Vehicle control method and device, electronic device, vehicle and readable storage medium

Abstract

The invention discloses a vehicle control method, a vehicle control device, an electronic device, a vehicle and a non-volatile computer readable storage medium. The vehicle comprises a lifting device which is used for changing the distance between the bottom of the vehicle and the ground. The method comprises the steps that when the maximum height between the bottom of the vehicle and the ground is not larger than the height of an obstacle, the lifting device is controlled to operate so as to reduce the distance between the bottom of the vehicle and the ground. Therefore, the height of the obstacle can be obtained, the lifting device is controlled to run according to the height of the obstacle, and the lifting device is controlled to contract when the maximum height between the bottom of the vehicle and the ground is not larger than the height of the obstacle, so that the contact area between the vehicle body and the obstacle is increased, and the vehicle body collides with the obstacle or absorbs kinetic energy of the whole vehicle. The vehicle is ensured to stop before the damageable and important structure of the vehicle, such as a battery pack, is in contact with an obstacle, so that the damageable and important structure of the vehicle is prevented from being impacted, and the damageable and important structure of the vehicle is effectively protected.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a vehicle control method, a vehicle control device, an electronic device, a vehicle, and a non-volatile computer-readable storage medium. Background Art

[0002] In order to prevent the vulnerable and important structures of the vehicle, such as the battery pack, from being hit by obstacles and causing explosion, the vehicle often needs to be protected. Therefore, how to effectively protect such vulnerable and important structures of the vehicle has become an urgent problem to be solved. Summary of the invention

[0003] Embodiments of the present application provide a vehicle control method, a vehicle control device, an electronic device, a vehicle, and a non-volatile computer-readable storage medium.

[0004] The vehicle control method of the embodiment of the present application is applied to a vehicle, wherein the vehicle includes a lifting device, and the lifting device is used to change the distance between the bottom of the vehicle and the ground; the method includes: when the maximum height between the bottom of the vehicle and the ground is not greater than the height of an obstacle, controlling the lifting device to operate so as to reduce the distance between the bottom of the vehicle and the ground.

[0005] The vehicle control device of the embodiment of the present application is applied to a vehicle, the vehicle includes a lifting device, the lifting device is used to change the distance between the bottom of the vehicle and the ground, the device includes a first control module, the first control module is used to control the operation of the lifting device to reduce the distance between the bottom of the vehicle and the ground when the maximum height between the bottom of the vehicle and the ground is not greater than the height of an obstacle.

[0006] The electronic device of the embodiment of the present application includes a processor, a memory and a computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing a vehicle control method. The vehicle control method is applied to a vehicle, the vehicle includes a lifting device, and the lifting device is used to change the distance between the bottom of the vehicle and the ground; the method includes: when the maximum height between the bottom of the vehicle and the ground is not greater than the height of an obstacle, controlling the lifting device to operate to reduce the distance between the bottom of the vehicle and the ground.

[0007] The vehicle of the embodiment of the present application includes a vehicle control device or an electronic device. The vehicle control device is applied to a vehicle, the vehicle includes a lifting device, the lifting device is used to change the distance between the bottom of the vehicle and the ground, the device includes a first control module, the first control module is used to control the lifting device to operate when the maximum height between the bottom of the vehicle and the ground is not greater than the height of the obstacle, so as to reduce the distance between the bottom of the vehicle and the ground. The electronic device includes a processor, a memory and a computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing a vehicle control method. The vehicle control method is applied to a vehicle, the vehicle includes a lifting device, the lifting device is used to change the distance between the bottom of the vehicle and the ground; the method includes: when the maximum height between the bottom of the vehicle and the ground is not greater than the height of the obstacle, the lifting device is controlled to operate to reduce the distance between the bottom of the vehicle and the ground.

[0008] The non-volatile computer-readable storage medium of the embodiment of the present application includes a computer program, and when the computer program is executed by a processor, the processor executes a vehicle control method. The vehicle control method is applied to a vehicle, the vehicle includes a lifting device, and the lifting device is used to change the distance between the bottom of the vehicle and the ground; the method includes: when the maximum height between the bottom of the vehicle and the ground is not greater than the height of an obstacle, controlling the lifting device to operate to reduce the distance between the bottom of the vehicle and the ground.

[0009] The vehicle control method, vehicle control device, electronic device, vehicle and non-volatile computer-readable storage medium of the embodiments of the present application can obtain the height of an obstacle and control the operation of a lifting device according to the height of the obstacle. When the maximum height between the bottom of the vehicle and the ground is not greater than the height of the obstacle, the lifting device is controlled to retract to increase the contact area between the vehicle body and the obstacle, and the obstacle is broken by the vehicle body, or the kinetic energy of the entire vehicle is absorbed by the vehicle body to ensure that the vehicle stops before the vulnerable and important structures of the vehicle, such as a battery pack, contact the obstacle, thereby avoiding the vulnerable and important structures of the vehicle from being hit and achieving effective protection of the vulnerable and important structures of the vehicle.

[0010] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0012] Figure 1is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0013] Figure 2 is a schematic diagram of a scenario of a vehicle control method according to certain embodiments of the present application;

[0014] Figure 3 It is a schematic diagram of the structure and scenario of a vehicle lifting device in certain embodiments of the present application;

[0015] Figure 4 is a schematic diagram of a scenario of a vehicle control method according to certain embodiments of the present application;

[0016] Figure 5 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0017] Figure 6 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0018] Figure 7 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0019] Figure 8 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0020] Fig. 9 is a schematic diagram of a scenario of a vehicle control method according to certain embodiments of the present application;

[0021] Fig.10 is a schematic diagram of a scenario of a vehicle control method according to certain embodiments of the present application;

[0022] Fig.11 is a schematic diagram of a scenario of a vehicle control method according to certain embodiments of the present application;

[0023] Fig.12 is a module schematic diagram of a vehicle control device according to certain embodiments of the present application;

[0024] Fig.13 is a schematic diagram of a module of an electronic device according to some embodiments of the present application;

