisition unit is configured to acquire a vehicle driving speed and a vehicle driving scene;
[0022] The turning judgment module is configured to judge whether there is a curve in front of the vehicle and the turning radius of the curve according to the vehicle driving scene;
[0023] The integrated controller is configured to determine the distance of the vehicle from the curve when it is determined that a curve appears in front of the vehicle and the turning radius of the curve appears in front is less than or equal to a set turning radius and the vehicle's driving speed is greater than a first set speed; control the vehicle to decelerate and the engine to reduce the output torque according to the distance of the vehicle from the curve, so that when the vehicle reaches the curve, the vehicle's driving speed is reduced to a second set speed and the engine output torque is reduced to the set output torque; when the vehicle reaches the curve, control the vehicle to increase the suspension damping on the outer side of the curve and steer.
[0024] In another aspect, a computer device is provided, the device comprising:
[0025] a processor adapted to execute a computer program;
[0026] A computer-readable storage medium having a computer program stored therein, wherein when the computer program is executed by the processor, a vehicle integrated intelligent control method described in the present disclosure is implemented.
[0027] On the other hand, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing a vehicle integrated intelligent control method described in the present disclosure.
[0028] On the other hand, a computer program product is provided, which includes a computer program. When the computer program is executed by a processor, it implements the vehicle integrated intelligent control method described in the present disclosure.
[0029] The beneficial effects of the technical solution provided by the present disclosure include at least:
[0030] The present disclosure provides a vehicle integrated intelligent control method and system. The method detects the vehicle driving speed and the vehicle driving scene in real time during the vehicle driving process. When a curve is detected ahead, it is judged whether the vehicle is about to pass through a sharp turning section at high speed according to the vehicle driving speed and the turning radius of the curve. When it is judged that the vehicle is about to pass through a sharp turning section at high speed, the vehicle is first controlled to slow down and the engine output torque is reduced. The possibility of the vehicle rolling over is reduced by reducing the vehicle speed, and the wheel gripping ability is improved by reducing the output torque. When the vehicle turns, the suspension damping on the outer side of the vehicle turning is increased to further prevent the vehicle from rolling over, thereby improving the stability of the vehicle and the comfort of the passengers when passing through a sharp turning road. BRIEF DESCRIPTION OF THE DRAWINGS
[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0032] Figure 1 A flow chart of a vehicle integrated intelligent control method provided by an embodiment of the present disclosure;
[0033] Figure 2 A schematic structural diagram of a vehicle to which a vehicle integrated intelligent control method is applied according to an embodiment of the present disclosure.
[0034] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0035] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.
[0036] Unless otherwise defined, all technical terms used in the embodiments of the present disclosure have the same meanings as commonly understood by those of ordinary skill in the art.
[0037] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.
[0038] Before explaining in detail a vehicle integrated intelligent control method provided by an embodiment of the present disclosure, an application scenario provided by an embodiment of the present application is first introduced.
[0039] A vehicle integrated intelligent control method provided in an embodiment of the present disclosure is applied to a vehicle with intelligent driving, and integrates and controls various modules of the vehicle to achieve smooth operation of the vehicle during steering, acceleration, deceleration, obstacle avoidance and other working conditions.
[0040] The vehicle integrated intelligent control method provided by the embodiment of the present disclosure is applied to a vehicle with intelligent driving, such as Figure 2 As shown, the vehicle includes a vehicle integrated controller, a cockpit domain controller, a body domain controller, a chassis domain controller, a power domain controller, a lidar, a millimeter-wave radar, an ultrasonic radar, a forward-looking perception camera, a rear-looking perception camera, a surround-looking perception camera, a wheel speed sensor, a steering angle sensor, and a yaw angle sensor.
[0041] Among them, laser radar, millimeter-wave radar, ultrasonic radar, forward-looking perception camera, rear-view perception camera and surround-view perception camera are used to obtain the vehicle's position and driving scene, including whether the vehicle is driving on a straight line or a curve, whether there are obstacles on the vehicle's road, whether the vehicle's road is uphill or downhill, and whether the vehicle passes through speed bumps.
[0042] The wheel speed sensor, steering angle sensor and yaw angle sensor are used to obtain the vehicle's driving speed, vehicle steering angular velocity and vehicle yaw angle respectively.
[0043] The vehicle integrated controller is used to control the power domain controller, chassis domain controller, cockpit domain controller and body domain controller according to the vehicle's position, vehicle driving scenario, vehicle driving speed, vehicle steering angular velocity and vehicle yaw angle.
