Vehicle control method, device and equipment and readable storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, equipment and a readable storage medium. Belongs to the vehicle-mounted field. The method comprises the steps of obtaining a driving condition of a vehicle; in response to the driving condition, indicating that the vehicle is in a slipping state, controlling a power controller of the vehicle to be switched to a target speed mode, the target speed mode being used for describing a driving mode in which the power controller controls the rotating speed of a motor controller by adjusting the output torque of the power controller; and in the target speed mode, tires of the vehicle are controlled by the power controller to rotate at the target wheel speed, so that the vehicle is out of order. And the service life of the power controller is prolonged, and meanwhile, the tire can be timely braked to rotate at a lower rotating speed.

Description

Technical Field

[0001] The present application relates to the vehicle field, and in particular to a vehicle control method, device, equipment and readable storage medium. Background Art

[0002] With the popularity of new energy vehicles, the share of electric vehicles in the automobile market has gradually increased. However, in actual use, electric vehicles face some special challenges. For example, electric vehicles are more likely to get stuck in complex road conditions, such as snowy roads and muddy roads, compared with traditional fuel vehicles, due to the characteristics of the vehicle structure of their power system.

[0003] In the related art, when an electric vehicle is trying to escape from a difficult situation, it relies on the torque output by a power controller and the gear position of a transmission to adjust and overcome difficulties.

[0004] However, due to the characteristics of the structure of electric vehicles, the power controller corresponds to a wide speed range. When using the above solution to get out of trouble, the power controller cannot accurately determine the specific value of its own speed while outputting its own torque. The actual speed may be much greater than the theoretical speed corresponding to the output torque, which ultimately causes the power controller and / or differential controller to work extra, wears out the service life of the power controller and / or differential controller, and fails to get the vehicle out of trouble in time, reducing the vehicle's escape efficiency. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, equipment and readable storage medium to improve the efficiency of identifying the state of the energy input port cover, avoid the occurrence of dangerous accidents, and thus improve driving safety. The technical solution is as follows:

[0006] In one aspect, a vehicle control method is provided, the method comprising:

[0007] Acquiring a driving condition of the vehicle, wherein the driving condition is used to indicate a driving condition of the vehicle during driving;

[0008] In response to the driving condition indicating that the vehicle is in a slipping state, controlling a power controller of the vehicle to switch to a target speed mode, wherein the target speed mode is used to describe a driving mode in which the power controller controls the speed of the motor controller by adjusting the output torque of the power controller, and the power controller is used to provide a power source to the vehicle and control power output;

[0009] In the target speed mode, the tires of the vehicle are controlled by a power controller to rotate at a target wheel speed.

[0010] In another aspect, a vehicle control device is provided, the device comprising:

[0011] An acquisition module, used for acquiring the driving condition of the vehicle, wherein the driving condition is used for indicating the driving condition of the vehicle during driving;

[0012] a control module, configured to control a power controller of the vehicle to switch to a target speed mode in response to the driving condition indicating that the vehicle is in a slipping state, wherein the target speed mode is used to describe a driving mode in which the power controller controls the speed of the motor controller by adjusting the output torque of the power controller, and the power controller is used to provide a power source to the vehicle and control power output;

[0013] The control module is further used to control the tires of the vehicle to rotate at a target wheel speed through a power controller in the target speed mode.

[0014] On the other hand, a computer-readable storage medium is provided, wherein at least one section of information is stored in the computer-readable storage medium, and the at least one section of information is loaded and executed by a processor to implement the vehicle control method as described above.

[0015] On the other hand, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium, a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes to implement the vehicle control method as described above.

[0016] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0017] Identify whether the vehicle is in a slipping state based on the vehicle's driving conditions. When the vehicle is in a slipping state, the vehicle's power controller automatically switches to the target speed mode. In the target speed mode, the power controller adjusts its output torque based on its own rotation speed, so that the vehicle's tires can rotate at the target wheel speed to complete the vehicle's escape. Avoid the situation where the power controller directly adjusts the output torque, resulting in a large error in the rotation speed of the power controller. While increasing the service life of the power controller, it can also brake the tires in time so that the tires rotate at a lower speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a flowchart of a method for implementing a vehicle control method provided in an embodiment of the present application;

[0020] Figure 2 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present application;

[0021] Figure 3 is a flow chart of a vehicle control method provided by another exemplary embodiment of the present application;

[0022] Figure 4 is a flow chart of a vehicle control method provided by another exemplary embodiment of the present application;

[0023] Figure 5 is a flowchart of a vehicle control device provided by an exemplary embodiment of the present application;

[0024] Figure 6 is a flowchart of a control device for a vehicle provided by another exemplary embodiment of the present application;

[0025] Figure 7 It is a structural block diagram corresponding to a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0027] like Figure 1 As shown, Figure 1 A schematic flow chart of a vehicle control method provided by an embodiment of the present application is shown. The flow chart includes a vehicle 10 , which includes a power controller 11 and a tire 12 .

[0028] Optionally, the power controller 11 provides a power source to the vehicle and controls the power output. Optionally, when the vehicle 10 is a new energy vehicle, the power controller 11 is a motor controller; when the vehicle 10 is a traditional fuel vehicle, the power controller 11 is a fuel engine.

[0029] Optionally, the power controller 11 obtains the driving condition of the vehicle 10, which refers to the driving condition of the vehicle 10 during driving.

[0030] The power controller 11 determines whether the vehicle 10 is in a slipping state according to the above driving conditions. The slipping state means that during the driving process of the vehicle 10, the friction between the tire 12 and the ground is insufficient to transmit the driving force provided by the power controller 11, resulting in idling or sliding of the tire 12. In the slipping state, the vehicle 10 cannot obtain the expected acceleration or cannot maintain stable driving.