[0025] Fig.14 It is a schematic diagram of the connection status of a non-volatile computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0027] The embodiment of the present application provides a vehicle control method, which will be described in detail below:

[0028] See also Figure 1 and Figure 2 The embodiment of the present application provides a vehicle control method, wherein the vehicle 100 includes a lifting device 10, and the lifting device 10 is used to change the distance between the bottom S1 of the vehicle and the ground 300. The vehicle control method includes:

[0029] Step 011: When the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, the lifting device 10 is controlled to operate to reduce the distance between the bottom S1 of the vehicle and the ground 300;

[0030] Specifically, the vehicle 100 includes a lifting device 10, a battery pack 20 and a vehicle body 30, wherein the battery pack 20 is installed in the vehicle body 30. The lifting device 10 is connected to the vehicle body 30, and the lifting device 10 can rise and fall, or the length of the lifting device 10 can be extended or shortened, so that the lifting device 10 can move the vehicle body 30 toward the ground 300 or away from the ground 300 to change the distance between the bottom S1 of the vehicle and the ground 300. The lifting device 10 includes a first extreme state and a second extreme state. When the lifting device 10 is in the first extreme state, the lifting device 10 is lifted or extended to the maximum limit, at which time the distance between the bottom S1 of the vehicle and the ground 300 is the largest. When the lifting device 10 is in the second extreme state, the lifting device 10 is lowered or shortened to the maximum limit, and the distance between the bottom S1 of the vehicle and the ground 300 is the smallest. For the convenience of explanation, the following embodiments are described as the length of the lifting device can be extended or shortened.

[0031] For example, please combine Figure 3, one end of the lifting device 10 is connected to the vehicle body 30, and the other end of the lifting device 10 is connected to the wheel. The lifting device 10 includes an upper connecting rod 13, an airbag 14 and a lower connecting rod 15. The two ends of the airbag 14 are respectively connected to the upper connecting rod 13 and the lower connecting rod 15. The upper connecting rod 13 is connected to the vehicle body 30 through a vehicle body connection point 16, and the lower connecting rod 15 is connected to the wheel through a wheel connection point 17. The length of the lifting device 10 can be controlled by controlling the lower connecting rod 15 to extend and retract on the airbag 14. At this time, the lifting device 10 is provided with a preset initial length, a first preset length, and a second preset length. Among them, the preset initial length is the length of the lifting device 10 when the vehicle 100 is operating normally, the first preset length is the longest length of the lifting device 10, and the second preset length is the shortest length of the lifting device 10. It can be understood that when the lifting device 10 is in the first extreme state, the length of the lifting device 10 is the first preset length, and when the lifting device 10 is in the second extreme state, the length of the lifting device 10 is the second preset length. The length of the lifting device 10 can be adjusted between the first preset length and the second preset length.

[0032] The battery pack 20 is usually installed on the bottom S1 of the vehicle. Therefore, in some embodiments, the distance between the bottom S1 of the vehicle and the ground 300 is the distance between the bottom surface of the battery pack 20 and the ground 300, so as to judge whether the obstacle 200 can hit the battery pack 20 according to the height of the battery pack 20, thereby facilitating the precise control of the lifting and lowering of the lifting device 10 according to the judgment result, ensuring that the battery pack 20 will not be hit by the obstacle 200. In other embodiments, the distance between the bottom S1 of the vehicle and the ground 300 is the distance between the chassis of the vehicle 100 and the ground 300. The vulnerable and important structures of the vehicle 100, such as the battery pack 20, are installed inside the vehicle body 30. Therefore, the height of the chassis of the vehicle 100 is usually lower than the height of the vulnerable and important structures of the vehicle 100. Therefore, after judging whether the obstacle 200 can hit the vulnerable and important structures of the vehicle 100 based on the chassis of the vehicle 100 and controlling the lifting device 10 to lift according to the judgment result, it can ensure that the vulnerable and important structures of the vehicle 100 will not be hit by the obstacle 200 on the one hand, and ensure that the chassis will not be scratched by the obstacle 200 when the lifting device 10 is controlled to extend. For the convenience of explanation, the following embodiments are described by taking the vulnerable and important structure as the battery pack 20 as an example. At this time, the distance between the bottom S1 of the vehicle and the ground 300 is the distance between the bottom surface of the battery pack 20 and the ground 300.

[0033] During normal driving of the vehicle 100, the length of the lifting device 10 is the preset initial length corresponding to the lifting device 10, and then the length of the lifting device 10 can be adjusted according to the driving condition of the vehicle 100. Therefore, during normal driving, the battery pack 20 will be at the preset initial height corresponding to the battery pack 20, and then the height of the battery pack 20 can be adjusted according to the driving condition of the vehicle 100. Among them, the movable height of the battery pack 20 can be determined according to the first preset length and the second preset length of the lifting device 10, and the movable height of the battery pack 20 is all the heights at which the battery pack 20 can be located after the lifting device 10 moves the bottom of the vehicle S1.

[0034] During the driving of the vehicle 100, an obstacle 200 may appear in front of the vehicle 100, and the obstacle 200 may collide with the battery pack 20, causing the battery pack 20 to explode. Therefore, in the case where an obstacle 200 appears in front of the vehicle 100, the height of the obstacle 200 can be obtained. For example, a radar device 40 can be set at the front of the vehicle body 30, and the radar device 40 can scan the road in front of the vehicle 100 to determine whether an obstacle 200 appears, and if an obstacle 200 appears, the height of the obstacle 200 is determined according to the scanning result.

[0035] After obtaining the height of the obstacle 200, it is necessary to determine whether the maximum height between the bottom S1 of the vehicle and the ground 300 is greater than the height of the obstacle 200. The battery pack 20 is usually arranged in an area close to the bottom S1 of the vehicle, so the maximum height can be the height between the battery pack 20 and the ground 300 when the elongated length of the lifting device 10 is expected to be the first preset length. It can be understood that when the maximum height is not greater than the height of the obstacle 200, that is, when the maximum height is equal to or less than the height of the obstacle 200, it can be considered that the height of the battery pack 20 cannot be higher than the height of the obstacle 200 no matter how it is adjusted. Therefore, it is necessary to control the lifting device 10 to retract at this time to reduce the distance between the bottom S1 of the vehicle and the ground 300, so that the height of the bottom S1 of the vehicle is lower than the height of the obstacle 200.

