Vehicle control method and vehicle-mounted controller

Abstract

The invention discloses a vehicle control method and a vehicle-mounted controller. Rapid vehicle moving is achieved. The method is applied to a vehicle-mounted controller, and comprises the following steps: in response to a parking release request sent by a vehicle owner side mobile terminal, controlling a vehicle to start firstly and then release parking; and judging whether the vehicle has a steering movement requirement and a steering movement space or not, if so, performing steering path planning on the vehicle, and controlling the vehicle to steer according to the planned direction in the vehicle movement process.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle remote control, and more specifically, to a vehicle control method and a vehicle-mounted controller. Background Art

[0002] As the number of cars continues to increase, parking spaces are becoming increasingly scarce, and the phenomena of "difficult parking" and "disorderly parking" are becoming more and more serious. Various disputes caused by parking problems are frequent, which has a great impact on people's lives and social order. For example, when parked vehicles block the normal passage of other vehicles, the owner of the blocked vehicle needs to notify the owner of the blocked vehicle to go to the vehicle in time to ignite and move the vehicle, but in many cases the owner of the blocked vehicle cannot arrive at the scene immediately, thus causing disputes. Summary of the invention

[0003] In view of this, the present invention provides a vehicle control method and a vehicle-mounted controller to achieve rapid vehicle maneuvering.

[0004] A vehicle control method, applied to a vehicle controller, comprising:

[0005] In response to a parking release request sent by a mobile terminal on the vehicle owner's side, the vehicle is controlled to start first and then release the parking;

[0006] Determine whether the vehicle has a turning movement requirement and turning movement space. If so, plan the turning path for the vehicle and control the vehicle to turn in the planned direction during the movement of the vehicle.

[0007] Optionally, the parking release includes: controlling the vehicle to shift into neutral gear and releasing the electronic parking brake.

[0008] Optionally, the determining whether the vehicle has a turning movement demand and a turning movement space includes: determining whether the vehicle satisfies a first condition and a second condition, and if so, determining that the vehicle has a turning movement demand and a turning movement space;

[0009] Among them, the first condition refers to that there are no static obstacles within a first preset distance from the front or rear of the vehicle, and the second condition refers to that there are no static obstacles within a second preset distance from the left or right side of the vehicle, and the first preset distance is smaller than the second preset distance.

[0010] Optionally, after controlling the vehicle to turn in the planned direction, the method further includes:

[0011] Detecting whether there is an obstacle within a third preset distance from the vehicle in the direction of travel of the vehicle, and if so, controlling the vehicle to brake;

[0012] Detect whether someone intends to push the vehicle in the opposite direction, and if so, control the vehicle to release the brakes.

[0013] Optionally, when the vehicle is in a forward moving state before braking, the detecting whether someone intends to push the vehicle in the reverse direction comprises: detecting whether the third condition is satisfied and the fourth condition is not satisfied, and if so, determining that someone intends to push the vehicle in the reverse direction;

[0014] When the vehicle is in a backward moving state before braking, the detecting whether someone intends to push the vehicle in the reverse direction comprises: detecting whether the fourth condition is satisfied and the third condition is not satisfied, and if so, determining that someone intends to push the vehicle in the reverse direction;

[0015] The third condition refers to the presence of a person within a fourth preset distance from the rear of the vehicle, and the fourth condition refers to the presence of a person within a fourth preset distance from the front of the vehicle.

[0016] Optionally, after controlling the vehicle to turn in the planned direction, the method includes: when the number of vehicle turns reaches a preset number, prohibiting the vehicle from turning.

[0017] Optionally, the vehicle control method further includes: when a preset condition is met, controlling the vehicle to track and return to an original position.

[0018] Optionally, the preset condition is satisfied including: receiving a return request sent by the mobile terminal on the vehicle owner's side, or the vehicle is continuously in the parking release state for a preset time.

[0019] Optionally, the controlling the vehicle to start first and then release the parking state further includes:

[0020] It is determined whether the vehicle meets the safety requirements for releasing the parking state. If so, the step of controlling the vehicle to start first and then release the parking state is performed.

