Vehicle control methods, controllers, vehicles, storage media, and software products

Abstract

This disclosure relates to a vehicle control method, controller, vehicle, storage medium, and program product, relating to the field of autonomous driving technology. It can avoid abrupt changes in the results of two consecutive speed gear planning operations, thereby improving driving safety. The method includes: when the vehicle is located on a first road segment, reconstructing a map of a second road segment to obtain map information for the second road segment; determining road condition information for the second road segment based on the map information; wherein the vehicle travels on the first road segment according to the first speed gear information corresponding to the first road segment; the second road segment is a road adjacent to the first road segment after the first road segment, for which speed gear planning is to be performed; planning the speed gear for the second road segment based on the road condition information to obtain intermediate speed gear information; performing a smooth transition processing on the first speed gear information and the intermediate speed gear information to obtain second speed gear information; and controlling the vehicle to travel on the second road segment based on the second speed gear information.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, specifically to a vehicle control method, controller, vehicle, storage medium, and program product. Background Technology

[0002] Currently, when predictive cruise control in vehicles plans speed, there is a gap between the previous and next speed plans. During this period, map information for the road to be planned for the next speed plan cannot be obtained, so the vehicle cannot plan the next speed and will maintain the speed obtained from the previous speed plan until the next speed plan is completed. This ignores the road conditions during the gap between the two speed plans. When the results of the previous and next speed plans differ significantly, it can cause sudden changes in vehicle speed, i.e., a speed "step" situation, which increases the risk of traffic accidents. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this disclosure provides a vehicle control method, a controller, a vehicle, a storage medium, and a program product.

[0004] To achieve the above objectives, in a first aspect, this disclosure provides a vehicle control method, the method comprising:

[0005] When the vehicle is on the first road segment, the map of the second road segment is reconstructed to obtain the map information of the second road segment. The road condition information of the second road segment is determined based on the map information. The vehicle travels on the first road segment according to the first speed gear information corresponding to the first road segment. The second road segment is a road adjacent to the first road segment after the first road segment, which is to be used for speed gear planning.

[0006] Based on the road condition information, speed gear planning is performed on the second road segment to obtain intermediate speed gear information;

[0007] The first vehicle speed gear information and the intermediate vehicle speed gear information are processed to obtain the second vehicle speed gear information, and the vehicle is controlled to drive on the second section of the road according to the second vehicle speed gear information.

[0008] Secondly, this disclosure provides a controller, including:

[0009] A memory on which computer programs are stored;

[0010] A processor for executing the computer program in the memory to implement the method described in the first aspect.

[0011] Thirdly, this disclosure provides a vehicle including the controller described in the second aspect.

[0012] Fourthly, this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described in the first aspect.

[0013] Fifthly, this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect.

[0014] Through the above technical solution, when the vehicle is on the first road segment, the speed gear planning for the second road segment is performed to obtain the intermediate speed gear information, thereby eliminating the gap between the two planning processes. The intermediate speed gear information and the first speed gear information corresponding to the first road segment are smoothly transitioned to obtain the second speed gear information, avoiding sudden changes in vehicle speed caused by large differences between the results of the previous and subsequent speed planning, thereby reducing the risk of traffic accidents.

[0015] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0017] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment of the present disclosure.

[0018] Figure 2 This is a schematic diagram illustrating the timing of map reconstruction according to an exemplary embodiment of this disclosure.

[0019] Figure 3 This is a schematic diagram illustrating the timing of vehicle speed and gear planning according to an exemplary embodiment of this disclosure.

[0020] Figure 4 This is another flowchart illustrating a vehicle control method according to an exemplary embodiment of the present disclosure.