[0044] The power domain controller is used to control the output torque of the engine (EMS) and the reduction ratio of the reduction box (TCU). By controlling the reduction ratio of the reduction box (TCU), the vehicle's driving speed can be controlled.
[0045] The chassis domain controller is used to control the braking system to brake the vehicle, control the steering system to steer, and control the suspension damping in the suspension system to keep the vehicle stable.
[0046] The body domain controller is used to control the vehicle for intelligent driving;
[0047] The cockpit domain controller is used to control the cockpit to make emergency calls or broadcast voice messages.
[0048] Those skilled in the art should understand that the above-mentioned application scenarios and modules in the vehicle are only examples, and other existing or future application scenarios and modules, if applicable to the embodiments of the present application, should also be included in the protection scope of the embodiments of the present application and are included here by reference.
[0049] It should be noted that the business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.
[0050] Next, a vehicle integrated intelligent control method provided in an embodiment of the present application is explained in detail. Figure 1 This is a flow chart of a vehicle integrated intelligent control method provided by an embodiment of the present application. Please refer to Figure 1 , the method comprises the following steps.
[0051] Step 101: Obtain vehicle driving speed and vehicle driving scene.
[0052] Step 102: Determine whether there is a curve in front of the vehicle and the turning radius of the curve according to the vehicle driving scene;
[0053] Step 103: When it is determined that a curve appears in front of the vehicle, and the turning radius of the curve in front is less than or equal to the set turning radius, and the vehicle driving speed is greater than the first set speed, determining the distance between the vehicle and the curve;
[0054] According to the distance between the vehicle and the curve, the vehicle is controlled to decelerate and the engine output torque is reduced, so that when the vehicle reaches the curve, the vehicle travel speed is reduced to a second set speed and the engine output torque is reduced to the set output torque;
[0055] When the vehicle reaches a curve, the vehicle is controlled to increase the suspension damping on the outside of the turn and steer.
[0056] Therefore, an integrated intelligent vehicle control method provided by an embodiment of the present disclosure performs real-time detection of the vehicle's driving speed and the vehicle's driving scene during the vehicle's driving process; determines whether there is a curve in front of the vehicle and the turning radius of the curve according to the vehicle's driving scene; when it is determined that there is a curve in front of the vehicle, and the turning radius of the curve in front is less than or equal to the set turning radius, and the vehicle's driving speed is greater than a first set speed, it is determined that the vehicle is about to pass a sharp turn at high speed, and it is necessary to control the vehicle to slow down and the engine to reduce the output torque; therefore, the distance between the vehicle and the curve in front is obtained; based on the distance, the vehicle's driving speed and the engine's output torque are adjusted. The torque is controlled so that when the vehicle reaches the curve, the vehicle speed is reduced to the second set speed and the engine output torque is reduced to the set output torque; when the vehicle reaches the curve, the vehicle is controlled to increase the suspension damping on the outer side of the curve and turn; when it is judged that the vehicle is about to pass through a sharp curve at high speed, the vehicle is first controlled to slow down and the engine output torque is reduced, so as to reduce the possibility of the vehicle rolling over by reducing the vehicle speed and improve the wheel grip by reducing the output torque; when the vehicle turns, the suspension damping on the outer side of the vehicle turning is increased to further prevent the vehicle from rolling over, thereby improving the stability of the vehicle and the comfort of the occupants when passing through a sharp curve.
[0057] Among them, the first set speed, the second set speed and the set turning radius can all be set according to the vehicle performance, such as setting the first set speed to 100Km / h, the set turning radius to 500m, the second set speed to 95Km / h, etc.
[0058] In some embodiments, when it is determined that a curve appears in front of the vehicle and the turning radius of the curve appears in front is greater than a set turning radius, the vehicle is controlled to increase the suspension damping on the outer side of the turn and use rear-wheel steering to pass the curve.
[0059] When it is determined that there is a curve in front of the vehicle, but the turning radius of the curve is greater than the set turning radius, it means that the turning radius is large. The vehicle can smoothly pass through the curve by increasing the suspension damping on the outside of the turn and adopting rear-wheel steering. Therefore, the vehicle is not braked or slowed down before entering the curve, thereby ensuring that the vehicle can smoothly pass the curve at a higher speed, reducing the bad riding experience caused by braking, and improving passenger comfort.
