Vehicle control method, electronic device, vehicle, storage medium and program product
By determining the target deceleration based on the slope and vehicle speed in new energy vehicles and controlling the braking deceleration, the problem of sudden acceleration of the vehicle during downhill is solved, and the safety of downhill is improved.
Patent Information
- Application Number
- CN202510130620.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-05
- Publication Date
- 2025-05-13
AI Technical Summary
When new energy vehicles are downhill, the maximum allowable charging power of batteries is reduced due to the reduction of the maximum allowable charging power of the drive motor, resulting in a reduction in the feedback torque of the drive motor, and sudden acceleration occurs, endangering driving safety.
Through the vehicle control method, the target deceleration is determined based on the slope, vehicle speed and setting downhill mode of the current road surface, and the brake deceleration is controlled through the vehicle's braking system to achieve a constant speed or deceleration downhill downhill.
Improves safety in the downhill process, avoids sudden acceleration of the vehicle, enhances the driver's sense of security, and eliminates the need for additional braking equipment.
Smart Images
Figure CN119975290A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of vehicle control technology, and in particular, relates to a vehicle control method, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product. Background Art
[0002] Due to the changes in terrain, the roads in central and western my country inevitably have continuous and long downhill sections. Unlike traditional fuel vehicles, new energy vehicles have an energy feedback mechanism. When going downhill, the vehicle can control the drive motor to generate negative torque (i.e. feedback torque) on the wheel end, thereby converting gravitational potential energy into electrical energy and storing it in the battery. This mechanism can not only increase the cruising range of new energy vehicles, but also reduce brake wear.
[0003] However, when the vehicle is going downhill, the maximum allowable charging power of the battery will be reduced for self-protection, and the feedback torque of the drive motor will also be reduced. The actual performance of the whole vehicle is sudden acceleration during the downhill process, which may easily cause panic among the driver and may also lead to safety accidents. Summary of the invention
[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a vehicle control method, an electronic device, a vehicle, a computer-readable storage medium and a computer program product, which can achieve a uniform speed descent or a decelerated descent when the vehicle is going downhill, so as to improve the safety of going downhill.
[0005] In a first aspect, the present application provides a vehicle control method, comprising:
[0006] Determine the target deceleration based on the current road slope, the current vehicle speed and a set downhill mode, wherein the set downhill mode includes deceleration downhill and constant speed downhill;
[0007] determining a braking deceleration based on a target deceleration, the slope, and a feedback deceleration of a motor of the vehicle;
[0008] The braking system of the vehicle is controlled to decelerate based on the braking deceleration so that the vehicle goes downhill based on the set downhill mode.
[0009] In a second aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the above-mentioned vehicle control method is implemented when the processor executes the program.
[0010] In a third aspect, the present application provides a vehicle comprising the above-mentioned electronic device.
[0011] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned vehicle control method when executed by a processor.
[0012] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements the above-mentioned vehicle control method when executed by a processor.
[0013] The vehicle control method, electronic device, vehicle, computer-readable storage medium, and computer program product provided by the embodiments of the present application allow the user to set a downhill mode, such as decelerating downhill or setting a constant speed downhill. When going downhill, the target deceleration when the vehicle is decelerating downhill or going downhill at a constant speed is determined based on the road slope and the current vehicle speed.
[0014] Afterwards, the braking deceleration of the vehicle is controlled based on the target deceleration required by the vehicle, the slope and the feedback deceleration of the vehicle's motor. There is no need to add additional braking equipment. The vehicle's existing braking system is braked based on the braking deceleration, so that the vehicle's deceleration reaches the target deceleration. Based on the set downhill mode, the vehicle can decelerate or go downhill at a constant speed, ensuring the safety of the vehicle going downhill.