[0021] Figure 5 This is a block diagram of a controller according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0022] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0023] As vehicles rapidly evolve towards intelligence and energy efficiency, Predictive Cruise Control (PCC) enables proactive road planning and road condition assessment through road reconstruction. This includes information such as road gradient and speed limits. The system can then control vehicle speed and gear selection to achieve intelligent driving and reduce fuel consumption. Currently, during the speed planning gap between the end of the previous and next speed planning iterations, the previously planned speed is typically used and maintained until the next planned speed is calculated and implemented.

[0024] The inventors discovered that by using and maintaining the previously planned vehicle speed during the blank period until the next planned vehicle speed is calculated and then calling the planned vehicle speed, the road conditions during the window period between the two speed planning are ignored. Furthermore, when the results of the previous speed planning and the next speed planning differ significantly, it can lead to sudden changes in vehicle speed, i.e., a speed "step" situation, which increases the risk of traffic accidents.

[0025] In view of this, the present disclosure provides a vehicle control method, controller, vehicle, storage medium, and program product, which can avoid abrupt changes in the planning results of two adjacent vehicle speed gears and improve driving safety.

[0026] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment of the present disclosure. This method can be used with a controller, such as... Figure 1 As shown, the vehicle control method may include the following steps:

[0027] In step S101, when the vehicle is located on the first road segment, the map of the second road segment is reconstructed to obtain the map information of the second road segment. The road condition information of the second road segment is determined based on the map information. The vehicle travels on the first road segment according to the first speed gear information corresponding to the first road segment. The second road segment is a road adjacent to the first road segment after the first road segment, which is to be used for speed gear planning.

[0028] It should be understood that the first road segment can be the road where speed and gear planning was carried out in the previous cycle, and the second road segment can be the road where speed and gear planning was carried out in the current cycle.

[0029] In step S102, based on the road condition information, the vehicle speed gear is planned for the second road segment to obtain the intermediate vehicle speed gear information.

[0030] In step S103, the first vehicle speed gear information and the intermediate vehicle speed gear information are processed to obtain the second vehicle speed gear information, and the vehicle is controlled to drive on the second section of road according to the second vehicle speed gear information.

[0031] It's worth noting that the second speed gear information for the second road segment is obtained before the vehicle reaches the starting position of the second road segment. The vehicle is controlled to travel at the first speed gear information on the first road segment until it reaches the starting position of the second road segment, at which point the vehicle is controlled to travel at the second speed gear information on the second road segment.

[0032] For example, the vehicle is controlled to travel on the first road segment with the first speed gear information. Before the vehicle reaches the starting position of the second road segment, the map reconstruction and speed gear planning for the second road segment are started to obtain the intermediate speed gear information. The first speed gear information and the intermediate speed gear information are then processed to obtain the second speed gear information corresponding to the second road segment. When the vehicle reaches the starting position of the second road segment, the vehicle is controlled to travel on the second road segment with the second speed gear information.

[0033] In this embodiment, when the vehicle is traveling on the first road segment with the first speed gear information, map reconstruction and gear planning for the second road segment begin. The second speed gear information for the second road segment is obtained before the vehicle reaches the starting position of the second road segment, eliminating the gap between the two speed gear planning processes. The second speed gear information is obtained by smoothly transitioning the corresponding first speed gear information of the first road segment and the corresponding intermediate speed gear information of the second road segment, avoiding sudden speed changes caused by large differences between the two planning results, reducing the risk of traffic accidents, and also reducing the number of gear shifts during driving, thus improving driving efficiency. Controlling the vehicle to travel on the second road segment based on the second speed gear information can flexibly cope with various road conditions, such as slopes, curves, and intersections, without increasing the overall vehicle manufacturing cost, ensuring that the vehicle maintains the best driving state in different road environments.

[0034] To facilitate a better understanding of the vehicle control method provided in this disclosure by those skilled in the art, the steps of the method are described in detail below.

[0035] In one feasible implementation, step S101, where the vehicle is located on the first road segment, involves reconstructing a map of the second road segment to obtain map information for the second road segment. This may include:

[0036] Determine a first distance between the vehicle and the starting position of the second road segment, or a first time required for the vehicle to travel to the starting position of the second road segment;

[0037] If the first distance or the first duration meets the first preset triggering condition, the map of the second road segment is reconstructed to obtain the map information of the second road segment.