[0036] Please combine Figure 4 When the height of the bottom S1 of the vehicle is lower than the height of the obstacle 200, the vehicle body 30 collides with the obstacle 200. If the hardness of the obstacle 200 is low, the obstacle 200 will be broken after the collision between the vehicle body 30 and the obstacle 200. The height of the obstacle 200 after the collision is lower than the height of the bottom S1 of the vehicle, so that the obstacle 200 after the collision cannot contact the battery pack 20, thereby ensuring the safety of the battery pack 20. If the hardness of the obstacle 200 is high, the vehicle body 30 can be used to absorb the kinetic energy of the entire vehicle, so that the vehicle 100 stops before the battery pack 20 contacts the obstacle 200, avoiding the battery pack 20 from being hit, thereby ensuring the safety of the battery pack 20 and achieving effective protection of the battery pack 20.

[0037] The vehicle control method of the embodiment of the present application can obtain the height of the obstacle 200, and control the operation of the lifting device 10 according to the height of the obstacle 200. When the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, the lifting device 10 is controlled to retract to increase the contact area between the vehicle body 30 and the obstacle 200, and use the vehicle body 30 to break through the obstacle 200, or use the vehicle body 30 to absorb the kinetic energy of the entire vehicle, to ensure that the vehicle 100 stops before the vulnerable and important structures of the vehicle 100, such as the battery pack 20, contact the obstacle 200, thereby avoiding the vulnerable and important structures of the vehicle 100 from being hit, and achieving effective protection of the vulnerable and important structures of the vehicle 100.

[0038] See also Figure 2 and Figure 5 In some embodiments, before step 011: when the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, the lifting device 10 is controlled to operate to reduce the distance between the bottom S1 of the vehicle and the ground 300, the vehicle 100 control method includes:

[0039] Step 012: Obtain the height of the obstacle 200 and the current height between the bottom S1 of the vehicle and the ground 300;

[0040] Step 013: When the current height between the vehicle bottom S1 and the ground 300 is not greater than the height of the obstacle 200, the maximum height between the vehicle bottom S1 and the ground 300 is calculated when the lifting device 10 reaches the first limit state to determine whether the maximum height is greater than the height of the obstacle 200.

[0041] Specifically, after obtaining the height of the obstacle 200, the current height between the bottom S1 of the vehicle and the ground 300 may also be obtained, wherein the current height between the bottom S1 of the vehicle and the ground 300 may be the current height of the battery pack 20. For example, a corresponding position sensor is provided in the vehicle 100, and the position sensor may obtain the current height of the battery pack 20.

[0042] Please combine Figure 2 When the current height between the bottom S1 of the vehicle and the ground 300 is greater than the height of the obstacle 200, it can be considered that the obstacle 200 will not hit the battery pack 20, and there is no need to adjust the height of the battery pack 20. Therefore, the length of the lifting device 10 can be maintained unchanged so that the height of the battery pack 20 remains unchanged. At this time, the vehicle 100 can pass the obstacle 200 normally.

[0043] When the current height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, that is, when the current height between the bottom S1 of the vehicle and the ground 300 is less than or equal to the height of the obstacle 200, it can be considered that the obstacle 200 has the risk of hitting the battery pack 20. At this time, it is necessary to calculate the maximum height between the bottom S1 of the vehicle and the ground 300 when the lifting device 10 reaches the first limit state, that is, to determine the height of the bottom S1 of the vehicle when the lifting device 10 is extended to the first preset length. Then, it can be determined whether the maximum height is greater than the height of the obstacle 200. When the maximum height is not greater than the height of the obstacle 200, the step 011 is entered to increase the contact area between the vehicle body 30 and the obstacle 200 when the maximum height is less than or equal to the height of the obstacle 200, and use the vehicle body 30 to break the obstacle 200, or use the vehicle body 30 to absorb the kinetic energy of the whole vehicle, so as to ensure that the vehicle 100 stops before the battery pack 20 contacts the obstacle 200, thereby avoiding the battery pack 20 from being hit and realizing effective protection of the battery pack 20.

[0044] In another embodiment, the height between the bottom S1 of the vehicle and the ground 300 is fixed when the lifting device 10 reaches the first limit state or the second limit state, so the maximum height between the bottom S1 of the vehicle and the ground 300 when the lifting device 10 reaches the first limit state and the minimum height between the bottom S1 of the vehicle and the ground 300 when the lifting device 10 reaches the second limit state can be obtained in advance. In the case that the current height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, the maximum height determined in advance can be directly obtained, and then it is determined whether the maximum height is greater than the height of the obstacle 200.

[0045] In this way, only when the height of the obstacle 200 is higher than the current height between the bottom S1 of the vehicle and the ground 300, it is determined that the lifting device 10 needs to be adjusted, and then the maximum height between the bottom S1 of the vehicle and the ground 300 when the lifting device 10 reaches the first limit state is obtained. It is not necessary to obtain the maximum height between the bottom S1 of the vehicle and the ground 300 when the lifting device 10 reaches the first limit state whenever the obstacle 200 appears, thereby reducing the amount of calculation of the vehicle 100.

[0046] See also Figure 2 and Figure 5 In some embodiments, the vehicle control method further includes:

[0047] Step 014: When the height of the obstacle 200 is greater than the current height between the vehicle bottom S1 and the ground 300 and less than the maximum height between the vehicle bottom S1 and the ground 300, the lifting device 10 is controlled to extend to increase the distance between the vehicle bottom S1 and the ground 300.

