Vehicle control method and vehicle

Abstract

The invention discloses a vehicle control method and a vehicle, and the vehicle control method comprises the following steps: when determining that the vehicle meets a preset condition, controlling an electronic parking brake system of the vehicle to release; in the releasing process of the electronic parking braking system, the hydraulic braking system is controlled to provide first preset braking force; and after the electronic parking braking system is released, the crawling torque of the vehicle is obtained, and the braking force output by the hydraulic braking system is adjusted according to the crawling torque. In the releasing process of the electronic parking braking system, the braking force is provided through the hydraulic braking system to keep the vehicle static, and after the creeping torque is established, the braking force output by the hydraulic braking system is adjusted through the creeping torque, so that the phenomenon that the vehicle slides when starting on a small hill can be prevented, and the service life of the vehicle is prolonged. And thus, the comfort of drivers and passengers can be improved.

Description

Technical Field

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

[0002] At present, if a vehicle is parked on a slope with a slope less than 4% with the front of the vehicle facing upward and the vehicle starts in D gear, the vehicle will slide backward; if a vehicle is parked on a slope with a slope less than 4% with the front of the vehicle facing downward and the vehicle starts in R gear, the vehicle will slide forward. This will cause the vehicle to slide when starting on a congested road with a small slope or in a parking space with a small slope, resulting in a collision accident and losses to customers.

[0003] In the related art, when the vehicle starts on a 4%-30% slope, after the driver releases the brake pedal, HHC (HillHold Control) can maintain the braking force for 2s, thereby preventing the vehicle from slipping; when the slope is less than 4%, HHC does not work. If the HHC slope activation threshold is lowered, the HHC activation frequency will increase, so that HHC pressure maintenance and power output are carried out simultaneously, which will increase the energy loss of the whole vehicle. At the same time, slipping cannot be avoided below the slope activation threshold; if the slope activation threshold is adjusted to zero, the vehicle cannot creep start, and the energy loss is greater. When the vehicle is on a slope less than 4%, the EPB (Electrical Park Brake) is automatically released after the D or R gear is engaged. The release cycle is about 900-1100ms. The creep function is activated only after the release is completed. During the release process, when the EPB clamping force is less than the vehicle's gravity component, it will cause the vehicle to slip. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a vehicle control method, which can prevent the vehicle from slipping when starting on a small slope.

[0005] The present invention further provides a vehicle.

[0006] The present invention further provides a vehicle control device.

[0007] The present invention further provides a computer-readable storage medium.

[0008] According to the vehicle control method of the present invention, the following steps are included: when it is determined that the vehicle meets a preset condition, the electronic parking brake system of the vehicle is controlled to be released; during the release of the electronic parking brake system, the hydraulic brake system is controlled to provide a first preset braking force; after the release of the electronic parking brake system is completed, the creep torque of the vehicle is obtained, and the braking force output by the hydraulic brake system is adjusted according to the creep torque.

[0009] According to the vehicle control method of the present invention, during the release process of the electronic parking brake system, the braking force is provided by the hydraulic braking system to keep the vehicle stationary, and after the creep torque is established, the braking force output by the hydraulic braking system is adjusted by the creep torque, thereby preventing the vehicle from slipping when starting on a small slope, thereby improving the comfort of the driver and passengers.

[0010] In addition, the vehicle control method of the above embodiment of the present invention may also have the following additional technical features:

[0011] In some examples of the present invention, after the electronic parking brake system is released, the method further includes: activating a vehicle creep function and sending a creep torque request signal so as to establish a creep torque according to the creep torque request signal.

[0012] In some examples of the present invention, after sending a creep torque request signal and before establishing a creep torque based on the creep torque request signal, it also includes: controlling the hydraulic braking system to release pressure at a first preset pressure release rate so that the hydraulic braking system outputs a second preset braking force, wherein the second preset braking force is less than the first preset braking force.

[0013] In some examples of the present invention, the second preset braking force is greater than or equal to a gravity component of the vehicle in a vehicle driving direction.