[0031] In response to the power controller 11 indicating that the vehicle 10 is in a slipping state, the power controller controlling the vehicle 10 switches to a target speed mode, wherein the target speed mode refers to a driving mode in which the power controller 11 controls the rotational speed of the motor controller 11 by adjusting the output torque of the power controller.

[0032] In the target driving mode, the power controller 11 drives the tire 12 to rotate at a target wheel speed, so that the vehicle 10 can escape from trouble and avoid the vehicle 10 being in a slipping state.

[0033] It should be noted that the process of the power controller 11 controlling the wheel speed of the tire 12 in the target driving mode will be described in detail in the following embodiments and will not be elaborated here.

[0034] It should be noted that the information (including but not limited to driving conditions, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0035] In combination with the above description, the vehicle control method involved in the embodiment of the present application is explained. Figure 2 FIG. 1 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present application, and the method is applied to a vehicle for explanation. Figure 2 As shown, the method includes:

[0036] Step 200, obtaining the driving condition of the vehicle.

[0037] Optionally, the driving condition refers to the driving condition of the vehicle during driving.

[0038] In the embodiments of the present application, the driving condition refers to the specific working condition and environmental condition that the vehicle is in during driving. The driving condition includes at least one of the vehicle's driving speed, driving acceleration, power load, road conditions, environmental conditions, etc. The driving condition affects the vehicle's power, economy, and emission characteristics.

[0039] In the embodiment of the present application, the factors affecting the driving conditions include at least one of environmental conditions, road conditions, climate conditions, vehicle load, tire pressure, tire speed, tire slip rate, etc.

[0040] Among them, the environmental conditions are used to indicate the temperature values ​​of components in the vehicle (such as: power controller, differential controller, etc.) when they are in working state.

[0041] Road conditions are used to indicate the wetness or dryness of the ground, slopes, curves, mountain roads, etc.

[0042] Climate conditions are used to indicate the temperature, humidity, weather conditions, etc. corresponding to the external environment in which the vehicle is located.

[0043] The vehicle load includes the passenger weight and cargo weight. The passenger weight refers to the weight of the passengers in the vehicle, and the cargo weight refers to the weight of the items placed in the storage compartment of the vehicle. It should be noted that the passenger weight is determined based on the number of passengers, which is determined based on the product of the number of passengers and the average human weight, and the average human weight is predetermined.

[0044] Tire pressure, tire speed and tire slip rate are used to indicate the status of the tire during driving, and the specific parameters are determined based on the sensor components set at the tire. Schematically, a speed sensor is set at the tire, and the speed sensor is used to monitor the speed of tire rotation.

[0045] The specific process of determining the driving condition is introduced as follows.

[0046] The first one is to determine the driving condition of the vehicle based on the driving data of the vehicle.

[0047] Acquire first driving data corresponding to the vehicle, wherein the first driving data includes environmental data and vehicle component data.

[0048] Obtaining geographic location data from environmental data: Schematically, a positioning sensor is provided in the vehicle, and the positioning sensor is used to monitor the geographic location data of the vehicle, thereby obtaining environmental data.

[0049] In an optional embodiment, the vehicle is connected to a weather monitoring system, which is used to monitor weather information at a target geographical location, which is determined based on a positioning sensor provided in the vehicle. It is understood that the target geographical location here is actually the location of the vehicle.

[0050] Illustratively, weather information of the vehicle is determined based on geographic location data, and the weather information includes at least one of sunny days, snowy days, rainy days, cloudy days, etc.

[0051] Obtain the tire speed and adhesion corresponding to the tire in the vehicle component data.

[0052] The road condition information of the vehicle is determined based on the tire speed and adhesion. The road condition information is used to indicate the road condition corresponding to the ground where the vehicle is located.

[0053] Optionally, the friction between the tire and the ground is determined based on the tire speed and adhesion. In an optional embodiment, a preset association relationship between vehicle component data and friction is pre-stored in the power controller. After determining the tire speed and adhesion corresponding to the tire, the friction between the tire and the ground is directly determined based on the preset association relationship. The road condition information of the vehicle is determined based on the friction.

[0054] Determine the driving condition based on weather information and road condition information. Schematically, the power controller determines that the weather information of the vehicle is cloudy, and determines that the road condition information is a sloped ground. The power controller determines the driving condition of the vehicle based on "cloudy" and "sloped ground".

[0055] The second method determines the driving condition based on the driving condition of the tire and the tire speed.

[0056] The tire driving condition of the vehicle is obtained from the vehicle component data. The tire driving condition refers to whether the tire bears the main driving force during the driving of the vehicle.

[0057] Optionally, the tire driving condition includes driving tires and non-driving tires. The driving tires are used to indicate that the tires provide the main driving force for the vehicle during the driving process. The non-driving tires rotate under the drive of the driving tires, thereby maintaining the same rotation speed as the driving tires.

[0058] Monitor the tire speed corresponding to each wheel of the vehicle. Schematically, monitor the first tire speed corresponding to the driving tire of the vehicle and the second tire speed corresponding to the non-driving tire.

[0059] The driving condition of the vehicle is determined according to the difference between the first tire speed and the second tire speed.

[0060] Schematically, the difference between the first tire speed and the second tire speed meets the first interval, and the driving condition of the vehicle is determined to be the first driving condition. The difference between the first tire speed and the second tire speed meets the second interval, and the driving condition of the vehicle is determined to be the second driving condition. Among them, the first interval and the second interval are set by relevant personnel. The first driving condition corresponds to the vehicle being in a slipping state, and the second driving condition corresponds to the vehicle being in a non-slipping state.

[0061] The third method is to determine the driving condition of the vehicle based on the acceleration of the vehicle tires.

[0062] The tire driving condition of the vehicle is obtained from the vehicle component data.

[0063] Determine the theoretical acceleration and the actual acceleration of the driving tires at the current driving speed in the tire driving situation.

[0064] The driving condition of the vehicle is determined based on the acceleration difference between the theoretical acceleration and the actual acceleration.