[0048] Specifically, when the height of the obstacle 200 is greater than the current height between the bottom S1 of the vehicle and the ground 300, and less than the maximum height between the bottom S1 of the vehicle and the ground 300, it can be considered that after increasing the height of the vehicle 100, the height of the battery pack 20 can be made higher than the height of the obstacle 200. Therefore, it is necessary to control the extension of the lifting device 10 to increase the height of the vehicle 100 so that the height of the battery pack 20 is higher than the height of the obstacle 200 to prevent the battery pack 20 from being hit by the obstacle 200, and then the vehicle 100 can pass through the obstacle 200 normally.

[0049] Therefore, during the driving process of the vehicle, step 012 and step 013 may be performed first. When it is determined that the height of the obstacle 200 is greater than the current height between the bottom S1 of the vehicle and the ground 300 and less than the maximum height between the bottom S1 of the vehicle and the ground 300, step 014 may be performed. When the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, step 011 may be performed. That is, during the driving process of the vehicle, it is first determined whether the height of the obstacle 200 is higher than the current height between the bottom S1 of the vehicle and the ground 300. Only when the height of the obstacle 200 is higher than the current height between the bottom S1 of the vehicle and the ground 300, it is determined that the lifting device 10 needs to be adjusted. Then, the maximum height between the bottom S1 of the vehicle and the ground 300 when the lifting device 10 reaches the first limit state is determined, so as to determine the execution steps of the lifting device 10 according to the maximum height and the height of the obstacle 200. When the current height between the bottom S1 of the vehicle and the ground 300 is greater than the height of the obstacle 200, the length of the lifting device 10 is maintained unchanged.

[0050] Alternatively, during the vehicle driving process, it can be always determined whether the height of the obstacle 200 is higher than the current height between the bottom S1 of the vehicle and the ground 300, and whether the height of the obstacle 200 is higher than the maximum height between the bottom S1 of the vehicle and the ground 300. When the height of the obstacle 200 is lower than the current height between the bottom S1 of the vehicle and the ground 300, the length of the lifting device 10 is maintained unchanged, that is, the current height between the bottom S1 of the vehicle and the ground 300 is maintained unchanged. When the height of the obstacle 200 is greater than the current height between the bottom S1 of the vehicle and the ground 300, and less than the maximum height between the bottom S1 of the vehicle and the ground 300, the process proceeds to step 014. When the height of the obstacle 200 is greater than or equal to the maximum height between the bottom S1 of the vehicle and the ground 300, the process proceeds to step 011.

[0051] In this way, the length of the lifting device 10 can be adjusted in a targeted manner according to the current height of the battery pack 20, the maximum height of the battery pack 20 and the height of the obstacle 200, so as to avoid the battery pack 20 from being hit while ensuring the integrity of the vehicle 100 as much as possible, thereby achieving effective protection of the battery pack 20.

[0052] In summary, the vehicle control method of the present application can obtain the height of the obstacle 200, and control the operation of the lifting device 10 according to the height of the obstacle 200 to control the height of the vehicle body 30 and the battery pack 20, so that the height of the battery pack 20 is higher than the height of the obstacle 200 to prevent the battery pack 20 from being hit, or the height of the vehicle body 30 is lower than the height of the obstacle 200, so as to use the vehicle body 30 to break through the obstacle 200, or use the vehicle body 30 to absorb the kinetic energy of the entire vehicle, to ensure that the vehicle 100 stops before the battery pack 20 contacts the obstacle 200, thereby avoiding the battery pack 20 from being hit. In this way, the height of the vehicle body 30 can be adjusted in a targeted manner according to the height of the obstacle 200. When the height of the obstacle 200 is high, the height of the vehicle body 30 can be lowered to utilize the vehicle body 30 to absorb the kinetic energy of the entire vehicle and ensure that the vehicle 100 stops before the battery pack 20 contacts the obstacle 200. When the height of the obstacle 200 is low, the height of the vehicle body 30 can be increased so that the vehicle 100 can pass through the obstacle 200 normally to avoid the battery pack 20 from being hit, thereby achieving effective protection of the battery pack 20.

[0053] The protection of the battery pack 20 in the prior art is achieved by strengthening the strength of the battery pack 20 body or the surrounding structure. This passive protection not only increases weight and cost. At the same time, there will be certain restrictions on the installation space of the battery pack 20 when designing the vehicle 100. Therefore, the strength of the battery pack 20 body and the surrounding structure will be limited by the installation space, thereby affecting the protection effect of the battery pack 20. However, the present application protects the battery pack 20 through the original body 30 of the vehicle 100, which will not increase weight and cost, making the present application more economical.

[0054] See also Figure 2 and Figure 6 In some embodiments, the lifting device 10 includes a front lifting device 11 connected to the front wheel 50 of the vehicle 100. Step 011: controlling the operation of the lifting device 10 includes:

[0055] Step 0111 : Control the front lifting device 11 to retract, so as to reduce the distance between the front body area A1 of the vehicle 100 and the ground 300 .

[0056] Specifically, the body 30 of the vehicle 100 may include a front body area A1 and a rear body area A2. The front body area A1 may be understood as the front of the vehicle, mainly including important components such as the hood, bumper or headlights. The rear body area A2 may be understood as the rear of the vehicle, mainly including important components such as the luggage compartment, rear longitudinal beams and rear cross beams.

[0057] In order to control the height of the vehicle body 30, a lifting device 10 can be set on each wheel. At this time, the lifting device 10 includes a front lifting device 11 connected to the front wheel 50 of the vehicle 100 and a rear lifting device 12 connected to the rear wheel 60. Each lifting device 10 can be controlled independently.

[0058] When the lifting device 10 is controlled to retract, the front lifting device 11 can be controlled to retract to reduce the distance between the front body area A1 of the vehicle 100 and the ground 300, that is, to reduce the height of the front body area A1, thereby increasing the contact area between the front body area A1 and the obstacle 200, making it easier for the body 30 to absorb the kinetic energy of the entire vehicle, thereby ensuring that the vehicle 100 can stop moving before the battery pack 20 collides with the obstacle 200, thereby achieving effective protection of the battery pack 20.