[0038] The first preset trigger condition can be that the process of the vehicle traveling the first distance can complete the map reconstruction, speed and gear planning and smooth transition processing of the second road segment, or the first duration can be greater than or equal to the duration required to perform map reconstruction, speed and gear planning and smooth transition processing of the second road segment.

[0039] It's worth noting that each road segment can be divided into several smaller segments. Each segment's distance can be used as a waypoint, or the time required for a vehicle to travel each segment can be used as a waypoint. Based on the vehicle's current waypoint on the road, it's determined whether to reconstruct the map and plan the vehicle's speed and gear for the next segment.

[0040] For example, such as Figure 2 As shown, the first road segment and the second road segment are divided into 10 equal segments respectively; for the first road segment, the first distance between the vehicle and the starting position of the second road segment can be the distance between the current road point of the vehicle in the first road segment and the zero road point of the second road segment, and the first time required for the vehicle to travel to the starting position of the second road segment can be the time required for the vehicle to travel from the current road point of the first road segment to the zero road point of the second road segment.

[0041] In this embodiment, the distance or required time between the vehicle and the starting position of the second road segment is monitored in real time, and map reconstruction is performed when the triggering conditions are met. This ensures that the map information of the second road segment is up-to-date and accurate, which helps to avoid unreliable map information caused by road changes (such as construction, closure, or detour), thereby improving the accuracy and reliability of the vehicle speed and gear planning results.

[0042] In one feasible implementation, the step of reconstructing the map of the second road segment to obtain map information of the second road segment when the first distance or the first duration meets the first preset triggering condition may include:

[0043] If the first distance is greater than or equal to the first preset distance, map reconstruction is performed on the second road segment to obtain map information for the second road segment. The first preset distance is determined based on the third time required for map reconstruction, vehicle speed and gear planning, and smooth transition processing of the second road segment, as well as the first vehicle speed and gear information; or,

[0044] If the first duration is greater than or equal to the third duration, the map of the second road segment is reconstructed to obtain the map information of the second road segment.

[0045] The first preset distance is the distance the vehicle travels for three hours at the first speed gear information.

[0046] It is worth noting that map reconstruction, vehicle speed and gear planning, and smooth transition processing all require a certain amount of time. In order to ensure that the vehicle has obtained the second speed and gear planning information before it reaches the starting position of the second road segment, map reconstruction can be triggered based on waypoints.

[0047] For example, based on the first distance, the map is reconstructed for the second road segment:

[0048] like Figure 2 As shown, when the distance between the seventh waypoint of the first road segment and the zero waypoint of the second road segment is equal to the distance traveled by the vehicle at the first speed gear for three hours, in order to ensure that the second speed gear information for the second road segment is obtained when the vehicle reaches the starting position of the second road segment, map reconstruction of the second road segment needs to be performed during the vehicle's journey from the zero waypoint to the seventh waypoint of the first road segment. Taking the seventh waypoint as an example, map reconstruction of the second road segment begins when the vehicle reaches the seventh waypoint and is completed when the vehicle reaches the eighth waypoint of the first road segment, obtaining the map information of the second road segment, and then obtaining the road condition information of the second road segment based on this map information.

[0049] For example, based on the first duration, the map is reconstructed for the second road segment:

[0050] like Figure 2 As shown, when the first travel time from the seventh waypoint of the first road segment to the zero waypoint of the second road segment is equal to the third travel time required for map reconstruction, speed and gear planning, and smooth transition processing of the two road segments, in order to ensure that the second speed and gear information of the second road segment is obtained when the vehicle reaches the starting position of the second road segment, map reconstruction of the second road segment needs to be performed during the vehicle's journey from the zero waypoint to the seventh waypoint of the first road segment. Taking the seventh waypoint as an example, map reconstruction of the second road segment begins when the vehicle reaches the seventh waypoint and is completed when the vehicle reaches the eighth waypoint of the first road segment, obtaining the map information of the second road segment, and then obtaining the road condition information of the second road segment based on this map information.