[0015] 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
[0016] 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:
[0017] Figure 1 is a first flow chart of a vehicle control method provided in an embodiment of the present application;
[0018] Figure 2 is a second flow chart of the vehicle control method provided in an embodiment of the present application;
[0019] Figure 3 is a third flow chart of the vehicle control method provided in an embodiment of the present application;
[0020] Figure 4 is a fourth flow chart of the vehicle control method provided in an embodiment of the present application;
[0021] Figure 5 is a fifth flow chart of the vehicle control method provided in the embodiment of the present application;
[0022] Figure 6 is a module schematic diagram of a vehicle control device provided in an embodiment of the present application;
[0023] Figure 7 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application; and
[0024] Figure 8 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION
[0025] 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 throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.
[0026] According to the survey, there are mainly the following solutions to deal with continuous downhill driving of cars:
[0027]
[0028] As can be seen from the table above, except for the engine braking method, the other methods have problems such as increased cost, complex structure, and risk of failure. For new energy vehicles, the engine braking solution is not feasible, and the auxiliary braking device often conflicts with the energy feedback mechanism, is not easy to install, and has a high cost.
[0029] In order to solve the above technical problems, the embodiment of the present application provides a vehicle control method, which can achieve constant speed descent or deceleration descent by using the existing braking system of the vehicle without adding additional braking components. The vehicle control method is described in detail below:
[0030] See also Figure 1 A vehicle control method provided in an embodiment of the present application is implemented by steps 011 to 013, which are described in detail below.
[0031] Step 011: Based on the current road slope, the current vehicle speed and the set downhill mode, determine the target deceleration. The set downhill mode includes decelerating downhill and constant speed downhill.
[0032] When going downhill, in order to achieve a uniform speed or deceleration when going downhill, the overall deceleration of the vehicle needs to be controlled. For example, when going downhill at a uniform speed, the target deceleration is 0, that is, the vehicle maintains a uniform speed when going downhill. At this time, it is necessary to ensure that the component of the gravity acceleration along the slope direction when the vehicle is going downhill = the total deceleration of the vehicle (such as the sum of friction deceleration, braking deceleration, and motor feedback deceleration). To achieve deceleration when going downhill, it is necessary to make the component of gravity acceleration along the slope direction less than (such as the sum of friction deceleration, braking deceleration, and motor feedback deceleration).
[0033] See also Figure 2Optionally, step 011 includes:
[0034] Step 0111: When the vehicle is in a gliding state and the slope is greater than a preset slope, the target deceleration is determined based on the current road slope, the current vehicle speed and the set downhill mode.
[0035] Among them, the gliding state refers to the state in which the vehicle continues to move due to inertia when the vehicle is not actively accelerated or braked by the owner (such as not stepping on the accelerator or the brake).
[0036] The preset slope is an empirical value, such as a preset slope greater than 3%, 5%, etc.
[0037] It is understandable that some car owners will not only not slow down but may also accelerate when going downhill. In order to avoid going against the car owner's wishes and affecting the driving experience, it is possible to determine whether the vehicle is in a gliding state. When the vehicle is in a gliding state, the target deceleration when achieving uniform descent or deceleration descent can be calculated based on the downhill mode set by the car owner.
[0038] Step 012: Determine the braking deceleration based on the target deceleration, the slope, and the feedback deceleration of the vehicle's motor.
[0039] See also Figure 3 Optionally, step 012 includes:
[0040] Step 0121: Determine the braking deceleration based on the target deceleration, slope, feedback deceleration, safety braking deceleration and friction deceleration. The safety braking deceleration is determined based on the preset safety distance and the current vehicle speed.
[0041] Specifically, after determining the target deceleration, the braking deceleration can be adjusted in real time to ensure that the overall deceleration of the vehicle remains at the target deceleration, thereby achieving uniform descent or decelerated descent.
[0042] When going downhill, the acceleration is provided by the component of the vehicle's gravity acceleration on the slope, while the deceleration may include the feedback deceleration when the motor performs energy feedback, the friction deceleration provided by the road friction force and the braking deceleration of the vehicle's braking system.