[0065] Illustratively, if the acceleration difference between the theoretical acceleration and the actual acceleration meets the third interval, the vehicle's driving condition is determined to be the first driving condition. If the acceleration difference between the theoretical acceleration and the actual acceleration meets the fourth interval, the vehicle's driving condition is determined to be the second driving condition.

[0066] It should be noted that the driving condition of the vehicle can also be determined using data collected by other sensors installed in the vehicle. This application does not limit the specific implementation details of determining the driving condition.

[0067] Step 201 , in response to a driving condition indicating that the vehicle is in a slipping state, controlling a power controller of the vehicle to switch to a target speed mode.

[0068] The slipping state refers to the situation where the friction between the tires and the ground is insufficient to transmit the driving force provided by the power controller during the driving process of the vehicle, resulting in the tires spinning or sliding. In the slipping state, the vehicle cannot obtain the expected acceleration or maintain stable driving.

[0069] Optionally, after obtaining the driving condition of the vehicle, it is determined whether the driving condition indicates that the vehicle is in a slipping state. That is, a slip coefficient corresponding to the driving condition is determined, and the slip coefficient is used to indicate the probability that the vehicle is in a slipping state under the current driving condition.

[0070] In an optional embodiment, a preset characterization chart is obtained, and the preset characterization chart is specifically used to indicate the corresponding relationship between each parameter in the driving condition and the slip coefficient. Schematically, the power controller determines that the weather information of the vehicle is cloudy, and determines that the road condition information is a sloped ground. The power controller determines that the driving condition includes "cloudy" and "slope ground". The slip coefficient corresponding to "cloudy" is determined to be 0.8, and the slip coefficient corresponding to "slope ground" is determined to be 0.9. The slip coefficient of 0.8 is used to indicate that the probability of the vehicle slipping in a cloudy state is 80%, and the slip coefficient of 0.9 is used to indicate that the probability of the vehicle slipping on a sloped ground is 90%.

[0071] Optionally, the driving condition includes at least one driving parameter. Schematically, the driving parameter can be understood as the corresponding driving condition of the vehicle, including but not limited to: rainy days, muddy roads, etc.

[0072] At least one slip sub-coefficient corresponding to the at least one driving parameter is determined from a preset characterization map.

[0073] A weighted average process is performed on at least one sliding sub-coefficient to obtain an average value.

[0074] In response to the average value being greater than a preset value, it is determined that the vehicle is in a slipping state.

[0075] In another optional embodiment, second driving data of the vehicle within a preset time period is obtained, and the second driving data includes the driving displacement of the vehicle and the driving speed of the vehicle. It is worth noting that the first driving data and the second driving data mentioned above can refer to the same batch of driving data, or can be used to refer to different driving data. This application is not limited to this.

[0076] In response to the vehicle's travel displacement being less than a preset displacement threshold and the vehicle's travel speed being greater than a preset speed threshold, a first distance of the tire corresponding to the ground at a first time node is obtained, and a second distance of the tire relative to the ground at a second time node is obtained. The first time node and the second time node are any two different time nodes within a preset time period, and the first time node is earlier than the second time node in a natural time sequence.

[0077] In response to a distance difference between the first distance and the second distance meeting a preset requirement, it is determined that the vehicle is in a slipping state.

[0078] In the above embodiment, if the vehicle does not move within the preset time period (or the displacement is very small), it is determined whether the vehicle is slipping according to the vehicle's driving speed. For example, if the vehicle does not move within the preset time period and the vehicle has no driving speed, the vehicle is determined to be stationary. However, if the vehicle does not move within the preset time period and the vehicle has a certain driving speed, it is determined that the probability of the vehicle slipping is high, and the power controller is controlled to enter the specified mode to adjust the vehicle to get out of trouble.

[0079] In order to further improve the accuracy of determining whether the vehicle is skidding, the distance of the tire relative to the ground is obtained, and whether the vehicle is skidding is determined based on whether the tire is suspended.

[0080] In another optional embodiment, the torque value corresponding to the vehicle steering wheel and the control force required to control the rotation of the steering wheel are obtained.

[0081] The first offset angle corresponding to the tire is determined based on the torque value. Then the second offset angle corresponding to the tire is obtained. In the actual implementation process, the first offset angle can be understood as the theoretical offset angle output by the vehicle tire under the torque value corresponding to the steering wheel, and the second offset angle can be understood as the actual offset angle of the vehicle.

[0082] In response to a distance difference between the first distance and the second distance meeting a preset requirement, it is determined that the vehicle is in a slipping state.

[0083] In the above embodiment, whether the vehicle is skidding is determined from the perspective of the steering wheel.

[0084] Optionally, the target speed mode is used to describe a driving mode in which the power controller controls the rotational speed of the click controller by adjusting the output torque of the power controller.

[0085] When the power controller determines that the vehicle is slipping, it switches directly from the current normal driving mode to the target speed mode.

[0086] Step 202, in the target speed mode, the power controller controls the tires of the vehicle to rotate at a target speed, so that the vehicle can escape from trouble.

[0087] Optionally, in the target speed mode, the speed efficiency data corresponding to the motor controller is obtained, and the speed efficiency data is used to indicate the efficiency speed of the power controller at different speeds and different output torques.

[0088] According to the speed efficiency data, the power controller controls the tire to rotate at the target wheel speed.

[0089] In an embodiment of the present application, a preset correlation between a first pedal depth corresponding to a power pedal of the vehicle and a rotational speed corresponding to a power controller is obtained, and the first pedal depth is used to indicate the distance that the power pedal is pressed downward under force.

[0090] The second pedal depth corresponding to the power pedal of the vehicle is obtained, where the second pedal depth is used to indicate the distance the power pedal is pressed down under driving conditions.

[0091] A target rotation speed corresponding to the second pedal depth is determined from a preset association relationship.