[0051] In this embodiment, the decision to reconstruct the map of the second road segment is made based on the distance between the vehicle and the starting position of the second road segment and the third travel time at the first speed gear, or the time required for the vehicle to travel to the starting position of the second road segment and the third travel time. This ensures that there is sufficient time for map reconstruction, speed gear planning, and smooth transition processing of the second road segment before the vehicle approaches it. The first preset distance and the third travel time can be flexibly adjusted according to different road types and traffic conditions to adapt to different driving environments. This allows drivers to cope more calmly with upcoming road changes and reduces stress and anxiety during driving.

[0052] In one feasible implementation, step S102, the speed gear planning for the second road segment based on the road condition information to obtain intermediate speed gear information, may include:

[0053] Determine a second distance between the vehicle and the starting position of the second road segment, or a second time required for the vehicle to travel to the starting position of the second road segment, wherein the second distance is less than the first distance and the second time is less than the first time, the first distance being the distance between the vehicle and the starting position of the second road segment and the first time being the time required for the vehicle to travel to the starting position of the second road segment;

[0054] When the second distance or the second duration meets the second preset triggering condition, the vehicle speed gear planning for the second road segment is performed based on the road condition information to obtain the intermediate vehicle speed gear information.

[0055] The second preset trigger condition can be that the vehicle can complete the speed gear planning and smooth transition processing of the second road segment during the process of traveling the second distance, or the second duration can be greater than or equal to the duration required for speed gear planning and smooth transition processing of the second road segment.

[0056] It is worth noting that the speed and gear planning for the next section of the road can be determined based on the current location of the vehicle on the current road.

[0057] For example, such as Figure 3 As shown, the first road segment and the second road segment are divided into 10 equal segments respectively; for the first road segment, the second distance between the vehicle and the starting position of the second road segment can be the distance between the current road point of the vehicle in the first road segment and the zero road point of the second road segment, and the second time required for the vehicle to travel to the starting position of the second road segment can be the time required for the vehicle to travel from the current road point of the first road segment to the zero road point of the second road segment.

[0058] In this embodiment, the distance or required time between the vehicle and the starting position of the second road segment is monitored in real time, and speed and gear planning is performed when the triggering conditions are met. This ensures that the second speed and gear information of the second road segment is consistent with the current road conditions of the second road segment, further improving the accuracy and reliability of the speed and gear planning results.

[0059] In one feasible implementation, the step of calculating the vehicle speed gear based on the road condition information for the second road segment when the second distance or the second duration meets the second preset triggering condition, to obtain intermediate speed gear information, may include:

[0060] If the second distance is greater than or equal to the second preset distance, speed gear planning is performed on the second road segment based on the road condition information to obtain intermediate speed gear information. The second preset distance is determined based on the fourth time required for speed gear planning and smooth transition processing on the second road segment, as well as the first speed gear information; or...

[0061] When the second duration is greater than or equal to the fourth duration, the vehicle speed gear planning for the second road segment is performed based on the road condition information to obtain the intermediate vehicle speed gear information.

[0062] The second preset distance is the distance the vehicle travels for four hours at the first speed gear information.

[0063] It is worth noting that speed and gear planning takes a certain amount of time. In order to ensure that the vehicle has obtained the second speed and gear planning information before it reaches the starting position of the second road segment, the speed and gear planning can be triggered based on the road points.