[0060] During the vehicle steering process, the vehicle's lateral angular velocity is obtained in real time; the vehicle's roll state is determined based on the vehicle's lateral angular velocity; the vehicle's roll state is compared with the ideal vehicle state to determine the vehicle's roll amount; the vehicle's suspension damping is adjusted based on the vehicle's roll amount to keep the vehicle in the ideal vehicle state when steering. This prevents vehicle roll and improves passenger comfort.
[0061] In some embodiments, it is also determined whether the vehicle needs to decelerate or accelerate, and the deceleration when deceleration is required and the acceleration when acceleration is required, based on the vehicle driving scene and the vehicle driving speed;
[0062] When it is determined that the vehicle needs to decelerate and the deceleration is greater than the set deceleration, the vehicle is controlled to increase the front suspension damping to put the vehicle in an ideal vehicle state to prevent the vehicle from "nodding" due to a large deceleration;
[0063] When it is determined that the vehicle needs to accelerate and the acceleration is greater than the set acceleration, the vehicle is controlled to increase the rear suspension damping to put the vehicle in an ideal vehicle state and prevent the vehicle from "lifting its head" due to the large acceleration.
[0064] Among them, the damping adjustment value of the front suspension or rear suspension is determined according to the vehicle's running speed, the vehicle's axle load transfer, the vehicle's suspension damping characteristic parameters and the vehicle's required deceleration or acceleration to put the vehicle in an ideal vehicle state.
[0065] If there is a vehicle in front of the vehicle that brakes suddenly, or when there is a speed bump or a large ramp in front of the vehicle when the vehicle is traveling at a high speed, the vehicle needs to brake suddenly, and the deceleration at this time may be greater than the set deceleration; when there is a vehicle approaching the vehicle rapidly from behind the vehicle, or when it needs to pass a dangerous section of road rapidly, the vehicle needs to accelerate, and the acceleration at this time may be greater than the set acceleration; by controlling the front and rear suspension damping, the vehicle can pass smoothly to avoid bumps or severe pitching, thereby improving passenger comfort.
[0066] In some embodiments, when the braking system fails during vehicle driving, the motor is controlled to reverse and brake.
[0067] When the braking system fails, the motor is controlled to reverse to achieve a certain braking capacity, and the power can be disconnected to allow the vehicle to coast to a stop, while sending out emergency rescue information. When there is an obstacle in front of the vehicle during the coasting stop process, the steering system is controlled to make the vehicle turn to avoid the obstacle, buying time for the vehicle to coast to a stop.
[0068] Preferably, emergency rescue information can be sent out by calling an emergency number for help from the cockpit.
[0069] In some embodiments, when the steering system fails during a vehicle turning process, braking control is performed on the wheels on the inner side of the vehicle turning.
[0070] When the steering system fails, basic steering capability can be achieved by controlling the brakes and steering the inner steering wheel, buying time for avoiding obstacles or parking on the roadside.
[0071] In some embodiments, when it is determined based on the vehicle driving scenario that an abnormal stationary obstacle appears on the road ahead of the vehicle, such as a rock rolling down a mountain, and the vehicle's driving speed is greater than a set third driving speed, the vehicle's braking system, steering system, and suspension system are synchronously controlled to control the vehicle's stability while making emergency avoidance, and will not collide with other traffic participants. The cabin broadcast voice can also be synchronously controlled to alert passengers or drivers of abnormal obstacles ahead.
[0072] For example, the vehicle is braked to slow down, and the vehicle is controlled to steer, and at the same time, the vehicle's steering outer suspension damping and front suspension damping are controlled to increase.
[0073] To sum up, the vehicle integrated intelligent control method provided in this embodiment can fully mobilize the various modules of the vehicle for dynamic adjustment, so that the vehicle can pass through various complex road conditions in an ideal vehicle state, reduce uncomfortable dynamics such as vehicle bumps, pitches, sudden acceleration and deceleration, and provide passengers with the best riding experience.
[0074] The embodiment of the present disclosure also provides a vehicle integrated intelligent control system, including:
[0075] A data acquisition unit is configured to acquire a vehicle driving speed and a vehicle driving scene;
[0076] The turning judgment module is configured to judge whether there is a curve in front of the vehicle and the turning radius of the curve according to the vehicle driving scene;
[0077] The integrated controller is configured to determine the distance of the vehicle from the curve when it is determined that a curve appears in front of the vehicle and the turning radius of the curve appears in front is less than or equal to a set turning radius and the vehicle's driving speed is greater than a first set speed; control the vehicle to decelerate and the engine to reduce the output torque according to the distance of the vehicle from the curve, so that when the vehicle reaches the curve, the vehicle's driving speed is reduced to a second set speed and the engine output torque is reduced to the set output torque; when the vehicle reaches the curve, control the vehicle to increase the suspension damping on the outer side of the curve and steer.