[0014] In some examples of the present invention, adjusting the braking force output by the hydraulic braking system according to the creep torque includes: controlling the braking force output by the hydraulic braking system to decrease as the creep torque increases until the braking force output by the hydraulic braking system decreases to a preset value.

[0015] In some examples of the present invention, a sum of a driving force provided by the creep torque and a braking force output by the hydraulic brake system is greater than or equal to a gravity component of the vehicle in a vehicle driving direction.

[0016] In some examples of the present invention, the creep torque is controlled to increase gradually according to a preset creep torque control slope.

[0017] In some examples of the present invention, the braking force output by the hydraulic brake system is controlled to be gradually reduced according to a preset brake pressure relief slope.

[0018] In some examples of the present invention, the preset condition includes: a brake pedal is depressed, and a gear of the vehicle is switched from a first preset gear to a second preset gear.

[0019] The vehicle according to the embodiment of the present invention includes: a processor and a memory, and a vehicle control program stored in the memory and executable on the processor. When the vehicle control program is executed by the processor, the vehicle control method described above is implemented.

[0020] According to the vehicle of the embodiment of the present invention, during the release process of the electronic parking brake system, the braking force is provided by the hydraulic braking system to keep the vehicle stationary, and after the creep torque is established, the braking force output by the hydraulic braking system is adjusted by the creep torque, thereby preventing the vehicle from slipping when starting on a small slope, thereby improving the comfort of the driver and passengers.

[0021] According to an embodiment of the present invention, the vehicle control device includes: a control module, wherein the control module is used to control the release of the electronic parking brake system of the vehicle when determining that the vehicle meets a preset condition; during the release of the electronic parking brake system, control the hydraulic brake system to provide a first preset braking force; after the release of the electronic parking brake system is completed, obtain the creep torque of the vehicle, and adjust the braking force output by the hydraulic brake system according to the creep torque.

[0022] According to the vehicle control device of the embodiment of the present invention, during the release process of the electronic parking brake system, the braking force is provided by the hydraulic braking system to keep the vehicle stationary, and after the creep torque is established, the braking force output by the hydraulic braking system is adjusted by the creep torque, thereby preventing the vehicle from slipping when starting on a small slope, thereby improving the comfort of the driver and passengers.

[0023] According to the computer-readable storage medium of the embodiment of the present invention, a vehicle control program is stored on the computer-readable storage medium, and when the vehicle control program is executed by a processor, the vehicle control method as described in the above embodiment of the present invention is implemented.

[0024] According to the computer-readable storage medium of an embodiment of the present invention, when the vehicle control program stored thereon is executed by a processor, during the release process of the electronic parking brake system, a braking force can be provided by the hydraulic braking system to keep the vehicle stationary, and after the creep torque is established, the braking force output by the hydraulic braking system can be adjusted by the creep torque, thereby preventing the vehicle from slipping when starting on a small slope, thereby improving the comfort of the driver and passengers.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0027] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0028] Figure 2 is an overall flow chart of a vehicle control method according to an embodiment of the present invention;

[0029] Figure 3 is a flow chart of a vehicle according to one embodiment of the present invention;

[0030] Figure 4 is a flow chart of a vehicle control device according to an embodiment of the present invention;

[0031] Figure 5 is a flow chart of a computer-readable storage medium according to one embodiment of the present invention.

[0032] Reference numerals:

[0033] 1000. Vehicle; 1001. Processor; 1002. Memory; 100. Vehicle control device; 110. Control module; 10. Computer-readable storage medium; 1. Vehicle control program. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0035] Reference below Figure 1-Figure 5 A vehicle control method according to an embodiment of the present invention is described, and the vehicle control method is applied to a vehicle.

[0036] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, the vehicle control method according to the embodiment of the present invention includes the following steps:

[0037] S1: When it is determined that the vehicle meets the preset conditions, the electronic parking brake system of the vehicle is controlled to be released.

[0038] It is understandable that the electronic parking brake system is used to perform parking brake when the vehicle is parked, and when the vehicle needs to be driven, the electronic parking brake system is released to release the parking brake so that the vehicle can be driven. In this embodiment, when it is determined that the vehicle meets the preset conditions, the electronic parking brake system is controlled to be released to release the parking brake of the vehicle so that the vehicle can be driven.