[0064] For example, based on the second distance, the map is reconstructed for the second road segment:

[0065] like Figure 3As shown, when the distance between the eighth waypoint of the first road segment and the zero waypoint of the second road segment is equal to the distance traveled by the vehicle at the first speed gear for four hours, in order to ensure that the second speed gear information for the second road segment is obtained when the vehicle reaches the starting position of the second road segment, speed gear planning for the second road segment needs to be performed during the process of the vehicle completing map reconstruction of the second road segment and traveling to the eighth waypoint of the first road segment. Taking the eighth waypoint as an example, when the vehicle travels to the eighth waypoint and completes map reconstruction of the second road segment, and obtains the road condition information of the second road segment, speed gear planning for the second road segment is performed based on the road condition information. The speed gear planning for the second road segment is completed before the vehicle travels to the ninth waypoint, obtaining the intermediate speed gear information. And before the vehicle travels to the tenth waypoint of the first road segment, a smooth transition processing of the first speed gear information and the intermediate speed gear information is completed, so that the second speed gear information is obtained before the vehicle travels to the zero waypoint of the second road segment.

[0066] For example, based on the second duration, speed gear planning is performed for the second road segment:

[0067] like Figure 3 As shown, when the first travel time from the eighth waypoint of the first road segment to the zero waypoint of the second road segment is equal to the fourth travel time required for speed gear planning on the two road segments, in order to ensure that the second speed gear information for the second road segment is obtained when the vehicle reaches the starting position of the second road segment, speed gear planning for the second road segment needs to be performed during the process of the vehicle completing map reconstruction of the second road segment and traveling to the eighth waypoint of the first road segment. Taking the eighth waypoint as an example, when the vehicle reaches the eighth waypoint and completes map reconstruction of the second road segment, and obtains the road condition information for the second road segment, speed gear planning for the second road segment is performed based on the road condition information. The speed gear planning for the second road segment is completed before the vehicle reaches the ninth waypoint, obtaining the intermediate speed gear information. A smooth transition processing of the first speed gear information and the intermediate speed gear information is completed before the vehicle reaches the tenth waypoint of the first road segment, so that the second speed gear information is obtained before the vehicle reaches the zero waypoint of the second road segment.

[0068] In this embodiment, the distance between the vehicle and the starting position of the second road segment and the fourth travel time at the first speed gear, or the time required for the vehicle to travel to the starting position of the second road segment and the fourth travel time, determine whether to perform speed trajectory planning for the second road segment. This ensures that there is sufficient time to plan the speed gear for the second road segment before the vehicle approaches it. The second preset distance and the fourth travel time can be flexibly adjusted according to different road types and traffic conditions to adapt to different driving environments. This allows drivers to cope more calmly with upcoming road changes and reduces stress and anxiety during driving.

[0069] In one feasible implementation, the first vehicle speed gear information includes a first vehicle speed curve and a first gear curve, and the intermediate vehicle speed gear information includes an intermediate vehicle speed curve and an intermediate gear curve.

[0070] In step S103, the smooth transition processing of the first vehicle speed gear information and the intermediate vehicle speed gear information to obtain the second vehicle speed gear information may include:

[0071] A second vehicle speed curve is obtained by linearly fitting the data points on the first vehicle speed curve and the data points on the intermediate vehicle speed curve.

[0072] Linear fitting is performed on the data points on the first gear curve and the data points on the intermediate gear curve to obtain the second gear curve;

[0073] The second vehicle speed curve and the second gear curve are used as the second vehicle speed and gear information.

[0074] In this embodiment, the vehicle speed curve and gear position curve of the two cycles are smoothed by linear fitting to obtain the vehicle speed curve and gear position curve of the second road segment. On the basis of eliminating the "step" of the planning results of the two cycles, the sudden change of vehicle speed caused by the large difference between the two planning results is avoided, which reduces the risk of traffic accidents and can also reduce the number of gear shifts during driving, thereby improving driving efficiency.

[0075] like Figure 4 As shown, the complete process of the vehicle control method provided in this disclosure embodiment may include the following steps:

[0076] In step S401, the vehicle is controlled to start driving from the zero point of the current road according to the first speed gear information, and the first position information of the vehicle on the current road is obtained. The first speed gear information is the information obtained by planning the speed gear of the current road in the previous cycle.