[0092] A target output torque corresponding to the target speed is determined from the speed efficiency data.

[0093] The power controller is controlled to drive the tire to rotate at a target rotation speed, and the output torque of the power controller is controlled to reach a target output torque.

[0094] In the embodiment of the present application, the target rotational speed of the tire is 0, and the power controller adjusts its own output torque and thereby controls the rotational speed of the power controller, so that the tire can output the maximum output torque at the target rotational speed of 0.

[0095] In an embodiment of the present application, when the vehicle is in a slipping state, the power controller is used to control the speed so that the tire outputs a corresponding output torque to ensure that the wheel speed of the tire is not too fast, thereby ensuring that the vehicle can escape from the slipping state, or ensuring the normal driving of the vehicle under extreme driving conditions.

[0096] Optionally, after the power controller switches to the target speed mode, the power pedal controls the vehicle according to the speed efficiency data. Schematically, taking a traditional fuel vehicle as an example, the speed of the vehicle's engine is controlled by the throttle.

[0097] In an embodiment of the present application, it is identified whether the vehicle is in a slipping state based on the driving condition of the vehicle. When the vehicle is in a slipping state, the power controller of the vehicle automatically switches to the target speed mode. In the target speed mode, the power controller adjusts its output torque based on its own rotation speed, so that the tires of the vehicle can rotate at the target wheel speed to complete the vehicle's escape. Avoid the situation where the power controller directly adjusts the output torque, resulting in a large error in the rotation speed of the power controller. While increasing the service life of the power controller, it is also possible to brake the tires in time so that the tires rotate at a lower speed.

[0098] like Figure 3 As shown, Figure 3 FIG. 1 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present application, and the method is applied to a vehicle for explanation. Figure 3 As shown, the method includes:

[0099] Step 300, when the power controller is in a target speed mode, in response to a tire parameter corresponding to the tire meeting a preset parameter condition, controlling the power controller to a target speed mode.

[0100] Optionally, the tire parameters include tire adhesion to the ground and tire rotation speed.

[0101] In the embodiment of the present application, in response to the power controller being in the target speed mode, the adhesion force and tire speed corresponding to the tire are determined, wherein the adhesion force is used to indicate the value of the tangential reaction force of the ground on the tire.

[0102] In response to the adhesion being less than a preset adhesion threshold and the tire speed being greater than a preset speed threshold, the power controller is controlled to drive a deceleration controller of the vehicle to distribute traction to the tire.

[0103] In the embodiment of the present application, traction refers to the power corresponding to the friction force required for the tire to contact the ground by converting the output torque transmitted by the power controller into the power by the deceleration controller.

[0104] Schematically, the deceleration controller is connected to the power controller. When the power controller adjusts its own output torque, the deceleration controller receives the output torque transmitted by the power controller and distributes the traction force corresponding to the output torque to the tire that needs braking according to actual conditions.

[0105] In an embodiment of the present application, the power controller outputs a target output torque for the tire to rotate at a target speed and a corresponding speed of the power controller, and the deceleration controller reduces the rotation of the power controller until the target speed required by the wheel (that is, the target speed is low speed). In the process of reducing the rotation of the power controller, the deceleration controller reversely increases the output torque of the power controller, so that the vehicle obtains traction suitable for propelling the vehicle forward while the tire is no longer in a high-speed speed state (slipping state).

[0106] In response to the tire having adhesion greater than or equal to a preset adhesion under the action of traction, and / or the tire speed being less than or equal to a preset speed threshold, the power controller is controlled to exit the target speed mode.

[0107] In an embodiment of the present application, when a single tire among multiple tires of a vehicle rotates rapidly and slips, the vehicle control method provided by the present application can achieve the effect of braking the single tire.

[0108] Optionally, the tire includes at least two sub-tires.

[0109] In response to the motor controller being in the target speed mode, at least two adhesion forces and at least two tire rotational speeds corresponding to the at least two sub-tires are determined, wherein the two sub-tires correspond one-to-one to the at least two adhesion forces, and the at least two sub-tires correspond one-to-one to the at least two tire rotational speeds.

[0110] In response to at least two adhesions being less than a preset adhesion threshold and at least two tire rotation speeds being greater than a preset rotation speed threshold, the sub-tire is determined as a target tire.

[0111] The power controller is controlled to drive the deceleration controller to distribute traction to other sub-tire(s) except the target tire.

[0112] In response to the adhesion of other sub-tires being greater than or equal to a preset adhesion threshold value, or the tire speed being less than or equal to a preset speed threshold value under the action of traction, the power controller is controlled to exit the target speed mode. In the process of the deceleration controller allocating traction to other sub-tires, the difference between the first tire speed corresponding to the target tire and the second tire speed corresponding to other sub-tires is less than the preset differential speed threshold value.

[0113] In another optional embodiment, a differential controller is provided in the vehicle, and the differential controller is used to maintain the wheel speed difference between the tires within a reasonable range. The differential controller replaces the deceleration controller and cooperates with the power controller to achieve the purpose of braking the tires.

[0114] In another optional embodiment, an electronic limited slip system is embedded in the vehicle. When a single tire slips, the power controller is connected to the electronic limited slip system, which improves the traction and stability of the vehicle under specific driving conditions.

[0115] The electronic limited slip system is implemented based on the vehicle body stability system. When the vehicle body stability system detects that a tire is slipping, the power controller controls the electronic limited slip system to be in working state, and uses the electronic limited slip system to brake the slipping tire. Schematically, during the braking process, braking can be completed by the anti-lock braking system. Braking can also be completed by other technical means, which is not limited in this application.

[0116] When braking a slipping tire, the electronic limited slip system automatically distributes power to other tires except the slipping tire due to the action of the differential controller (deceleration controller). This prevents all the power of the vehicle from being concentrated on one tire. When the tire slips, the vehicle has no power to move, which may cause a dangerous accident.