[0043] Among them, the friction deceleration can be determined based on the road surface image collected by the vehicle, the road type of the vehicle, and the vehicle weight and slope.
[0044] In addition, in order to further improve the safety of downhill driving, when encountering an emergency situation and emergency braking is required, it is necessary to provide a safe braking deceleration that can allow the vehicle to brake to a stop within the safe braking distance. The safe braking deceleration can be determined based on the safe braking distance and the current vehicle speed to ensure that the vehicle can stop within the safe braking distance at the current vehicle speed when braking is required.
[0045] During downhill driving, the regenerative deceleration and braking deceleration may change, while the friction deceleration remains basically unchanged. In order to ensure that the vehicle's deceleration remains at the target deceleration, the maximum allowable charging power of the motor is reduced due to the battery's self-protection, resulting in a decrease in the regenerative torque, thereby reducing the regenerative deceleration (specifically, the absolute value of the regenerative deceleration is reduced), and the braking deceleration needs to be adaptively adjusted.
[0046] Therefore, based on the target deceleration, slope, feedback deceleration, safety braking deceleration and friction deceleration, the braking deceleration is calculated in real time to ensure that the vehicle's deceleration always remains at the target deceleration, achieving uniform descent or decelerated descent.
[0047] When going downhill at a constant speed, it is sufficient to ensure that the target deceleration is 0. When decelerating downhill, the absolute value of the target deceleration can be made greater than 0. For example, the target deceleration can be determined based on the slope and the current vehicle speed. The greater the slope and the greater the current vehicle speed, the greater the target deceleration will be to ensure safety.
[0048] Optionally, the braking deceleration is determined based on the following formula:
[0049] (1)a map =g*sin(θ)+a fri +a motor +a brake ;or,
[0050] (2)a map =g*sin(θ)+V^ 2 / (2s)+a fri +a motor +a brake ;
[0051] Among them, a map is the target deceleration, g is the acceleration due to gravity, θ is the slope, V is the current vehicle speed, s is the safe distance, a fri is the friction deceleration, a motor is the feedback deceleration, and a brake is the braking deceleration.
[0052] In this way, when the vehicle does not need emergency braking and stops within the safe braking distance, the braking deceleration a can be quickly calculated based on the above formula (1): brake When an emergency is detected and the vehicle needs emergency braking, in order to avoid dangerous situations, the braking deceleration a can be quickly calculated based on formula (2). brake .
[0053] Step 013: Control the braking system of the vehicle to decelerate based on the braking deceleration so that the vehicle goes downhill based on the set downhill mode.
[0054] After the braking deceleration is determined, the braking system of the vehicle may be controlled to perform deceleration control based on the determined braking deceleration, so that the deceleration of the vehicle is maintained at the target deceleration, thereby causing the vehicle to descend in the set descending mode.
[0055] The differences between the vehicle control method of the present application and the existing related technologies include:
[0056] (1) Whether to add or improve the braking system device
[0057] Most of the existing related technologies are to add specific hardware devices to the vehicle and control these devices through some judgment conditions to achieve the working state control of the vehicle when it is continuously going downhill, or to upgrade the original braking system of the car to add functions. Such measures require additional design and hardware manufacturing, which increases the manufacturing cost of the whole vehicle. At the same time, the added hardware devices will increase the weight of the whole vehicle, which has an adverse effect on the promotion of the car, affects sales, and further weakens the profitability of the car company. The vehicle control method proposed in this application does not require additional hardware design and manufacturing investment. It only relies on the formulated vehicle control strategy to control the existing hardware of the vehicle to achieve the expected function, avoids the risk of failure of additional designed and manufactured hardware devices, saves costs, has good effects, and has high reliability.
[0058] (2) Is the wheel end torque control accurate?
[0059] The prior art controls the wheel-end torque of the vehicle when going downhill by improving the existing braking system or adding specific devices, such as hydraulically assisted braking wheels relying on the liquid in the sealed cavity for braking, and this torque control is not precise. The vehicle control method proposed in this application accurately controls the wheel-end torque through the vehicle control strategy and control algorithm, and can also adjust the speed change mode when going downhill through the function setting interface, so that the whole vehicle driving experience is better.