[0077] In step S402, it is determined whether the vehicle is at the seventh waypoint based on the first location information. If yes, proceed to step S403; otherwise, return to step S401.

[0078] In step S403, the map of the next road segment is reconstructed to obtain the map information of the next road segment, and the road condition information of the next road segment is determined based on the map information.

[0079] In step S404, the second location information of the vehicle on the current road is reacquired.

[0080] In step S405, it is determined whether the vehicle is at the eighth waypoint based on the second location information. If yes, proceed to step S406; otherwise, return to step S404.

[0081] In step S406, based on the road condition information, the vehicle speed gear is planned for the next road segment to obtain the intermediate vehicle speed gear information.

[0082] In step S407, the first speed gear information and the intermediate speed gear information are smoothly transitioned, and the second speed gear information is obtained before the tenth road point. The second speed gear information is then used as the first speed gear information for the next cycle.

[0083] In step S408, the vehicle speed and gear planning for this cycle is completed until the vehicle reaches the starting position of the next road segment, and then the process returns to step S401.

[0084] In this embodiment, when the vehicle is traveling on the current road at the first speed gear information, map reconstruction and gear planning for the next road segment begin. The second speed gear information for the next road segment is obtained before the vehicle reaches its starting position, eliminating the gap between the two speed gear planning processes. The second speed gear information is obtained by smoothly transitioning the first speed gear information corresponding to the current road segment and the intermediate speed gear information corresponding to the next road segment. This avoids sudden speed changes caused by large differences between the two planning results, reducing the risk of traffic accidents and decreasing the number of gear shifts during driving, thus improving driving efficiency. When the vehicle reaches the starting position of the second road segment, the second road segment becomes the new current road. The vehicle is controlled to travel on the new current road based on the second speed gear information. This allows for flexible handling of various road conditions, such as slopes, curves, and intersections, without increasing overall vehicle manufacturing costs, ensuring the vehicle maintains optimal driving performance in different road environments.

[0085] Based on the same inventive concept, such as Figure 5 As shown, this disclosure provides a controller, including:

[0086] Memory 501, on which computer programs are stored;

[0087] The processor 502 is configured to execute the computer program in the memory to implement the vehicle control method described above.

[0088] When the vehicle is traveling on the first road segment at the first speed and gear information, map reconstruction and gear planning for the second road segment begin. The second speed and gear information for the second road segment is obtained before the vehicle reaches its starting position, eliminating the gap between the two speed and gear planning processes. This second speed and gear information is obtained by smoothly transitioning between the corresponding first speed and gear information for the first road segment and the corresponding intermediate speed and gear information for the second road segment. This avoids sudden speed changes caused by large differences between the two planning results, reducing the risk of traffic accidents and also reducing the number of gear shifts during driving, thus improving driving efficiency. Controlling the vehicle's movement on the second road segment based on the second speed and gear information allows for flexible handling of various road conditions, such as slopes, curves, and intersections, without increasing overall vehicle manufacturing costs, ensuring the vehicle maintains optimal driving performance in different road environments.

[0089] Based on the same inventive concept, this disclosure provides a vehicle including the aforementioned controller.

[0090] When the vehicle is traveling on the first road segment at the first speed and gear information, map reconstruction and gear planning for the second road segment begin. The second speed and gear information for the second road segment is obtained before the vehicle reaches its starting position, eliminating the gap between the two speed and gear planning processes. This second speed and gear information is obtained by smoothly transitioning between the corresponding first speed and gear information for the first road segment and the corresponding intermediate speed and gear information for the second road segment. This avoids sudden speed changes caused by large differences between the two planning results, reducing the risk of traffic accidents and also reducing the number of gear shifts during driving, thus improving driving efficiency. Controlling the vehicle's movement on the second road segment based on the second speed and gear information allows for flexible handling of various road conditions, such as slopes, curves, and intersections, without increasing overall vehicle manufacturing costs, ensuring the vehicle maintains optimal driving performance in different road environments.