[0039] S2: During the release of the electronic parking brake system, the hydraulic brake system is controlled to provide a first preset braking force.

[0040] Specifically, when the electronic parking brake system is in the process of releasing, the hydraulic brake system is controlled to maintain brake pressure. For example, the hydraulic brake system can generate a first preset braking force to eliminate the slipping tendency caused by the gravity component of the vehicle, so that the hydraulic brake system can maintain pressure to offset the gravity component of the vehicle, thereby preventing slipping.

[0041] S3: After the electronic parking brake system is released, the creep torque of the vehicle is obtained, and the braking force output by the hydraulic brake system is adjusted according to the creep torque.

[0042] It can be understood that when the electronic parking brake system is released, the vehicle receives the signal that the electronic parking brake system is released and begins to build up creep torque. At this time, creep torque is gradually generated, and the hydraulic brake system no longer maintains brake pressure, but slowly releases brake pressure. That is, the hydraulic brake system can adjust its output braking force according to the creep torque, that is, the creep torque and the hydraulic brake system can jointly overcome the slipping tendency. After the creep torque completely overcomes the slipping tendency, the hydraulic brake system will completely exit.

[0043] Therefore, during the release process of the electronic parking brake system, the hydraulic braking system provides braking force to keep the vehicle stationary, and after the creep torque is established, the braking force output by the hydraulic braking system is adjusted by the creep torque, thereby preventing the vehicle from slipping when starting on a small slope, thereby improving the comfort of the driver and passengers.

[0044] According to a specific embodiment of the present invention, after the electronic parking brake system is released, the method further includes: activating a vehicle creep function and sending a creep torque request signal, so as to establish a creep torque according to the creep torque request signal.

[0045] Specifically, after the electronic parking brake system is released, the creeping function of the vehicle is activated, that is, the creeping torque request signal is output through the HCU (Hydraul ic Control Unit), and the creeping torque request signal is sent to the motor controller or the engine control unit, and the motor controller controls the motor to output the creeping torque, and / or the engine control unit controls the engine to output the creeping torque, so that after the hydraulic brake system receives the creeping torque signal, it adjusts its braking force according to the creeping torque at this time, and then overcomes the tendency of the vehicle to slip when the vehicle starts. In other words, as the creeping torque gradually changes, the braking pressure of the hydraulic brake system can be adjusted accordingly, and then the braking force output by the hydraulic brake system can be adjusted. During the adjustment process, the creeping torque and the braking force output by the hydraulic brake system can completely offset the gravity component of the vehicle, which can overcome the tendency of the vehicle to slip, thereby preventing the vehicle from slipping.

[0046] According to a specific embodiment of the present invention, after sending a creep torque request signal and before establishing a creep torque according to the creep torque request signal, it also includes: controlling the hydraulic braking system to release pressure at a first preset pressure release rate so that the hydraulic braking system outputs a second preset braking force, wherein the second preset braking force is less than the first preset braking force.

[0047] Specifically, after the vehicle creep function is activated and the creep torque signal is sent, and before the creep torque is established, the hydraulic braking system will release pressure at a first preset pressure relief rate, so that the hydraulic braking system can output a second preset braking force. At this time, the hydraulic braking system can offset the gravity component of the vehicle. When the vehicle starts, the friction between the tires and the ground will produce rolling resistance, and the vehicle will generate a gravity component when it is on a sloping road section, so that the rolling resistance can offset the gravity component of the vehicle, thereby ensuring that the vehicle does not slip at this time.

[0048] According to a specific embodiment of the present invention, the second preset braking force is greater than or equal to a gravity component of the vehicle in a driving direction of the vehicle.

[0049] Specifically, when the vehicle starts, the vehicle will generate a gravity component on a sloped road section, and the second preset braking force is greater than or equal to the gravity component of the vehicle in the driving direction of the vehicle, so that the second preset braking force can offset the gravity component of the vehicle, thereby preventing the vehicle from slipping. For example, when the vehicle is in D gear, the driving direction is downward along the slope, and when the vehicle is in R gear, the driving direction is upward along the slope.