[0021] A vehicle-mounted controller comprises: a processor and a memory, wherein a computer program is stored on the processor, and when the computer program is executed by the processor, any vehicle control method disclosed above is implemented.

[0022] It can be seen from the above technical solutions that the parked vehicles designed by the present invention have the functions of remote release of parking status and intelligent steering. Therefore, when the parked vehicles block the traffic, the owners do not need to rush to the scene to ignite and move the vehicles. They only need to remotely release the parking status, and the blocked people can move the vehicles by manually pushing the carts, thereby saving time for both parties and realizing rapid vehicle movement. The intelligent steering function means that the vehicle can plan the steering path by itself and turn in the planned direction when there is a need and space for steering movement. Therefore, compared with vehicles that can only be pushed in a fixed direction, the present invention can adapt to more complex traffic environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A flow chart of a vehicle control method disclosed in an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the communication between the vehicle controller and the mobile terminal on the owner's side;

[0026] Figure 3 A distribution map of parked vehicles in a parking lot;

[0027] Figure 4 This is a distribution map of parked vehicles in another parking lot;

[0028] Figure 5 A flow chart of a method for determining whether a vehicle has a turning movement requirement and a turning movement space disclosed in an embodiment of the present invention;

[0029] Figure 6 The present invention is a schematic diagram of the structure of a vehicle-mounted controller disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] For the purpose of reference and clarity, the technical terms, abbreviations or acronyms used below are summarized as follows:

[0031] EPB: Electrical Park Brake, electronic parking brake system, also known as electronic handbrake;

[0032] N gear: Neutral gear, neutral gear;

[0033] P gear: Parking, parking gear, also known as parking gear or parking gear;

[0034] R gear: Reverse, reverse gear;

[0035] D gear: Drive, forward gear;

[0036] ADAS: Advanced Driving Assistance System;

[0037] ECU: Electronic Control Unit, electronic control unit.

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] See also Figure 1 , an embodiment of the present invention discloses a vehicle control method, which is applied to a vehicle controller, and the method includes:

[0040] Step S01: In response to a parking release request sent by a mobile terminal on the vehicle owner's side, the vehicle is controlled to start first and then to release the parking, and then the process proceeds to step S02. The parking release includes, for example, controlling the vehicle to shift into N gear and releasing EPB.

[0041] Step S02: Determine whether the vehicle has a turning movement demand and turning movement space. If yes, proceed to step S03; if no, return to step S02. The turning movement demand means that the vehicle cannot meet the vehicle moving demand when it moves only in a fixed direction, and the turning movement space means that there is enough space around the vehicle for the vehicle to turn and move.

[0042] Step S03: planning a turning path for the vehicle, and controlling the vehicle to turn in the planned direction during the movement of the vehicle.

[0043] The embodiment of the present invention is applied to a vehicle-mounted controller, which controls the vehicle state according to a user request sent by a mobile terminal on the vehicle owner side. The interaction process is as follows: Figure 2 As shown (the on-board controller is located inside the vehicle, Figure 2 (not shown): The user (i.e., the car owner) uploads the user request to the vehicle remote control system by operating the mobile terminal on the car owner's side. The vehicle remote control system sends the user request to the vehicle controller through the vehicle Internet of Things, triggering the vehicle controller to control the vehicle's braking system, power system, steering system, etc., to achieve rapid vehicle movement.

[0044] The working principle of the embodiment of the present invention is described in detail below:

[0045] As the number of cars continues to increase, parking spaces are becoming increasingly scarce, and the phenomena of "difficult parking" and "disorderly parking" are becoming more and more serious. Various disputes caused by parking problems frequently occur. For example, when a parked vehicle blocks the normal passage of other vehicles, the owner of the blocked vehicle needs to notify the owner of the blocked vehicle to start the ignition and move the vehicle in time, but in many cases the owner of the blocked vehicle cannot arrive at the scene immediately, thus causing disputes. In order to meet the owner's demand for quick vehicle movement, the embodiment of the present invention requires that the vehicle has the functions of remotely releasing the parking state and intelligent steering.