[0078] It should be noted that: the vehicle integrated intelligent control system provided in the above embodiment only uses the division of the above functional modules as an example when handling driver abnormal emergency situations. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle integrated intelligent control system provided in the above embodiment and the vehicle integrated intelligent control method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.
[0079] The present invention also discloses a computer device, which includes:
[0080] a processor adapted to execute a computer program;
[0081] A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, a vehicle integrated intelligent control method disclosed in this embodiment is implemented.
[0082] The present invention also discloses a computer-readable storage medium, which stores a computer program. The computer program is suitable for being loaded by a processor and executing a vehicle integrated intelligent control method disclosed in this embodiment.
[0083] The present invention also discloses a computer program product, which includes a computer program. When the computer program is executed by a processor, a vehicle integrated intelligent control method disclosed in this embodiment is implemented.
[0084] The method disclosed in Example 1 can be directly embodied as a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.
[0085] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with this embodiment can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0086] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.
Claims
1. A vehicle integrated intelligent control method, characterized in that: include: Obtain vehicle speed and vehicle driving scene; According to the vehicle driving scene, determine whether there is a curve in front of the vehicle and the turning radius of the curve; When it is determined that a curve appears ahead of the vehicle, and the turning radius of the curve ahead is less than or equal to the set turning radius, and the vehicle's driving speed is greater than a first set speed, determining the distance between the vehicle and the curve; According to the distance between the vehicle and the curve, the vehicle is controlled to decelerate and the engine output torque is reduced, so that when the vehicle reaches the curve, the vehicle travel speed is reduced to a second set speed and the engine output torque is reduced to the set output torque; When the vehicle reaches a curve, the vehicle is controlled to increase the suspension damping on the outside of the turn and steer.
2. A vehicle integrated intelligent control method as claimed in claim 1, characterized in that: When it is determined that there is a curve in front of the vehicle and the turning radius of the curve in front is greater than the set turning radius, the vehicle is controlled to increase the suspension damping on the outer side of the curve and use rear-wheel steering to pass the curve.
3. A vehicle integrated intelligent control method as claimed in claim 1, characterized in that: It also determines whether the vehicle needs to decelerate or accelerate, and the deceleration when deceleration is required and the acceleration when acceleration is required, based on the vehicle driving scene and the vehicle driving speed; When it is determined that the vehicle needs to decelerate and the deceleration is greater than the set deceleration, the vehicle is controlled to increase the front suspension damping; When it is determined that the vehicle needs to accelerate and the acceleration is greater than the set acceleration, the vehicle is controlled to increase the rear suspension damping.
4. A vehicle integrated intelligent control method as claimed in claim 3, characterized in that: The damping adjustment value of the front suspension or rear suspension is determined according to the vehicle's running speed, the vehicle's axle load transfer, the vehicle's suspension damping characteristic parameters and the vehicle's required deceleration or acceleration.
5. A vehicle integrated intelligent control method as claimed in claim 1, characterized in that: When the braking system fails during vehicle driving, the motor is controlled to reverse and brake.
6. A vehicle integrated intelligent control method as claimed in claim 1, characterized in that: When the steering system fails during a vehicle turning, the wheels on the inside of the vehicle are braked.
7. A vehicle integrated intelligent control system, characterized in that: include: A data acquisition unit is configured to acquire a vehicle driving speed and a vehicle driving scene; The turning judgment module is configured to judge whether there is a curve in front of the vehicle and the turning radius of the curve according to the vehicle driving scene; The integrated controller is configured to determine the distance of the vehicle from the curve when it is determined that a curve appears in front of the vehicle and the turning radius of the curve appears in front is less than or equal to a set turning radius and the vehicle's driving speed is greater than a first set speed; control the vehicle to decelerate and the engine to reduce the output torque according to the distance of the vehicle from the curve, so that when the vehicle reaches the curve, the vehicle's driving speed is reduced to a second set speed and the engine output torque is reduced to the set output torque; when the vehicle reaches the curve, control the vehicle to increase the suspension damping on the outer side of the curve and steer.
8. An electronic device, characterized in that: The device comprises: a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, a vehicle integrated intelligent control method as described in any one of claims 1 to 6 is implemented.
9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing a vehicle integrated intelligent control method as described in any one of claims 1-6.
10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, it implements a vehicle integrated intelligent control method as described in any one of claims 1-6.