[0050] According to a specific embodiment of the present invention, adjusting the braking force output by the hydraulic braking system according to the creep torque includes: controlling the braking force output by the hydraulic braking system to decrease as the creep torque increases until the braking force output by the hydraulic braking system decreases to a preset value.

[0051] Specifically, the hydraulic brake system adjusts the braking force according to the creep torque, and the greater the creep torque, the smaller the braking force output by the hydraulic brake system, and vice versa, the smaller the creep torque, the greater the braking force output by the hydraulic brake system, that is, in the braking force adjustment process of the hydraulic brake system, the braking force output by the hydraulic brake system is inversely proportional to the creep torque. As the creep torque increases, the pressure relief capacity of the hydraulic brake system gradually decreases until the braking force output by the hydraulic brake system decreases to a preset value. In a specific embodiment, the preset value is, for example, 0, that is, the braking force output by the hydraulic brake system decreases to 0, at which time the hydraulic brake system exits braking and does not output braking force. Correspondingly, at this time, the creep torque has been adjusted to be greater than or equal to the vehicle's gravity component, thereby overcoming the vehicle's gravity component to prevent the vehicle from slipping. Further, when the creep torque increases again, the vehicle can start and drive normally.

[0052] According to a specific embodiment of the present invention, the sum of the driving force provided by the creep torque and the braking force output by the hydraulic brake system is greater than or equal to the gravity component of the vehicle in the driving direction of the vehicle.

[0053] Specifically, the creep torque can provide driving force to the vehicle, and the hydraulic braking system can output braking force. In the process of controlling the braking force output by the hydraulic braking system to decrease as the creep torque increases, the sum of the driving force and the braking force is kept greater than or equal to the gravity component of the vehicle in the driving direction of the vehicle, thereby preventing the vehicle from slipping and further improving the comfort of the driver and passengers.

[0054] According to a specific embodiment of the present invention, the creep torque is controlled to increase gradually according to a preset creep torque control slope. Specifically, the preset creep torque control slope is a slope curve obtained by pre-calibration, and the corresponding creep torque control slope can be calibrated and selected according to actual needs. By controlling the creep torque to increase gradually according to the preset creep torque control slope, the creep torque adjustment is smoother and more linear, with higher accuracy and better comfort, which is conducive to improving the experience of drivers and passengers.

[0055] According to a specific embodiment of the present invention, the braking force output by the hydraulic braking system is controlled to gradually decrease according to a preset brake pressure relief slope.

[0056] Specifically, the preset brake pressure relief slope is a pre-calibrated slope curve, and the corresponding brake pressure relief slope can be calibrated and selected according to actual needs. The braking force of the hydraulic brake system is controlled to gradually decrease through the preset brake pressure relief slope, so that the braking force adjustment of the hydraulic system is smoother and more linear, more accurate, and more comfortable, which is conducive to improving the experience of drivers and passengers. It can be understood that the preset creeping torque control slope and the preset brake pressure relief slope correspond to or match each other, so that the braking force output by the hydraulic brake system decreases as the creeping torque increases, and during the adjustment process, the sum of the driving force corresponding to the creeping torque and the braking force of the hydraulic system can overcome the gravity component of the vehicle and prevent the vehicle from slipping.

[0057] According to a specific embodiment of the present invention, in step S1, the preset condition includes: the brake pedal is stepped on, and the gear position of the vehicle is switched from the first preset gear position to the second preset gear position.

[0058] Specifically, the first preset gear is, for example, P gear, and the second preset gear is, for example, D gear or R gear. That is, during the gear switching process, when the driver and passenger can step on the brake pedal to switch the first preset gear to the second preset gear, such as switching from P gear to D gear or from P gear to R gear, it is considered that the vehicle needs to start at this time and there is a possibility of slipping, then it is determined that the preset conditions are met at this time, so that anti-slip control can be performed subsequently.