[0046] The basic structure of the vehicle determines that when the vehicle is in P gear and the EPB is pulled up, that is, when the vehicle is in the parking state, it is impossible to move the vehicle by pushing it manually; after the vehicle is in N gear and the EPB is released, that is, after the parking is released, the vehicle can be pushed by manpower. It should be noted that after the owner parks the car and locks the car electrically, the vehicle is generally in the parking state. Braking regulations require that the EPB can only be released when the vehicle is powered on. After the vehicle is powered off, the EPB can remain in the released state but the release action is not allowed. Therefore, after the vehicle is locked electrically, if you want to release the parking, you need to control the vehicle to power on and start it before releasing the parking.

[0047] Based on this, for vehicles with the function of remotely releasing the parking state, when the owner parks the car, unlocks the car and leaves, if the parked vehicle (hereinafter referred to as car A) blocks the normal passage of other vehicles, the blocked car owner can call the reserved car owner phone number on car A or other methods to notify the owner of car A to move the car. After receiving the notification, the owner of car A does not need to go to car A to start the engine and move the car. He only needs to remotely control car A to release the parking state through the mobile terminal on the owner side. The blocked car owner can move car A by manually pushing the car and then drive smoothly, thus meeting the owner's demand for quick car movement. Among them, the mobile terminal on the owner side can be a portable terminal such as the owner's smart phone, tablet computer or wearable smart device (such as a smart watch or smart bracelet).

[0048] by Figure 3 Taking the scenario shown as an example, there are four cars A, B, C, and D parked in a certain area of ​​the parking lot. Car B is blocked by car A in front, the wall behind, car C on the left, and car D on the right and cannot drive out. At this time, the owner of car B can call the owner's phone number reserved on car A to notify the owner of car A to move the car. After receiving the call, the owner of car A only needs to remotely control car A to release the parking state through the smart phone. The owner of car B can push car A forward a certain distance by manpower, and then drive car B out of the parking space smoothly, thus saving the time of the owner of car A to go to car A to start the engine and move the car after receiving the call, and also saving the waiting time of the owner of car B, avoiding the conflict between the owner of car B and the owner of car A due to long waiting time.

[0049] In addition, considering that after the parking state is released, car A can only be pushed forward and backward in a straight direction, but cannot be pushed to turn, and in some complex traffic environments, car A may not have sufficient space to move forward and backward in a straight direction, then the owner's need to move the car quickly can no longer be met. In this regard, the embodiment of the present invention also designs the parked vehicle to have an intelligent steering function. The intelligent steering function is that the vehicle determines by itself whether there is a need for turning and moving and space for turning and moving. If so, the steering path is planned for the vehicle, and the vehicle is controlled to turn in the planned direction during the process of being pushed. Compared with the situation where car A can only be pushed in a fixed direction after the parking state is released, car A can adapt to more complex traffic environments after adding the intelligent steering function.

[0050] by Figure 4 Take the scenario shown as an example. There are five cars A, B, C, D, and E parked in a certain area of ​​the parking lot. Car B is blocked by car A in front, the wall behind, car C on the left, and car D on the right and cannot drive out. There are no cars on the left or right sides of car A, but car E is parked in front. If car A is only pushed forward for a distance, it will not leave enough space for car B to drive out of the parking space smoothly. However, if car A turns left or right and then drives straight, it will leave enough space for car B to drive out of the parking space smoothly. Therefore, the owner of car A will receive the car B's parking space after receiving the car A's parking space. After the owner of car B receives the notification of the request to move the car, he only needs to remotely control car A to release the parking state. Then car A can automatically determine the current turning demand and turning space of car A based on the surrounding environment information, and automatically plan the turning path, such as turning left and then going straight. When car A is pushed to the planned turning point by the owner of car B, car A automatically turns left. Then car A continues to move straight forward under the push of the owner of car B until the owner of car B stops pushing the car and car A stops moving. Then the owner of car B can drive car B out of the parking space smoothly.