[0117] When the electronic limited slip system completes the braking effect on the tire, the power controller obtains the tire adhesion and tire speed. When the adhesion and tire speed meet the requirements, the power controller exits the target speed mode and continues normal driving.

[0118] In an embodiment of the present application, it is identified whether the vehicle is in a slipping state based on the driving condition of the vehicle. When the vehicle is in a slipping state, the power controller of the vehicle automatically switches to the target speed mode. In the target speed mode, the power controller adjusts its output torque based on its own rotation speed, so that the tires of the vehicle can rotate at the target wheel speed to complete the vehicle's escape. Avoid the situation where the power controller directly adjusts the output torque, resulting in a large error in the rotation speed of the power controller. While increasing the service life of the power controller, it is also possible to brake the tires in time so that the tires rotate at a lower speed.

[0119] like Figure 4 As shown, Figure 4 FIG. 1 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present application, and the method is applied to a vehicle for explanation. Figure 3 As shown, the method includes:

[0120] Step 40, determining that the vehicle is in a low-speed escape mode.

[0121] Optionally, the low-speed escape mode is used to indicate that the vehicle's driving condition corresponds to a slipping state.

[0122] The process of determining the specific driving condition can refer to the above step 200; the process of determining the slip state can refer to the above step 201, which will not be repeated here.

[0123] Step 41, controlling the power controller to switch from the torque output mode to the target speed mode.

[0124] Optionally, during normal driving of the vehicle, the power controller is in a torque output mode, in which the power controller first adjusts its own rotation speed to adjust its own output torque. In the torque output mode, there is no correlation between the power controller and the tire rotation speed of the tire.

[0125] When the vehicle is in low-speed escape mode, the power controller switches from torque output mode to target speed mode. In target speed mode, the power controller adjusts its output torque with the target speed of the tire as the control target, so that the tire speed fits the target speed and the rotation speed of the power controller is within a controllable range.

[0126] The definition of the specific target speed mode and the specific workflow can be found in the above step 202, which will not be described in detail here.

[0127] Step 42, associating the efficiency conversion data between the power pedal and the target speed mode, and the motor controller adjusts its own output torque and speed according to the efficiency conversion data.

[0128] In an embodiment of the present application, the pedal depth corresponding to the power pedal is associated with the efficiency conversion data of the power controller (consistent with the meaning of the speed efficiency data in the above embodiment), and the pedal depth is used to obtain a preset association relationship between the efficiency conversion data.

[0129] That is, the actual pedal depth corresponding to the power pedal is obtained, and the target speed corresponding to the actual pedal depth is determined from the preset association relationship. The target output torque corresponding to the target speed is determined from the speed efficiency data.

[0130] The power controller is controlled to drive the tire to rotate at a target speed, and the output torque of the power controller is controlled to reach a target output torque.

[0131] Step 43 : In response to the tires in the vehicle slipping, the power controller activates the electronic limited slip system.

[0132] Optionally, the vehicle is equipped with an electronic limited slip system. If a single tire slips, the power controller is connected to the electronic limited slip system, which improves the vehicle's traction and stability under specific driving conditions.

[0133] The electronic limited slip system is implemented based on the vehicle body stability system. When the vehicle body stability system detects that a tire is slipping, the power controller controls the electronic limited slip system to be in working state, and uses the electronic limited slip system to brake the slipping tire. Schematically, during the braking process, braking can be completed by the anti-lock braking system. Braking can also be completed by other technical means, which is not limited in this application.

[0134] Step 44 , when the electronic limited slip system is braking the slipping tire, the slipping tire is still in a slipping state, and the driving power controller is driven to reduce the rotation speed, and the electronic limited slip system is started again.

[0135] When braking a slipping tire, the electronic limited slip system automatically distributes power to other tires except the slipping tire due to the action of the differential controller (deceleration controller). This prevents all the power of the vehicle from being concentrated on one tire. When the tire slips, the vehicle has no power to move, which may cause a dangerous accident.

[0136] During the process of the electronic limited slip system braking a single slipping tire, if the slipping tire is still slipping, the power controller turns off the electronic limited slip system.

[0137] After turning off the electronic limited slip system, the power controller actively reduces its own speed and starts the electronic limited slip system again to brake the slipping tires.

[0138] Indicatively, the power controller is switched to the target speed mode manually through the mode selection button or automatically according to the driving mode. For example, if the vehicle is in off-road mode, steep slope low-speed mode, etc., the vehicle's driving mode is switched to the target speed mode.

[0139] At this time, the power controller will associate the pre-set speed efficiency data with the power pedal, and query the corresponding turbine speed of the power controller and the corresponding tire speed of the tire in the conversion efficiency data according to the different pedal depths of the power pedal.

[0140] The power controller will adjust its output torque according to the tire speed to ensure that the tire speed and tire adhesion are at a balance point between the two to get out of trouble.

[0141] For example, if the maximum output torque of the power controller is 400 N.M, and the tire speed obtained from the speed efficiency data based on the pedal depth of the power pedal is 5 kph, then the driving power controller will adjust its output torque according to 5 kph as the target until the rotation speed of the tire reaches 5 kph. In an optional embodiment, the output torque is adjusted according to the tire speed as the target until the vehicle speed reaches 5 kph.

[0142] Get the adhesion of the tire. If the adhesion is less than the preset adhesion threshold, it means that the friction between the tire and the ground is very low at this time, which will cause the wheel to slip at 50N.M. Then the power controller will automatically reduce the output torque so that its output torque can just ensure that the wheel speed reaches 5kph.

[0143] When the wheel speed reaches 5kph, if one side of the drive wheel still slips, the vehicle will use the electronic limited slip system to brake the slipping wheel on that side, thereby transferring the torque to the non-slipping wheel end.