[0059] As a specific example, Figure 2 As shown, when the driver or passenger steps on the brake pedal, the gear is switched from P to D or R. At this time, the electronic parking system is automatically released and the hydraulic braking system maintains pressure. When the electronic parking system is completely released, the creep torque begins to build up and the hydraulic braking system begins to exit (that is, the braking force output by the hydraulic braking system gradually decreases). The braking force and the creep torque jointly overcome the gravity component until the hydraulic braking system is completely exited. The creep torque alone overcomes the gravity component, thereby preventing the vehicle from slipping. When the creep torque continues to increase, the vehicle starts.

[0060] According to the vehicle control method of an embodiment of the present invention, during the gradual release of the electronic parking brake system, the braking force is provided by the hydraulic braking system, thereby maintaining the vehicle stationary, and after the creep torque is established, the braking force output by the hydraulic braking system is adjusted by the creep torque, thereby preventing the vehicle from slipping when starting on a small slope, thereby improving the comfort of the driver and passengers.

[0061] A further embodiment of the present invention also provides a vehicle control device 100 .

[0062] like Figure 4 As shown, according to a specific embodiment of the present invention, the vehicle control device 100 includes a control module 110. The control module 110 is used to: when it is determined that the vehicle 1000 meets the preset conditions, control the release of the electronic parking brake system of the vehicle 1000; during the release of the electronic parking brake system, control the hydraulic brake system to provide a first preset braking force; after the release of the electronic parking brake system is completed, obtain the creep torque of the vehicle 1000, and adjust the braking force output by the hydraulic brake system according to the creep torque.

[0063] In one embodiment of the present invention, the control module 110 is further configured to: after the electronic parking brake system is released, activate the vehicle creep function and send a creep torque request signal so as to establish a creep torque according to the creep torque request signal.

[0064] In one embodiment of the present invention, after sending a creep torque request signal and before establishing a creep torque according to the creep torque request signal, the control module 110 is also used to: control the hydraulic braking system to release pressure at a first preset pressure release rate so that the hydraulic braking system outputs a second preset braking force, wherein the second preset braking force is less than the first preset braking force.

[0065] In one embodiment of the present invention, the second preset braking force is greater than or equal to a gravity component of the vehicle in a driving direction of the vehicle.

[0066] In one embodiment of the present invention, the control module 110 adjusts the braking force output by the hydraulic braking system according to the creep torque, including: controlling the braking force output by the hydraulic braking system to decrease as the creep torque increases until the braking force output by the hydraulic braking system decreases to a preset value.

[0067] In one embodiment of the present invention, the sum of the driving force provided by the creep torque and the braking force output by the hydraulic brake system is greater than or equal to the gravity component of the vehicle in the driving direction of the vehicle.

[0068] In one embodiment of the present invention, the control module 110 is configured to control the creep torque to gradually increase according to a preset creep torque control slope.

[0069] In one embodiment of the present invention, the control module 110 is used to control the braking force output by the hydraulic braking system to gradually decrease according to a preset brake pressure relief slope.

[0070] In one embodiment of the present invention, the preset condition includes: the brake pedal is depressed, and the gear position of the vehicle is switched from the first preset gear position to the second preset gear position.

[0071] It should be noted that when performing vehicle control, the specific implementation method of the vehicle control device 100 of the embodiment of the present invention is similar to the specific implementation method of the vehicle control method described in the above embodiment of the present invention. Therefore, for the specific exemplary description of the vehicle control device 100, please refer to the corresponding description in the vehicle control method part. In order to reduce redundancy, it will not be repeated here.

[0072] According to the vehicle control device 100 of the embodiment of the present invention, during the release process of the electronic parking brake system, the braking force is provided by the hydraulic braking system to keep the vehicle stationary, and after the creep torque is established, the braking force output by the hydraulic braking system is adjusted by the creep torque, thereby preventing the vehicle from slipping when starting on a small slope, thereby improving the comfort of the driver and passengers.

[0073] A further embodiment of the present invention also provides a vehicle 1000 .

[0074] like Figure 3 As shown, the vehicle 1000 according to an embodiment of the present invention includes: a processor 1001, a memory 1002, and a vehicle control program stored in the memory 1002 and executable on the processor 1001. When the vehicle control program is executed by the processor 1001, the vehicle control method as in the above embodiment is implemented.