[0051] In summary, the parked vehicle designed in the embodiment of the present invention has the functions of remote release of parking state and intelligent steering, so that when the parked vehicle blocks traffic, the owner does not need to rush to the scene to start the car and move the car, but only needs to remotely release the parking state, and the blocked person can move the vehicle by pushing the car manually, thereby saving time for both parties and realizing rapid vehicle movement; the intelligent steering function means that the vehicle can automatically plan the steering path and turn in the planned direction when there is a need and space for steering movement, so compared with the vehicle that can only be pushed in a fixed direction, the embodiment of the present invention can adapt to more complex traffic environments. .

[0052] The vehicle-mounted controller to which the embodiments of the present invention are applied may be developed based on an ADAS controller. The ADAS controller is an ECU used for ADAS, which can integrate and process data from different sensors (such as cameras, radars, etc.) to achieve various safety and automated driving functions.

[0053] Optionally, a method for determining whether the vehicle has a turning movement requirement and a turning movement space is as follows: Figure 5 As shown, including:

[0054] Step S11: Determine whether the vehicle meets the first condition. If so, proceed to step S12; if not, this round of determination ends. The first condition refers to that there are no static obstacles within a first preset distance from the front or rear of the vehicle (for example, within 50 cm from the front or rear of the vehicle).

[0055] Step S12: Determine whether the vehicle meets the second condition. If so, proceed to step S13; if not, this round of judgment ends; wherein, the second condition means that there are no static obstacles within a second preset distance from the left or right side of the vehicle (for example, within 7 meters from the left or right side of the vehicle), and the first preset distance is less than the second preset distance.

[0056] Step S13: Determine whether the vehicle has a turning movement requirement and a turning movement space, and this round of determination ends here.

[0057] For example, if there is no static obstacle within 50 cm from the front of the vehicle, there is a static obstacle within 50 cm from the rear of the vehicle, there is no static obstacle within 7 meters from the left side of the vehicle, and there is a static obstacle within 7 meters from the right side of the vehicle, then the vehicle needs to turn left when turning, and the distance of 50 cm from the front of the vehicle can ensure that the vehicle will not scratch the static obstacle in front of the front of the vehicle during the left turn. Static obstacles and dynamic obstacles are two relative concepts. Static obstacles refer to immovable obstacles such as walls, trees, and poles, while dynamic obstacles refer to movable obstacles such as people and animals. Figure 5 The scheme shown only judges static obstacles instead of all obstacles. This is to prevent the vehicle from identifying the cart pusher as an obstacle and misjudging that the vehicle does not have space to turn and move. The cart pusher can move other dynamic obstacles around the vehicle away before notifying vehicle A to move.

[0058] Optionally, based on any of the above disclosed embodiments, in addition to shifting the N gear and releasing the EPB, releasing the parking brake can also be: shifting the D gear or the R gear and releasing the EPB, so that the vehicle can provide assistance to the human pusher, solving the problem that people with less strength find it difficult to push the vehicle independently. Specifically, when someone intends to push the vehicle forward, the vehicle is controlled to start, shift into the D gear and release the EPB, at which time the parking state is released, and then the actual output torque F2 of the vehicle is controlled to be less than the torque F1 required for the vehicle to leave. At this time, the pusher behind the vehicle only needs to provide a thrust of not less than F1-F2, and the vehicle can be pushed forward; when someone intends to push the vehicle backward, the vehicle is controlled to start, shift into the R gear and release the EPB, and then the parking state is released, and then the actual output torque F2 of the vehicle is controlled to be less than the torque F1 required for the vehicle to leave. At this time, the pusher in front of the vehicle only needs to provide a thrust of not less than F1-F2, and the vehicle can be pushed backward.