[0144] Because the drive motor uses speed control, the slipping tires will not have a large slip difference and lose control during the entire electronic limited slip intervention process; at the same time, the parameters of the electronic limited slip system are set according to the hardware boundary of the differential controller, and the entire system can be set within the differential hardware working boundary, thereby ensuring that the vehicle is always working and the torque output will not be reduced due to the differential hardware protection boundary. For example, if the boundary of the differential lock is a speed difference of 5kph on both sides, the maximum preset correlation relationship can be set to 5kph when the low gear is disengaged. At this time, the entire disengagement process will not trigger the hardware boundary of the differential; making the entire disengagement process safer for the hardware.

[0145] In an embodiment of the present application, it is identified whether the vehicle is in a slipping state based on the driving condition of the vehicle. When the vehicle is in a slipping state, the power controller of the vehicle automatically switches to the target speed mode. In the target speed mode, the power controller adjusts its output torque based on its own rotation speed, so that the tires of the vehicle can rotate at the target wheel speed to complete the vehicle's escape. Avoid the situation where the power controller directly adjusts the output torque, resulting in a large error in the rotation speed of the power controller. While increasing the service life of the power controller, it is also possible to brake the tires in time so that the tires rotate at a lower speed.

[0146] See also Figure 5 , which shows a structural block diagram of a vehicle control device provided by an exemplary embodiment of the present application. The device includes the following contents.

[0147] An acquisition module 500 is used to acquire the driving condition of the vehicle, where the driving condition is used to indicate the driving condition of the vehicle during driving;

[0148] a control module 501, configured to control a power controller of the vehicle to switch to a target speed mode in response to the driving condition indicating that the vehicle is in a slipping state, wherein the target speed mode is used to describe a driving mode in which the power controller controls the speed of the motor controller by adjusting the output torque of the power controller, and the power controller is used to provide a power source to the vehicle and control power output;

[0149] The control module 501 is further configured to control the tires of the vehicle to rotate at a target wheel speed through a power controller in the target speed mode.

[0150] In an optional embodiment, the acquisition module 500 is used to acquire the speed efficiency data corresponding to the motor controller in the target speed mode, and the speed efficiency data is used to indicate the efficiency conversion of the power controller at different speeds and different output torques;

[0151] The control module 501 is further configured to control the tire to rotate at the target wheel speed through the power controller based on the rotational speed efficiency data.

[0152] In an optional embodiment, if Figure 6 As shown, the acquisition module 500 is used to acquire a preset correlation relationship between a first pedal depth corresponding to the power pedal of the vehicle and a rotation speed corresponding to the power controller, wherein the first pedal depth is used to indicate a distance that the power pedal is pressed downward by force;

[0153] The acquisition module 500 is used to acquire a second pedal depth corresponding to the power pedal of the vehicle, where the second pedal depth is used to indicate a distance that the power pedal is pressed downward under the driving condition;

[0154] A determination module 502, configured to determine a target rotation speed corresponding to the second pedal depth from the preset association relationship;

[0155] The determination module 502 is used to determine a target output torque corresponding to the target speed from the speed efficiency data;

[0156] The control module 501 is further configured to control the power controller to drive the tire to rotate at the target rotational speed, and to control the output torque of the power controller to reach the target output torque.

[0157] In an optional embodiment, if Figure 6As shown, the determination module 502 is used to determine the adhesion and tire speed corresponding to the tire in response to the power controller being in the target speed mode, wherein the adhesion is used to indicate the value of the tangential reaction force of the ground surface on the tire;

[0158] The control module 501 is further configured to control the power controller to drive the deceleration controller of the vehicle to distribute traction to the tire in response to the adhesion being less than a preset adhesion threshold and the tire speed being greater than a preset speed threshold, wherein the traction is used to instruct the deceleration controller to convert the output torque transmitted by the power controller into power corresponding to the friction required for the tire to contact the ground;

[0159] The control module 501 is also used to control the power controller to exit the target speed mode in response to the adhesion of the tire being greater than or equal to the preset adhesion threshold under the action of the traction force, or the tire speed being less than or equal to the preset speed threshold.

[0160] In an optional embodiment, if Figure 6 As shown, the tire includes at least two sub-tires;

[0161] The determining module 502 is configured to determine, in response to the motor controller being in the target speed mode, at least two adhesion forces and at least two tire speeds corresponding to the at least two sub-tires, respectively, wherein the two sub-tires correspond to the at least two adhesion forces in a one-to-one manner, and the at least two sub-tires correspond to the at least two tire speeds in a one-to-one manner;

[0162] The determination module 502 is configured to determine the sub-tire as a target tire in response to the at least two adhesion forces being less than the preset adhesion threshold and the at least two tire rotation speeds being greater than the preset rotation speed threshold;

[0163] The control module 501 is further used to control the power controller to drive the deceleration controller to distribute the traction force to other sub-tires except the target tire;

[0164] The control module 501 is further configured to control the power controller to exit the target speed mode in response to the adhesion of the other sub-tire being greater than or equal to the preset adhesion threshold value, or the tire speed being less than or equal to the preset speed threshold value under the action of the traction force;

[0165] Wherein, during the process of the deceleration controller distributing the traction to the other sub-tires, the difference between the first tire rotation speed corresponding to the target tire and the second tire rotation speed corresponding to the other sub-tires is less than a preset differential threshold.

[0166] In an optional embodiment, if Figure 6 As shown, first driving data corresponding to the vehicle is obtained, where the first driving data includes environmental data and vehicle component data;

[0167] The acquisition module 500 is used to acquire the geographical location data in the environmental data;

[0168] The determination module 502 is used to determine the weather information of the vehicle based on the geographic location data;

[0169] The acquisition module 500 is used to acquire the tire speed corresponding to the tire and the adhesion corresponding to the tire in the vehicle component data;

[0170] The determination module 502 is used to determine the road condition information of the vehicle based on the tire speed and the adhesion;

[0171] The determination module 502 is used to determine the driving condition based on the weather information and the road condition information.