[0059] See also Figure 2 and Figure 7 In some embodiments, the lifting device 10 includes a rear lifting device 12 connected to the rear wheel. Step 0111: controlling the front lifting device 11 to retract includes:

[0060] Step 01111: Control the front lifting device 11 to retract, and control the rear lifting device 12 to maintain the current length, so as to reduce the distance between the front body area A1 of the vehicle 100 and the ground 300; or,

[0061] Step 01112: Control the front lifting device 11 to retract, and control the rear lifting device 12 to extend, so as to reduce the distance between the front body area A1 of the vehicle 100 and the ground 300 .

[0062] Specifically, please combine Figure 4 In one embodiment, when the lifting device 10 is controlled to retract, the front lifting device 11 can be controlled to retract, and the height of the rear lifting device 12 can be maintained unchanged, so that the vehicle body 30 shows a tendency to tilt downward toward the obstacle 200, and at this time the height of the front vehicle body area A1 is less than the height when the front lifting device 11 and the rear lifting device 12 are retracted at the same time. For example, when the front lifting device 11 and the rear lifting device 12 are both retracted to the second preset length, the height of the chassis of the entire vehicle body 30 is consistent, assuming that the height is H5 at this time. When the front lifting device 11 is retracted to the second preset length, and the length of the rear lifting device 12 remains at the preset initial length corresponding to the lifting device 10, the chassis of the entire vehicle body 30 shows a tendency to tilt downward toward the obstacle 200, and at this time the height of the chassis of the front vehicle body area A1 is less than H5. Therefore, only controlling the contraction of the front lifting device 11 can increase the contact area between the front vehicle body area A1 and the obstacle 200, making it easier for the vehicle body 30 to absorb the kinetic energy of the entire vehicle, thereby ensuring that the vehicle body 30 can stop moving before the battery pack 20 collides with the obstacle 200, thereby protecting the battery pack 20.

[0063] In another embodiment, when the front lifting device 11 is controlled to retract, the rear lifting device 12 can be controlled to extend at the same time, so that the vehicle body 30 shows a tendency to tilt downward toward the obstacle 200. At this time, the height of the front vehicle body area A1 is less than the height when the front lifting device 11 and the rear lifting device 12 are retracted at the same time, and the angle between the front vehicle body area A1 and the ground 300 is greater than the angle between the front vehicle body area A1 and the ground 300 when the front lifting device 11 is retracted and the rear lifting device 12 maintains the current length, so that the contact area between the front vehicle body area A1 and the obstacle 200 is greater than the contact area between the front vehicle body area A1 and the obstacle 200 when the front lifting device 11 is retracted and the rear lifting device 12 maintains the current length. Therefore, controlling the front lifting device 11 to retract and controlling the rear lifting device 12 to extend can further increase the contact area between the front vehicle body area A1 and the obstacle 200, which is convenient for the vehicle body 30 to absorb the kinetic energy of the entire vehicle, thereby ensuring that the vehicle 100 can stop moving before the battery pack 20 collides with the obstacle 200, thereby protecting the battery pack 20.

[0064] Of course, when controlling the lifting device 10 to retract, the front lifting device 11 and the rear lifting device 12 can also be controlled to retract at the same time. As long as the contact area between the vehicle body 30 and the obstacle 200 is sufficient at this time, the vehicle body 30 can stop moving before the battery pack 20 collides with the obstacle 200, thereby achieving protection of the battery pack 20.

[0065] See also Figure 4 and Figure 8 In some embodiments, step 011: controlling the operation of the lifting device 10 includes:

[0066] Step 0112: When the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, if it is determined based on the speed of the vehicle 100 and the distance between the obstacle 200 and the vehicle 100 that the vehicle 100 cannot stop moving before contacting the obstacle 200, the lifting device 10 is controlled to retract to reduce the distance between the bottom S1 of the vehicle and the ground 300.

[0067] The vehicle control method further includes:

[0068] Step 015: When the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, if it is determined based on the speed of the vehicle 100 and the distance between the obstacle 200 and the vehicle 100 that the vehicle 100 can stop moving before contacting the obstacle 200, the vehicle 100 is controlled to brake urgently.

[0069] Specifically, the radar device 40 can also be used to determine the distance between the obstacle 200 and the vehicle 100, and then the vehicle 100 can determine whether the vehicle 100 can stop moving before contacting the obstacle 200 based on the current speed of the vehicle 100 and the distance between the obstacle 200. When the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, if the vehicle 100 can stop moving before contacting the obstacle 200, the vehicle 100 is controlled to perform emergency braking to ensure that the battery pack 20 is effectively protected while avoiding damage to the vehicle 100 as much as possible. When the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, if the vehicle 100 cannot stop moving before contacting the obstacle 200, the lifting device 10 is controlled to shrink to increase the contact area between the vehicle body 30 and the obstacle 200, to ensure that the vehicle body 30 can break through the obstacle 200, or to ensure that the vehicle body 30 can stop moving before the battery pack 20 collides with the obstacle 200, so as to protect the battery pack 20.

[0070] When the height of the obstacle 200 is lower than the current height of the battery pack 20, or when the height of the obstacle 200 is lower than the maximum height of the battery pack 20, the height of the lifting device 10 can be adjusted so that the height of the battery pack 20 is higher than the height of the obstacle 200. At this time, the vehicle 100 can pass normally without the risk of damaging the vehicle body 30. Therefore, in these two cases, it is not necessary to judge whether the vehicle 100 can stop moving before contacting the obstacle 200 based on the current speed of the vehicle 100 and the distance between the obstacle 200.

[0071] See also Figure 2 In some embodiments, the lifting device 10 is extended to a first preset length, which is the length of the lifting device 10 when it is in a first limit state; or, the lifting device 10 is extended according to the minimum length of the first safety length corresponding to the height of the obstacle 200, and the first safety length is determined according to the height of the obstacle 200 and the first mapping relationship. The first safety length includes one or more, and the first mapping relationship includes first safety lengths corresponding to different heights. The first safety length is the length of the lifting device 10 to ensure that the battery pack 20 of the vehicle 100 does not contact the obstacle 200.