[0060] (3) Is the downhill driving feel of the vehicle adjustable?
[0061] The existing technology uses specific hardware or auxiliary devices to control torque when going downhill, which cannot fully meet the needs of customers with different driving requirements. The vehicle control method proposed in this application can control the different driving feelings of the whole vehicle when going downhill with different target decelerations, and can flexibly respond to the driving needs of different customers.
[0062] In the vehicle control method of the present application, the user can set a downhill mode, such as decelerating downhill or descent at a constant speed. When going downhill, the target deceleration when the vehicle is decelerating downhill or descent at a constant speed is determined based on the road slope and the current vehicle speed.
[0063] Afterwards, the braking deceleration of the vehicle is controlled based on the target deceleration required by the vehicle, the slope and the feedback deceleration of the vehicle's motor. The vehicle is braked based on the braking deceleration so that the vehicle's deceleration reaches the target deceleration. Based on the set downhill mode, the vehicle decelerates downhill or descends at a constant speed to ensure the safety of the vehicle going downhill.
[0064] In some embodiments, see Figure 4 , Figure 4 : is a flow chart of a vehicle control method provided in an embodiment of the present application. The vehicle control method also includes:
[0065] Step 014: Determine whether the charging power of the battery is greater than a first preset charging power;
[0066] Step 015: If yes, reduce the feedback deceleration;
[0067] Step 012: Determine the braking deceleration based on the target deceleration, the slope, and the feedback deceleration of the motor of the vehicle, including:
[0068] Step 0122: Determine the braking deceleration based on the target deceleration, the slope, and the reduced feedback deceleration.
[0069] It is understandable that in order to ensure the safety of the battery, when the charging power is too high, the maximum charging power will be reduced to protect the battery and avoid overcharging the battery.
[0070] After reducing the maximum charging power, the feedback torque of the motor for energy feedback will also decrease, thereby reducing the feedback deceleration of the motor.
[0071] Therefore, by detecting whether the charging power of the battery is greater than the first preset charging power (such as the maximum charging power of the battery), it is determined whether the charging power of the battery is too high. When the charging power of the battery is greater than the first preset charging power, it is determined that the charging power of the battery is too high. At this time, the maximum charging power of the battery can be reduced, thereby reducing the feedback deceleration (such as reducing the absolute value of the feedback deceleration).
[0072] When reducing the regenerative deceleration to avoid battery overcharging, in order to ensure downhill driving in the set downhill mode, the braking deceleration can be determined based on the target deceleration, slope, and the reduced regenerative deceleration, thereby ensuring that the vehicle's deceleration remains at the target deceleration and achieving uniform downhill speed or decelerated downhill driving.
[0073] Optionally, the charging power of the battery can be determined based on the integral value of the feedback current of the motor over time. For example, the charging power is calculated based on the collected charging voltage and the integral value of the feedback current over time, and the charging power represents the charging amount within a preset time.
[0074] In some embodiments, see Figure 5 , Figure 5 : is a flow chart of a vehicle control method provided in an embodiment of the present application. The vehicle control method also includes:
[0075] Step 016: Determine whether the charging power is less than a second preset charging power, and the second preset charging power is less than the first preset charging power;
[0076] Step 017: If yes, increase the feedback deceleration;
[0077] Step 012: Determine the braking deceleration based on the target deceleration, the slope, and the feedback deceleration of the motor of the vehicle, including:
[0078] Step 0123: Determine the braking deceleration based on the target deceleration, the slope, and the increased feedback deceleration.
[0079] When the charging power decreases, in order to improve the energy feedback efficiency, the maximum charging power needs to be increased. After the maximum charging power is increased, the feedback torque of the motor for energy feedback will also increase, thereby increasing the feedback deceleration of the motor.