[0172] In an optional embodiment, if Figure 6 As shown, the acquisition module 500 is used to acquire second driving data of the vehicle within a preset time period, and the second driving data includes the driving displacement of the vehicle and the driving speed of the vehicle;

[0173] The acquisition module 500 is configured to acquire a first distance of the tire relative to the ground at a first time node in response to the driving displacement being less than a preset displacement threshold and the driving speed being greater than a preset speed threshold, and to acquire a second distance of the tire relative to the ground at a second time node;

[0174] The determination module 502 is configured to determine that the vehicle is in the slipping state in response to a distance difference between the first distance and the second distance meeting a preset requirement.

[0175] In an optional embodiment, if Figure 6 As shown, the acquisition module 500 is used to acquire the torque value corresponding to the vehicle steering wheel and the control force required to control the rotation of the steering wheel;

[0176] The determination module 502 is configured to determine a first offset angle corresponding to the tire based on the torque value;

[0177] The acquisition module 500 is used to acquire a second offset angle corresponding to the tire;

[0178] The determination module 502 is configured to determine that the vehicle is in the slipping state in response to the first offset angle and the second offset angle being greater than a preset offset threshold and the control force being less than a preset force threshold.

[0179] In an embodiment of the present application, it is identified whether the vehicle is in a slipping state based on the driving condition of the vehicle. When the vehicle is in a slipping state, the power controller of the vehicle automatically switches to the target speed mode. In the target speed mode, the power controller adjusts its output torque based on its own rotation speed, so that the tires of the vehicle can rotate at the target wheel speed to complete the vehicle's escape. Avoid the situation where the power controller directly adjusts the output torque, resulting in a large error in the rotation speed of the power controller. While increasing the service life of the power controller, it is also possible to brake the tires in time so that the tires rotate at a lower speed.

[0180] It should be noted that the vehicle control device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device provided in the above embodiment and the vehicle control method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0181] Figure 7 The block diagram of the structure of a computer device 600 provided by an exemplary embodiment of the present application is shown. Optionally, the computer device 600 is implemented as a movable device, such as a movable intelligent terminal such as a vehicle-mounted terminal.

[0182] Typically, the computer device 600 includes a processor 601 and a memory 602 .

[0183] The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 601 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 601 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0184] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, which is used to be executed by the processor 601 to implement the model training method or behavior coding method provided in the method embodiment of the present application.

[0185] In some embodiments, the computer device 600 may also optionally include: a peripheral device interface 603 and at least one peripheral device. The processor 601, the memory 602 and the peripheral device interface 603 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 603 via a bus, a signal line or a circuit board. For example, the peripheral device may include: at least one of a radio frequency circuit 604, a display screen 605, a camera assembly 606, an audio circuit 607, a positioning assembly 615 and a power supply 608.

[0186] The peripheral device interface 603 may be used to connect at least one I / O (Input / Output) related peripheral device to the processor 601 and the memory 602 .

[0187] The radio frequency circuit 604 is used to receive and transmit RF (Radio Frequency) signals, also called electromagnetic signals.

[0188] The display screen 605 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 605 is a touch display screen, the display screen 605 also has the ability to collect touch signals on the surface or above the surface of the display screen 605. The touch signal may be input as a control signal to the processor 601 for processing. At this time, the display screen 605 may also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards.

[0189] The camera assembly 606 is used to collect images or videos. Optionally, the camera assembly 606 includes a front camera and a rear camera. Usually, the front camera is set on the front panel of the terminal, and the rear camera is set on the back of the terminal.

[0190] The audio circuit 607 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them to the processor 601 for processing, or input them to the radio frequency circuit 604 to achieve voice communication.

[0191] The positioning component 615 is used to locate the current geographical location of the computing and device 600 to implement navigation or LBS (Location Based Service). The positioning component 615 can be a positioning component based on the GPS (Global Positioning System) of the United States or the Beidou system of China.

[0192] The power supply 608 is used to supply power to various components in the computer device 600 .

[0193] In some embodiments, the computer device 600 further includes one or more sensors 609 , including but not limited to: an acceleration sensor 610 , a gyroscope sensor 611 , a pressure sensor 612 , an optical sensor 613 , and a proximity sensor 614 .

[0194] The acceleration sensor 610 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the computer device 600. For example, the acceleration sensor 610 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 601 can control the display screen 605 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 610. The acceleration sensor 610 can also be used to collect game or user motion data.

[0195] The gyro sensor 611 can detect the body direction and rotation angle of the computer device 600 . The gyro sensor 611 can cooperate with the acceleration sensor 610 to collect the user's 3D actions on the computer device 600 .

[0196] The pressure sensor 612 can be set on the side frame of the computer device 600 and / or the lower layer of the display screen 605. When the pressure sensor 612 is set on the side frame of the computer device 600, it can detect the user's grip signal of the computer device 600, and the processor 601 performs left and right hand recognition or shortcut operations according to the grip signal collected by the pressure sensor 612. When the pressure sensor 612 is set on the lower layer of the display screen 605, the processor 601 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 605. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0197] The optical sensor 613 is used to collect the ambient light intensity.

[0198] The proximity sensor 614, also called a distance sensor, is usually disposed on the front panel of the computer device 600. The proximity sensor 614 is used to collect the distance between the user and the front of the computer device 600. In one embodiment, when the proximity sensor 614 detects that the distance between the user and the front of the computer device 600 is gradually decreasing, the processor 601 controls the display screen 605 to switch from the screen-on state to the screen-off state; when the proximity sensor 614 detects that the distance between the user and the front of the computer device 600 is gradually increasing, the processor 601 controls the display screen 605 to switch from the screen-off state to the screen-on state.

[0199] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the computer device 600, and the computer device 600 may include more or less components than those shown in the figure, or combine some components, or adopt a different arrangement of components.