[0059] Optionally, based on any of the embodiments disclosed above, after controlling the vehicle to turn in the planned direction, it also includes: detecting whether there is an obstacle within a third preset distance from the vehicle in the direction of travel of the vehicle (for example, within 30 centimeters from the vehicle), and if so, controlling the vehicle to brake to avoid the risk of collision; then detecting whether someone intends to push the vehicle in the opposite direction, and if so, controlling the vehicle to release the brakes.

[0060] This embodiment takes into account that in certain scenarios, pushing the vehicle forward for a certain distance cannot move the vehicle out all at once, and it needs to be pushed in the opposite direction and then forward again. In this case, the vehicle will brake when the person pushing the vehicle moves to the rear of the vehicle to avoid colliding with the person pushing the vehicle, and the brakes will be released when the person pushing the vehicle intends to push the vehicle in the opposite direction.

[0061] Considering that when the blocked car owner wants to push the vehicle forward, the blocked car owner will move to the rear of the vehicle and get close to the vehicle, while ensuring that there is no one within a certain distance in front of the vehicle; when the blocked car owner wants to push the vehicle backward, the blocked car owner will move to the front of the vehicle and get close to the vehicle, while ensuring that there is no one within a certain distance behind the vehicle. Based on this, the detection of whether someone intends to push the vehicle in the opposite direction may include:

[0062] When the vehicle is in a forward moving state before braking, the detecting whether someone intends to push the vehicle in the reverse direction comprises: detecting whether the third condition is satisfied and the fourth condition is not satisfied, and if so, determining that someone intends to push the vehicle in the reverse direction;

[0063] When the vehicle is in a backward moving state before braking, the detecting whether someone intends to push the vehicle in the reverse direction includes: detecting whether the fourth condition is satisfied and the third condition is not satisfied, and if so, determining that someone intends to push the vehicle in the reverse direction.

[0064] The third condition refers to the presence of a person within a fourth preset distance (eg, 30 cm) from the rear of the vehicle, and the fourth condition refers to the presence of a person within a fourth preset distance from the front of the vehicle.

[0065] Optionally, based on any of the above disclosed embodiments, in order to avoid overheating of the vehicle due to frequent steering, the embodiment of the present invention limits the number of steering times in a cart-pushing process (a vehicle is moved from an original position to a destination as a cart-pushing process). That is, when the counted number of vehicle steering times reaches a preset number (for example, in a cart-pushing process, the embodiment of the present invention allows at most 2 steering times), the vehicle is prohibited from steering.

[0066] Optionally, based on any of the above disclosed embodiments, in order to avoid the vehicle occupying urban roads after being pushed and to avoid the problem that the owner has difficulty finding the vehicle after being pushed, the vehicle control method further includes: when a preset condition is met, controlling the vehicle to track and return to the original position. The preset condition is met, for example, by receiving a return request sent by the mobile terminal on the owner's side, or the vehicle is continuously in the parking release state for a preset time (for example, 5 minutes). The on-board controller can memorize the vehicle's route through information such as vehicle speed, steering angle, surround view camera, radar, etc. When the vehicle receives the return request sent by the mobile terminal on the owner's side, the on-board controller returns to the original position of the vehicle according to the memorized route.

[0067] Optionally, based on any of the above disclosed embodiments, before the control of the vehicle to start first and then release the parking, it also includes: judging whether the vehicle meets the safety requirements for releasing the parking, if so, executing the step of controlling the vehicle to start first and then release the parking, otherwise it will not be executed. For example, when the vehicle is parked on a ramp with a large slope, if the parking is released, the dangerous behavior of the vehicle slipping will occur. Therefore, in the embodiment of the present invention, "when the vehicle is parked on the ramp, the slope of the ramp is less than the preset slope (the preset slope is, for example, 2%)" is used as one of the safety requirements to be met for releasing the parking. In addition, the vehicle self-checking without fault is a basic condition to ensure vehicle safety, so before controlling the vehicle to start first and then release the parking, it is recommended to perform a self-check on the vehicle and the self-check without fault (for example, the network status, power status and oil status of the vehicle are all normal) is also used as one of the safety requirements to be met for releasing the parking. Among them, the slope of the ramp can be obtained using a longitudinal acceleration sensor, a wheel speed sensor or a resolver sensor (a resolver sensor is provided in a new energy vehicle model using an electric motor).