[0072] Specifically, the first preset length is the longest length of the lifting device 10. When the lifting device 10 is controlled to extend, the lifting device 10 can be directly controlled to extend to the first preset length, so that the battery pack 20 reaches the maximum height, that is, the maximum height reached between the bottom S1 of the vehicle and the ground 300, thereby increasing the distance between the battery pack 20 and the obstacle 200 as much as possible to ensure that the obstacle 200 does not hit the battery pack 20.

[0073] Alternatively, it is also possible to test in advance that when the height of the obstacle 200 is lower than the maximum height between the bottom S1 of the vehicle and the ground 300, the obstacle 200 is located at different heights, and the lifting device 10 can ensure the height between the bottom S1 of the vehicle and the ground 300 after being extended, that is, the length of the lifting device 10 when the height of the battery pack 20 is higher than the height of the obstacle 200, and generate a first mapping relationship according to the test results. Therefore, the first mapping relationship includes the first safety length corresponding to different heights, and the first safety length is the length of the lifting device 10 when it is ensured that the battery pack 20 will not contact the obstacle 200. Then, the first safety length corresponding to the height of the obstacle 200 can be determined according to the height of the obstacle 200, and the first safety length can be one or more. Then, the lifting device 10 can be controlled to extend according to the minimum length of the multiple first safety lengths, so as to ensure that the battery pack 20 will not contact the obstacle 200 and realize the protection of the battery pack 20 on the one hand, and to reduce the extension length of the lifting device 10 as much as possible, reduce the energy consumption of the lifting device 10, and at the same time reduce the change in the height of the vehicle body 30 as much as possible, which is conducive to improving the riding experience of the user.

[0074] See also Figure 4 In some embodiments, the lifting device 10 is retracted to a second preset length, which is the length of the lifting device 10 when it is in the second limit state; or, the lifting device 10 is retracted according to the minimum length of the second safety length corresponding to the height of the obstacle 200, and the second safety length is determined according to the height of the obstacle 200 and the second mapping relationship. The second safety length includes one or more, and the second mapping relationship includes second safety lengths corresponding to different distances. The second safety length is the length of the lifting device 10 to ensure that after the body 30 of the vehicle 100 collides with the obstacle 200, the body 30 can stop moving before the battery pack 20 of the vehicle 100 collides with the obstacle 200.

[0075] Specifically, the larger the contact area between the vehicle body 30 and the obstacle 200, the faster the vehicle body 30 can absorb the kinetic energy of the vehicle 100. The second preset length is the shortest length of the lifting device 10. When controlling the lifting device 10 to retract, the lifting device 10 can be directly controlled to retract to the second preset length to increase the contact area between the vehicle body 30 and the obstacle 200 as much as possible, ensuring that the vehicle body 30 can effectively absorb the kinetic energy of the entire vehicle, so that the vehicle body 30 can stop moving before the battery pack 20 collides with the obstacle 200.

[0076] Alternatively, it is also possible to test in advance the length of the lifting device 10 when the height of the obstacle 200 is higher than the maximum height between the bottom S1 of the vehicle and the ground 300, the obstacle 200 is located at different heights, and the lifting device 10 is retracted to ensure that the vehicle body 30 can stop moving before the battery pack 20 collides with the obstacle 200 after the vehicle body 30 collides with the obstacle 200. Therefore, the second mapping relationship includes the second safety length corresponding to different distances, and the second safety length is the length of the lifting device 10 when ensuring that the vehicle body 30 can stop moving before the battery pack 20 collides with the obstacle 200 after the vehicle body 30 collides with the obstacle 200. Then, the second safety length corresponding to the height of the obstacle 200 can be determined according to the height of the obstacle 200, and the second safety length can be one or more. Then, the lifting device 10 can be controlled to retract according to the minimum length of multiple second safety lengths, so as to ensure that the vehicle body 30 can effectively absorb energy and stop moving before the battery pack 20 collides with the obstacle 200 to protect the battery pack 20. On the other hand, the retracted length of the lifting device 10 is reduced as much as possible, the energy consumption of the lifting device 10 is reduced, and the change in the height of the vehicle body 30 is reduced as much as possible, which is beneficial to improving the user's riding experience.

[0077] When the lifting device 10 is controlled to extend, the front lifting device 11 and the rear lifting device 12 can be controlled to contract to ensure that the battery pack 20 and the entire chassis of the vehicle body 30 do not contact the obstacle 200, thereby improving the safety of the battery pack 20 and even the entire vehicle body 30.

[0078] See also Figure 4 , Figures 9 to 11 In some embodiments, the vehicle 100 includes a vehicle body 30 and a subframe 31. The subframe 31 is connected to the front body area A1 (i.e., the front area) of the vehicle body 30. The front body area A1 of the vehicle body 30 is provided with an anti-collision beam 32. The height of the anti-collision beam 32 is higher than the height of the subframe 31. The battery pack 20 is located outside the front body area A1. Therefore, when the vehicle body 30 collides with the obstacle 200, both the anti-collision beam 32 and the subframe 31 can be used to absorb kinetic energy. Assuming that the height of the obstacle 200 is H1, after the lifting device 10 is retracted, the height of the anti-collision beam 32 is H2, and the height of the subframe 31 is H3. If H3

[0079] ​In addition, the front crossbeam 311 of the subframe 31 is flat at the front end, and the middle is forward and the two sides are backward. If the hardness of the obstacle 200 is low, after the subframe 31 collides with the obstacle 200, the obstacle 200 will be flattened by the subframe 31. The height of the flattened obstacle 200 is lower than the height of the subframe 31. The height of the subframe 31 is generally lower than the height of the battery pack 20. In this way, the obstacle 200 cannot contact the battery pack 20, thereby ensuring the safety of the battery pack 20. If the hardness of the obstacle 200 is high, the obstacle 200 will collide with the front crossbeam 311, the middle crossbeam 312 and the rear crossbeam 313 of the subframe 31 in sequence. After colliding with the obstacle 200, the subframe 31 is deformed. At the same time, the subframe 31 can drive the body 30 to deform through the connection point 34 with the body 30, thereby converting the kinetic energy of the vehicle 100 into the deformation internal energy of the body 30, so that the vehicle 100 stops and avoids the battery pack 20 from being hit.