[0200] The present application also provides a computer-readable storage medium, in which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the vehicle control method provided by the above method embodiment.

[0201] The present application provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle control method provided by the above method embodiment.

[0202] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0203] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring a driving condition of the vehicle, wherein the driving condition is used to indicate a driving condition of the vehicle during driving; In response to the driving condition indicating that the vehicle is in a slipping state, controlling a power controller of the vehicle to switch to a target speed mode, wherein the target speed mode is used to describe a driving mode in which the power controller controls the speed of the motor controller by adjusting the output torque of the power controller, and the power controller is used to provide a power source to the vehicle and control power output; In the target speed mode, the tires of the vehicle are controlled by a power controller to rotate at a target wheel speed.

2. The method according to claim 1, characterized in that In the target speed mode, controlling the tires of the vehicle to rotate at a target speed by the power controller includes: In the target speed mode, obtaining speed efficiency data corresponding to the motor controller, wherein the speed efficiency data is used to indicate the efficiency conversion of the power controller at different speeds and different output torques; Based on the rotational speed efficiency data, the power controller controls the tire to rotate at the target wheel speed.

3. The method according to claim 2, characterized in that The step of controlling the tire to rotate at the target wheel speed by the power controller based on the speed efficiency data includes: Acquire a preset correlation relationship between a first pedal depth corresponding to a power pedal of the vehicle and a rotation speed corresponding to the power controller, wherein the first pedal depth is used to indicate a distance that the power pedal is pressed downward by force; Acquire a second pedal depth corresponding to the power pedal of the vehicle, where the second pedal depth is used to indicate a distance that the power pedal is pressed downward under the driving condition; determining a target rotation speed corresponding to the second pedal depth from the preset association relationship; determining a target output torque corresponding to the target speed from the speed efficiency data; The power controller is controlled to drive the tire to rotate at the target rotation speed, and the output torque of the power controller is controlled to reach the target output torque.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: In response to the power controller being in the target speed mode, determining the adhesion force and tire speed corresponding to the tire, wherein the adhesion force is used to indicate the value of the tangential reaction force of the ground surface on the tire; In response to the adhesion being less than a preset adhesion threshold and the tire speed being greater than a preset speed threshold, controlling the power controller to drive a deceleration controller of the vehicle to distribute traction to the tire, wherein the traction is used to instruct the deceleration controller to convert the output torque transmitted by the power controller into power corresponding to the friction force required for the tire to contact the ground; In response to the tire, under the action of the traction force, the adhesion is greater than or equal to the preset adhesion threshold, or the tire speed is less than or equal to the preset speed threshold, controlling the power controller to exit the target speed mode.

5. The method according to claim 4, characterized in that The tire comprises at least two sub-tires; The method further comprises: In response to the motor controller being in the target speed mode, determining at least two adhesion forces and at least two tire rotational speeds respectively corresponding to the at least two sub-tires, wherein the two sub-tires correspond one-to-one to the at least two adhesion forces, and the at least two sub-tires correspond one-to-one to the at least two tire rotational speeds; In response to the at least two adhesion forces being less than the preset adhesion threshold and the at least two tire rotation speeds being greater than the preset rotation speed threshold, determining the sub-tire as a target tire; Controlling the power controller to drive the deceleration controller to distribute the traction force to other sub-tires except the target tire; In response to the adhesion of the other sub-tire being greater than or equal to the preset adhesion threshold value under the action of the traction force, or the tire speed being less than or equal to the preset speed threshold value, controlling the power controller to exit the target speed mode; Wherein, during the process of the deceleration controller distributing the traction to the other sub-tires, the difference between the first tire rotation speed corresponding to the target tire and the second tire rotation speed corresponding to the other sub-tires is less than a preset differential threshold.

6. The method according to any one of claims 1 to 3, characterized in that: The obtaining of the driving condition of the vehicle includes: Acquire first driving data corresponding to the vehicle, where the first driving data includes environmental data and vehicle component data; Acquire geographic location data in the environmental data; Determining weather information of the vehicle based on the geographic location data; Obtaining a tire rotation speed corresponding to the tire and an adhesion corresponding to the tire in the vehicle component data; Determine the road condition information of the vehicle based on the tire speed and the adhesion; The driving condition is determined based on the weather information and the road condition information.

7. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Acquiring second driving data of the vehicle within a preset time period, the second driving data including a driving displacement of the vehicle and a driving speed of the vehicle; In response to the driving displacement being less than a preset displacement threshold and the driving speed being greater than a preset speed threshold, obtaining a first distance of the tire relative to the ground at a first time node, and obtaining a second distance of the tire relative to the ground at a second time node; In response to a distance difference between the first distance and the second distance meeting a preset requirement, it is determined that the vehicle is in the slipping state.

8. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Obtaining a torque value corresponding to the vehicle steering wheel and a control force required to control the rotation of the steering wheel; Based on the torque value, determining a first offset angle corresponding to the tire; Acquire a second offset angle corresponding to the tire; In response to the first offset angle and the second offset angle being greater than a preset offset threshold and the control force being less than a preset force threshold, it is determined that the vehicle is in the slipping state.

9. A vehicle control device, characterized in that: The device also includes: An acquisition module, used for acquiring the driving condition of the vehicle, wherein the driving condition is used for indicating the driving condition of the vehicle during driving; a control module, configured to control a power controller of the vehicle to switch to a target speed mode in response to the driving condition indicating that the vehicle is in a slipping state, wherein the target speed mode is used to describe a driving mode in which the power controller controls the speed of the motor controller by adjusting the output torque of the power controller, and the power controller is used to provide a power source to the vehicle and control power output; The control module is further used to control the tires of the vehicle to rotate at a target wheel speed through a power controller in the target speed mode.

10. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores at least one program, and the at least one program is loaded and executed by the processor to implement the vehicle control method as described in any one of claims 1 to 8.

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