[0091] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle control method described above. For example, the computer-readable storage medium may be the memory 501 including program instructions, which may be executed by the processor 502 of the controller to complete the vehicle control method described above.

[0092] In another exemplary embodiment, a computer program product is also provided, which includes a computer program executable by a processor, which, when executed by the processor, implements the steps of the vehicle control method described above.

[0093] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0094] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0095] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle control method characterized by, The method comprises: In the case that the vehicle is located on a first section of road, reconstructing a map of a second section of road to obtain map information of the second section of road, determining road condition information of the second section of road according to the map information, wherein the vehicle travels on the first section of road according to first vehicle speed gear position information corresponding to the first section of road, and the second section of road is a road adjacent to the first section of road and to be planned for vehicle speed gear position; Planning vehicle speed gear position for the second section of road according to the road condition information to obtain intermediate vehicle speed gear position information; Performing smooth transition processing on the first vehicle speed gear position information and the intermediate vehicle speed gear position information to obtain second vehicle speed gear position information, and controlling the vehicle to travel on the second section of road according to the second vehicle speed gear position information; The method comprises: Determining a first distance between the vehicle and a starting position of the second section of road, or a first time length required for the vehicle to travel to the starting position of the second section of road; In the case that the first distance or the first time length meets a first preset triggering condition, reconstructing a map of the second section of road to obtain map information of the second section of road; The method comprises: Determining a second distance between the vehicle and the starting position of the second section of road, or a second time length required for the vehicle to travel to the starting position of the second section of road, the second distance being smaller than the first distance, and the second time length being smaller than the first time length, the first distance being a distance between the vehicle and the starting position of the second section of road, and the first time length being a time length required for the vehicle to travel to the starting position of the second section of road; In the case that the second distance or the second time length meets a second preset triggering condition, planning vehicle speed gear position for the second section of road according to the road condition information to obtain intermediate vehicle speed gear position information.

2. The vehicle control method according to claim 1, characterized by, The method comprises: In the case that the first distance is greater than or equal to a first preset distance, reconstructing a map of the second section of road to obtain map information of the second section of road, the first preset distance being determined according to a third time length required for reconstructing a map, planning vehicle speed gear position, and performing smooth transition processing of the second section of road, and the first vehicle speed gear position information; or In the case that the first time length is greater than or equal to the third time length, reconstructing a map of the second section of road to obtain map information of the second section of road.

3. The vehicle control method according to claim 1, characterized by, The method comprises: In a case that the second distance is greater than or equal to a second preset distance, the gear planning for the second section of road according to the road condition information obtains intermediate gear information, the second preset distance being determined according to a fourth time length required by gear planning for the second section of road and smooth transition processing and the first gear information; or, In a case that the second time length is greater than or equal to the fourth time length, the gear planning for the second section of road according to the road condition information obtains intermediate gear information.

4. The vehicle control method according to any one of claims 1 to 3, characterized by, The first gear information includes a first speed curve and a first gear curve, and the intermediate gear information includes an intermediate speed curve and an intermediate gear curve; The smooth transition processing of the first gear information and the intermediate gear information to obtain second gear information includes: Linear fitting of data points on the first speed curve and data points on the intermediate speed curve to obtain a second speed curve; Linear fitting of data points on the first gear curve and data points on the intermediate gear curve to obtain a second gear curve; The second speed curve and the second gear curve are taken as second gear information.

5. A controller characterized by comprising: It includes: A memory having a computer program stored thereon; A processor configured to execute the computer program in the memory to implement the method of any one of claims 1-4.

6. A vehicle characterized by comprising: The controller of claim 5.

7. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method of any one of claims 1-5.

8. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the method of any one of claims 1-5.

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