[0080] Therefore, by detecting whether the charging power of the battery is less than the second preset charging power (such as the second preset charging power is less than the first preset charging power), it is determined whether the charging power of the battery needs to be increased. When the charging power of the battery is less than the second preset charging power, it is determined that the charging power of the battery needs to be increased. At this time, the maximum charging power of the battery can be increased, thereby increasing the feedback deceleration (such as reducing the absolute value of the feedback deceleration).
[0081] When the feedback deceleration is increased to improve the energy feedback efficiency, in order to ensure that the downhill mode is set, the braking deceleration can be determined based on the target deceleration, the slope, and the increased feedback deceleration, thereby ensuring that the vehicle's deceleration remains at the target deceleration and achieving uniform descent or decelerated descent.
[0082] In this way, not only can the battery be protected from overcharging, but the energy feedback efficiency can also be improved as much as possible. At the same time, it can also ensure that the vehicle always goes downhill at the target deceleration, thereby improving the safety of going downhill.
[0083] Optionally, after increasing the feedback deceleration, the braking deceleration is made to be 0 as much as possible, so as to maximize the energy feedback efficiency.
[0084] Compared with the prior art, the vehicle control method of the present application has the following beneficial effects:
[0085] (1) The manufacturing cost and weight of the vehicle are not changed, and no hardware equipment is added. By calculating the braking deceleration in real time, the vehicle control method is realized without sacrificing the energy feedback function, solving the problem of difficult speed control and high driving risk when the vehicle is continuously going downhill. At the same time, the risk of battery overcharging is avoided, and the battery life is effectively extended;
[0086] (2) The control strategy and control algorithm take into account a variety of factors, including battery status, road conditions, vehicle speed, feedback status, braking status, driver input, etc. The continuous downhill speed control function setting interface has switches for constant downhill speed and deceleration downhill control to provide precise control for the best driving experience;
[0087] (3) Formulate a strategy to intelligently control the motor and brake output torque, thereby controlling the torque output of the vehicle, ensuring that the vehicle travels at the expected speed (i.e., at the target deceleration) during downhill travel, and avoiding sudden acceleration of the vehicle that causes panic in the driver and leads to safety accidents;
[0088] (4) The control strategy has a calibration value (for example, the target deceleration can be determined based on the current vehicle speed and slope, or can be set by the user), which can control the overall performance of the vehicle in continuous descent through calibration.
[0089] According to the method described in the above embodiment, the present application embodiment also provides a vehicle control device 300, which is used to execute the steps in the above vehicle control method. Figure 6 , Figure 6 : is a module diagram of a vehicle control device 300 provided in an embodiment of the present application. The vehicle control device 300 includes:
[0090] The first determination module 301 is used to determine the target deceleration based on the current road slope, the current vehicle speed and the set downhill mode, and the set downhill mode includes deceleration downhill and uniform speed downhill;
[0091] A second determination module 302 is used to determine the braking deceleration based on the target deceleration, the slope, and the feedback deceleration of the motor of the vehicle;
[0092] The control module 303 is used to control the braking system of the vehicle to decelerate based on the braking deceleration, so that the vehicle goes downhill based on the set downhill mode.
[0093] It should be noted that the specific details of each module unit in the above-mentioned vehicle control device have been described in detail in the embodiment of the above-mentioned vehicle control method, and will not be repeated here.
[0094] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.
[0095] In some embodiments, the vehicle control device in the embodiments of the present application can be implemented in hardware, such as a vehicle, or a component in a vehicle, such as an integrated circuit or a chip; the vehicle control device can also be implemented in software, such as as an application installed in a vehicle system.
[0096] See also Figure 7 , Figure 7 5 is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. The electronic device 500 includes a processor 501 and a memory 502. The memory 502 stores a computer program 503 that can be run on the processor 501. When the program 503 is executed by the processor 501, each process of the embodiment of the above-mentioned vehicle control method is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
[0097] See also Figure 8 , Figure 8 is a schematic diagram of the structure of a vehicle 600 provided in an embodiment of the present application. The vehicle 600 includes the above-mentioned electronic device 500. For example, the electronic device 500 may be a controller of the vehicle 600.