[0068] In addition, an embodiment of the present invention further discloses a vehicle-mounted controller, including: a processor and a memory, wherein a computer program is stored on the processor, and when the computer program is executed by the processor, any one of the vehicle control methods disclosed above is implemented.

[0069] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the vehicle controller disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0070] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish between similar and different objects, and are not necessarily used to describe a specific order or sequence. Moreover, the terms "comprises", "comprising", or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity, or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity, or device. In the absence of further restrictions, the elements defined by the sentence "comprising a" do not exclude the existence of other identical elements in the process, method, commodity, or device including the elements.

[0071] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the embodiments of the present invention. Therefore, the embodiments of the present invention will not be limited to the embodiments shown herein, but rather to the widest range consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle-mounted controller, the method comprises: In response to a parking release request sent by a mobile terminal on the vehicle owner's side, the vehicle is controlled to start first and then release the parking; Determine whether the vehicle has a turning movement requirement and turning movement space. If so, plan the turning path for the vehicle and control the vehicle to turn in the planned direction during the movement of the vehicle.

2. The vehicle control method according to claim 1, characterized in that: The release of parking includes: controlling the vehicle to shift into neutral gear and releasing the electronic parking brake.

3. The vehicle control method according to claim 1 or 2, characterized in that: The determining whether the vehicle has a turning movement demand and a turning movement space includes: determining whether the vehicle satisfies a first condition and a second condition, and if so, determining that the vehicle has a turning movement demand and a turning movement space; Among them, the first condition refers to that there are no static obstacles within a first preset distance from the front or rear of the vehicle, and the second condition refers to that there are no static obstacles within a second preset distance from the left or right side of the vehicle, and the first preset distance is smaller than the second preset distance.

4. The vehicle control method according to claim 1 or 2, characterized in that: After the vehicle is controlled to turn in the planned direction, the method further includes: Detecting whether there is an obstacle within a third preset distance from the vehicle in the direction of travel of the vehicle, and if so, controlling the vehicle to brake; Detect whether someone intends to push the vehicle in the opposite direction, and if so, control the vehicle to release the brakes.

5. The vehicle control method according to claim 4, characterized in that: When the vehicle is in a forward moving state before braking, the detecting whether someone intends to push the vehicle in the reverse direction comprises: detecting whether the third condition is satisfied and the fourth condition is not satisfied, and if so, determining that someone intends to push the vehicle in the reverse direction; When the vehicle is in a backward moving state before braking, the detecting whether someone intends to push the vehicle in the reverse direction comprises: detecting whether the fourth condition is satisfied and the third condition is not satisfied, and if so, determining that someone intends to push the vehicle in the reverse direction; The third condition refers to the presence of a person within a fourth preset distance from the rear of the vehicle, and the fourth condition refers to the presence of a person within a fourth preset distance from the front of the vehicle.

6. The vehicle control method according to claim 1 or 2, characterized in that: After the vehicle is controlled to turn in the planned direction, the method includes: When the vehicle turns a preset number of times, the vehicle is prohibited from turning.

7. The vehicle control method according to claim 1 or 2, characterized in that: The vehicle control method further includes: when a preset condition is met, controlling the vehicle to track and return to an original position.

8. The vehicle control method according to claim 8, characterized in that: The preset condition is satisfied when: a return request sent by the mobile terminal of the vehicle owner is received, or the vehicle is continuously in the parking release state for a preset time.

9. The vehicle control method according to claim 1 or 2, characterized in that: The controlling the vehicle to start first and then release the parking state also includes: It is determined whether the vehicle meets the safety requirements for releasing the parking state. If so, the step of controlling the vehicle to start first and then release the parking state is performed.

10. A vehicle-mounted controller, characterized in that: include: A processor and a memory, wherein a computer program is stored on the processor, and when the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 9 is implemented.

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