[0080] In this way, the present application can use the subframe 31 to flatten the obstacle 200, and use the subframe 31 and the anti-collision beam 32 to absorb kinetic energy, thereby ensuring that the battery pack 20 is hit, thereby achieving effective protection of the battery pack 20.

[0081] See also Figure 2 and Fig.11 In some embodiments, the distance between the front end of the subframe 31 and the battery pack 20 is determined based on the mass of the vehicle 100, the average resistance when an obstacle hits the vehicle 100, and a preset safety speed, so that the product of the average resistance and the distance is greater than or equal to the kinetic energy of the vehicle 100 when running at the preset safety speed.

[0082] Specifically, assuming that the distance from the front end of the subframe 31 to the battery pack 20 is L, the mass of the vehicle 100 is m, and the safe speed of the vehicle 100 is V, then the kinetic energy of the vehicle 100 when running at the preset safe speed is 0.5*m*V 2 , the average resistance F of the obstacle block hitting the vehicle 100, if F*L≥0.5*m*V 2 , the vehicle 100 can stop before the battery pack 20 contacts the obstacle 200, and the battery pack 20 is not hit. Therefore, the distance between the front end of the subframe 31 and the battery pack 20 needs to be determined based on the mass of the vehicle 100, the average resistance of the obstacle when it hits the vehicle 100, and the preset safety speed, where the preset safety speed is the speed of the vehicle 100 when the vehicle 100 collides with the obstacle 200 after braking.

[0083] For example, the radar device 40 can identify the obstacle 200, and when it is determined that the collision with the obstacle 200 is unavoidable, the vehicle 100 will actively brake. When driving at high speed, the speed of the vehicle 100 is generally below 120 km / h. According to public information, when the speed of the vehicle 100 is 120 km / h, after active braking, the speed of the vehicle 100 can be reduced to 60 km / h when the vehicle 100 collides with the obstacle 200. Therefore, the preset safety speed is 60 km / h. When designing the vehicle 100, it only needs to ensure that F*L is greater than 0.5*m*(60 km / h). 2 , the battery pack 20 can be prevented from being hit.

[0084] In this way, the design of the subframe 31 and the body 30 can ensure that the body 30 can effectively absorb the kinetic energy of the vehicle 100, thereby ensuring that the vehicle 100 can stop running before the obstacle block hits the battery pack 20.

[0085] Please refer to the figure Figure 2 , Figure 4 and Fig.12 In order to better implement the vehicle control method of the embodiment of the present application, the embodiment of the present application also provides a vehicle control device 70. The vehicle control device 70 is applied to the vehicle 100, and the vehicle 100 includes a lifting device 10, and the lifting device 10 is used to change the distance between the bottom S1 of the vehicle and the ground 300. The vehicle control device 70 may include a first control module 71. The first control module 71 is used to control the lifting device 10 to operate when the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200, so as to reduce the distance between the bottom S1 of the vehicle and the ground 300.

[0086] The vehicle control device 70 further includes an acquisition module 72 and a calculation module 73. The acquisition module 72 is used to acquire the height of the obstacle and the current height between the bottom of the vehicle and the ground. The calculation module 73 is used to calculate the maximum height between the bottom of the vehicle and the ground when the lifting device reaches the first limit state, if the current height between the bottom of the vehicle and the ground is not greater than the height of the obstacle, to determine whether the maximum height is greater than the height of the obstacle.

[0087] The vehicle control device 70 further includes a second control module 74. The second control module 74 is used to control the lifting device 10 to extend to increase the distance between the vehicle bottom S1 and the ground 300 when the height of the obstacle 200 is greater than the current height between the vehicle bottom S1 and the ground 300 and less than the maximum height between the vehicle bottom S1 and the ground 300.

[0088] The first control module 71 is specifically used to control the front lifting device 11 to retract, so as to reduce the distance between the front body area A1 of the vehicle 100 and the ground 300 .

[0089] The first control module 71 is specifically used to control the front lifting device 11 to retract and control the rear lifting device 12 to maintain the current length so as to reduce the distance between the front body area A1 of the vehicle 100 and the ground 300; or, control the front lifting device 11 to retract and control the rear lifting device 12 to extend so as to reduce the distance between the front body area A1 of the vehicle 100 and the ground 300.

[0090] The first control module 71 is specifically used to control the lifting device 10 to retract so as to reduce the distance between the bottom S1 of the vehicle and the ground 300 when the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200 and if it is determined based on the speed of the vehicle 100 and the distance between the obstacle 200 and the vehicle 100 that the vehicle 100 cannot stop moving before contacting the obstacle 200.

[0091] The vehicle control device 70 further includes a brake module 75. The brake module 75 is used to control the vehicle 100 to brake urgently when the maximum height between the bottom S1 of the vehicle and the ground 300 is not greater than the height of the obstacle 200 and if it is determined based on the speed of the vehicle 100 and the distance between the obstacle 200 and the vehicle 100 that the vehicle 100 can stop moving before contacting the obstacle 200.

[0092] The vehicle control device 70 is described above from the perspective of a functional module in conjunction with the accompanying drawings. The functional module can be implemented in hardware form, can be implemented in software form, or can be implemented in combination with hardware and software modules. Specifically, the steps of the method embodiment in the embodiment of the present application can be completed by the hardware integrated logic circuit in the processor and / or the instructions in software form. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware coding processor for execution, or can be completed by a combination of hardware and software modules in the coding processor. Optionally, the software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above method embodiment in conjunction with its hardware.

[0093] See also Figure 2 and Fig.13 The electronic device 80 of the embodiment of the present application includes a processor 81, a memory 82 and a computer program. The computer program is stored in the memory 82 and executed by the processor 81. The computer program includes instructions for executing the vehicle control method of any of the above-mentioned embodiments.