[0098] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned vehicle control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
[0099] The processor may be a processor in the electronic device in the above embodiment. The computer readable storage medium may be a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.
[0100] Computer readable media may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. Computer storage media include RAM, ROM, Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), flash memory or other solid-state memory technology, CD-ROM, Digital Versatile Disc (DVD) or other optical storage, cassettes, magnetic tapes, disk storage or other magnetic storage devices. Of course, those skilled in the art will know that computer storage media are not limited to the above.
[0101] The embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned vehicle control method when executed by a processor. The processor may be a processor in the electronic device in the above-mentioned embodiment. When the computer program is executed by the processor, each process of the embodiment of the above-mentioned vehicle control method is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
[0102] It is understandable that in the specific implementation of this application, data related to user identity or characteristics is involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.
[0103] 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.
[0104] 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.
[0105] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.
Claims
1. A vehicle control method, characterized in that: include: Determine the target deceleration based on the current road slope, the current vehicle speed and a set downhill mode, wherein the set downhill mode includes deceleration downhill and constant speed downhill; determining a braking deceleration based on a target deceleration, the slope, and a feedback deceleration of a motor of the vehicle; The braking system of the vehicle is controlled to decelerate based on the braking deceleration so that the vehicle goes downhill based on the set downhill mode.
2. The vehicle control method according to claim 1, characterized in that: The step of determining the target deceleration based on the current road slope, the current vehicle speed and the set downhill mode includes: When the vehicle is in a coasting state and the slope is greater than a preset slope, a target deceleration is determined based on the slope of the current road surface, the current vehicle speed and a set downhill mode.
3. The vehicle control method according to claim 1, characterized in that: The step of determining the braking deceleration based on the target deceleration, the slope, and the feedback deceleration of the motor of the vehicle includes: The braking deceleration is determined based on the target deceleration, the slope, the feedback deceleration, the safety braking deceleration and the friction deceleration, and the safety braking deceleration is determined based on a preset safety distance and a current vehicle speed.
4. The vehicle control method according to claim 3, characterized in that: The braking deceleration is determined based on the following formula: a map =g*sin(θ)+V^ 2 / (2s)+a fri +a motor +a brake； Among them, a map is the target deceleration, g is the acceleration due to gravity, θ is the slope, V is the current vehicle speed, s is the safety distance, a fri is the friction deceleration, a motor is the feedback deceleration, and a brake is the braking deceleration.
5. The vehicle control method according to claim 1, characterized in that: When the set downhill mode is a constant speed downhill mode, the target deceleration is 0; when the set downhill mode is a deceleration downhill mode, the target deceleration is determined based on the slope and the current vehicle speed.
6. The vehicle control method according to claim 1, characterized in that: Also includes: Determining whether the charging power of the battery is greater than a first preset charging power; If yes, reducing the feedback deceleration; The step of determining the braking deceleration based on the target deceleration, the slope, and the feedback deceleration of the motor of the vehicle includes: The braking deceleration is determined based on the target deceleration, the slope, and the reduced feedback deceleration.
7. The vehicle control method according to claim 1 or 6, characterized in that: The method further comprises: Determining whether the charging power is less than a second preset charging power, the second preset charging power being less than the first preset charging power; If so, increasing the feedback deceleration; The determining of the braking deceleration based on the target deceleration, the slope, and the feedback deceleration of the motor of the vehicle includes: The braking deceleration is determined based on the target deceleration, the slope, and the increased feedback deceleration.
8. The vehicle control method according to claim 7, characterized in that: The braking deceleration is 0.
9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle control method as claimed in any one of claims 1 to 8 when executing the program.
10. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 9.
11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method as described in any one of claims 1 to 8 is implemented.
12. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, implements the vehicle control method as described in any one of claims 1 to 8.