[0075] In a specific embodiment, the vehicle 1000 is a pure electric vehicle, a fuel vehicle, or a hybrid vehicle.

[0076] According to the vehicle 1000 of the embodiment of the present invention, during the gradual release of the electronic parking brake system, the hydraulic braking system provides braking force to keep the vehicle 1000 stationary, and after the creep torque is established, the creep torque is used to adjust the braking force output by the hydraulic braking system, thereby preventing the vehicle 1000 from slipping when starting on a small slope, thereby improving the comfort of the driver and passengers.

[0077] A further embodiment of the present invention also provides a computer-readable storage medium 10 .

[0078] like Figure 5 As shown, according to a specific embodiment of the present invention, a vehicle control program 1 is stored on a computer-readable storage medium 10. The vehicle control program 1 is stored on the computer-readable storage medium 10. When the vehicle control program 1 is executed by the processor 1001, the vehicle control method described in the above embodiment is implemented.

[0079] According to the computer-readable storage medium 10 of an embodiment of the present invention, when the vehicle control program 1 stored thereon is executed by the processor 1001, during the gradual release of the electronic parking brake system, the braking force can be provided by the hydraulic braking system to keep the vehicle 1000 stationary, and after the creep torque is established, the braking force output by the hydraulic braking system can be adjusted by the creep torque, thereby preventing the vehicle 1000 from slipping when starting on a small slope, thereby improving the comfort of the driver and passengers.

[0080] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0081] In the description of the present invention, "first feature" and "second feature" may include one or more of the features. In the description of the present invention, "plurality" means two or more. In the description of the present invention, a first feature "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. In the description of the present invention, a first feature "above", "above" and "above" a second feature may include the first feature being directly above and obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature.

[0082] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0083] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that: The following steps are involved: When it is determined that the vehicle meets a preset condition, controlling the electronic parking brake system of the vehicle to release; During the release of the electronic parking brake system, controlling the hydraulic brake system to provide a first preset braking force; After the electronic parking brake system is released, the creep torque of the vehicle is acquired, and the braking force output by the hydraulic brake system is adjusted according to the creep torque.

2. The vehicle control method according to claim 1, characterized in that: After the electronic parking brake system is released, the method further includes: A vehicle creep function is activated and a creep torque request signal is sent to establish a creep torque according to the creep torque request signal.

3. The vehicle control method according to claim 2, characterized in that: After sending the creep torque request signal and before establishing the creep torque according to the creep torque request signal, the method further includes: The hydraulic brake system is controlled to release pressure at a first preset pressure release rate so that the hydraulic brake system outputs a second preset braking force, wherein the second preset braking force is smaller than the first preset braking force.

4. The vehicle control method according to claim 3, characterized in that: The second preset braking force is greater than or equal to a gravity component of the vehicle in a vehicle driving direction.

5. The vehicle control method according to claim 1, characterized in that: The step of adjusting the braking force output by the hydraulic brake system according to the creep torque comprises: The braking force output by the hydraulic brake system is controlled to decrease as the creep torque increases until the braking force output by the hydraulic brake system decreases to a preset value.

6. The vehicle control method according to claim 5, characterized in that: The sum of the driving force provided by the creep torque and the braking force output by the hydraulic brake system is greater than or equal to the gravity component of the vehicle in the vehicle driving direction.

7. The vehicle control method according to claim 5, characterized in that: The creep torque is controlled to increase gradually according to a preset creep torque control slope.

8. The vehicle control method according to claim 5, characterized in that: The braking force output by the hydraulic braking system is controlled to gradually decrease according to a preset brake pressure relief slope.

9. The vehicle control method according to claim 1, characterized in that: The preset conditions include: The brake pedal is depressed, and the gear of the vehicle is switched from the first preset gear to the second preset gear.

10. A vehicle, characterized in that: include: A processor, a memory, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program, when executed by the processor, implements the vehicle control method as described in any one of claims 1 to 9.

Images