[0094] See also Figure 2 , Fig.12 and Fig.13The vehicle 100 of the embodiment of the present application includes the electronic device 80 described in any one of the above embodiments or the vehicle control device 70 described in any one of the above embodiments.

[0095] See also Figure 2 In some embodiments, the vehicle 100 of the embodiment of the present application includes a lifting device 10, and the lifting device 10 is used to change the relative height between the bottom S1 of the vehicle and the ground 300.

[0096] See also Fig.14 The embodiment of the present application also provides a computer-readable storage medium 400 on which a computer program 410 is stored. When the computer program 410 is executed by a processor 420, the steps of the vehicle control method of any of the above-mentioned embodiments are implemented. For the sake of brevity, they are not repeated here.

[0097] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0098] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0099] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle includes a lifting device, and the lifting device is used to change the distance between the bottom of the vehicle and the ground; the method includes: When the maximum height between the bottom of the vehicle and the ground is not greater than the height of the obstacle, the lifting device is controlled to operate to reduce the distance between the bottom of the vehicle and the ground.

2. The vehicle control method according to claim 1, characterized in that: The distance between the bottom of the vehicle and the ground is the distance between the bottom surface of the battery pack of the vehicle and the ground.

3. The vehicle control method according to claim 1, characterized in that: Before controlling the operation of the lifting device, the method includes: Obtaining the height of the obstacle and the current height between the bottom of the vehicle and the ground; When the current height between the bottom of the vehicle and the ground is not greater than the height of the obstacle, the maximum height between the bottom of the vehicle and the ground is calculated when the lifting device reaches a first limit state to determine whether the maximum height is greater than the height of the obstacle.

4. The vehicle control method according to claim 3, characterized in that: include: When the height of the obstacle is greater than the current height between the bottom of the vehicle and the ground, and less than the maximum height between the bottom of the vehicle and the ground, the lifting device is controlled to extend to increase the distance between the bottom of the vehicle and the ground.

5. The vehicle control method according to claim 1, characterized in that: The lifting device includes a front lifting device connected to the front wheels of the vehicle, and the controlling the operation of the lifting device includes: The front lifting device is controlled to retract to reduce the distance between the front body area of ​​the vehicle and the ground.

6. The vehicle control method according to claim 5, characterized in that: The lifting device includes a rear lifting device connected to the rear wheel, and the controlling the front lifting device to retract includes: Control the front lifting device to retract, and control the rear lifting device to maintain a current length, so as to reduce the distance between the front body area of ​​the vehicle and the ground; or, The front lifting device is controlled to be retracted, and the rear lifting device is controlled to be extended, so as to reduce the distance between the front body area of ​​the vehicle and the ground.

7. The vehicle control method according to claim 1, characterized in that: The controlling the operation of the lifting device comprises: When the maximum height between the bottom of the vehicle and the ground is not greater than the height of the obstacle, if it is determined based on the speed of the vehicle and the distance between the obstacle and the vehicle that the vehicle cannot stop moving before contacting the obstacle, the lifting device is controlled to retract to reduce the distance between the bottom of the vehicle and the ground; The method comprises: When the maximum height between the bottom of the vehicle and the ground is not greater than the height of the obstacle, if it is determined based on the speed of the vehicle and the distance between the obstacle and the vehicle that the vehicle can stop moving before contacting the obstacle, the vehicle is controlled to perform emergency braking.

8. The vehicle control method according to any one of claims 1 to 7, characterized in that: The lifting device is extended and comprises: The lifting device is extended to a first preset length, where the first preset length is the length of the lifting device when it is in a first limit state; or The lifting device is extended according to the minimum length of the first safety lengths corresponding to the height of the obstacle, the first safety length is determined according to the height of the obstacle and a first mapping relationship, the first safety length includes one or more, the first mapping relationship includes first safety lengths corresponding to different heights, and the first safety length is the length of the lifting device to ensure that the battery pack of the vehicle will not contact the obstacle.

9. The vehicle control method according to any one of claims 1 to 7, characterized in that: The contraction of the lifting device comprises: The lifting device is retracted to a second preset length, where the second preset length is the length of the lifting device when it is in a second limit state; or The lifting device contracts according to the minimum length of the second safety lengths corresponding to the height of the obstacle, the second safety length is determined according to the height of the obstacle and a second mapping relationship, the second safety length includes one or more, the second mapping relationship includes second safety lengths corresponding to different distances, and the second safety length is the length of the lifting device to ensure that after the vehicle body collides with the obstacle, the vehicle body can stop moving before the battery pack of the vehicle collides with the obstacle.

10. A vehicle control device, characterized in that: The vehicle includes a lifting device, which is used to change the distance between the bottom of the vehicle and the ground, and the device includes: The first control module is used to control the lifting device to operate so as to reduce the distance between the bottom of the vehicle and the ground when the maximum height between the bottom of the vehicle and the ground is not greater than the height of the obstacle.

11. An electronic device, characterized in that: include: Processor, memory; and A computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing the vehicle control method according to any one of claims 1 to 9.

12. A vehicle, characterized in that: Includes the vehicle control device according to claim 10 or the electronic device according to claim 11.

13. The vehicle according to claim 12, characterized in that include: A lifting device is used to change the distance between the bottom of the vehicle and the ground.

14. The vehicle according to claim 13, characterized in that The vehicle includes a body and a subframe, wherein the subframe is connected to a front body region of the body, an anti-collision beam is provided in the front body region of the body, the height of the anti-collision beam is higher than that of the subframe, and a battery pack of the vehicle is located outside the front body region.

15. The vehicle according to claim 14, characterized in that The distance between the front end of the subframe and the battery pack is determined according to the mass of the vehicle, the average resistance when the obstacle block hits the vehicle, and a preset safety speed, so that the product of the average resistance and the distance is greater than or equal to the kinetic energy of the vehicle when running at the preset safety speed.

16. A non-volatile computer-readable storage medium containing a computer program, characterized in that: When the computer program is executed by a processor, the processor executes the vehicle control method according to any one of claims 1 to 9.

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