Vehicle control method and device, vehicle and storage medium
By calculating and verifying the multiple torque acquisition values of the vehicle, the problem of single-point failure in the traditional method is solved, and the accurate monitoring and control of the vehicle torque status is achieved, and the safety of the vehicle is improved.
Patent Information
- Application Number
- CN202510395310.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-31
- Publication Date
- 2025-06-13
AI Technical Summary
Traditional vehicle torque monitoring methods rely on a single torque signal source and lack redundant verification mechanisms, resulting in single point failure of functional safety and inability to accurately judge the true state of the vehicle's torque, which may cause serious safety problems such as vehicle out of control and abnormal power transmission.
By obtaining the torque acquisition values of the front axle and rear axle during the vehicle's driving, combining the current value and the maximum depth value of the accelerator pedal, the torque verification values of the entire vehicle, the front axle and the rear axle are calculated, and the corresponding torque demand values are verified, and the vehicle is controlled based on the verification results.
Accurate monitoring and control of the vehicle's torque status is achieved, dangers caused by torque problems are avoided, false triggering of the safe state is avoided, the safety of the vehicle is improved, and the safe driving and good performance of the vehicle are ensured.
Smart Images
Figure CN120135170A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present invention relate to the technical field of vehicle control, and in particular, to a vehicle control method, device, vehicle, and storage medium. Background Art
[0002] In the field of modern vehicle control systems, the precise control and monitoring of torque are of crucial significance to vehicle safety and performance. Among them, the functional safety torque monitoring has become one of the core safety monitoring items in the industry.
[0003] Traditional monitoring methods usually collect the torque at the motor end and directly compare the collected torque with the torque demand issued by the Vehicle Control Unit (VCU) to conduct simple monitoring from the diagnostic level. However, this method has obvious drawbacks. It only relies on a single torque signal source and has no redundant verification mechanism at all. This means that when a functional safety single-point failure problem occurs, it cannot be effectively avoided. Once the signal fails or there is an error, this method cannot accurately judge the true state of the vehicle's total torque, and it is extremely easy to cause the failure of the functional safety monitoring mechanism. This situation may lead to serious safety problems, such as vehicle out of control and abnormal power transmission. Therefore, how to accurately control the vehicle according to the torque of the vehicle to improve the driving safety of the vehicle has become an urgent problem to be solved. Summary of the Invention
[0004] In view of this, to solve the above technical problems or some of the technical problems, the embodiments of the present invention provide a vehicle control method, device, vehicle, and storage medium.
[0005] In a first aspect, the embodiments of the present invention provide a vehicle control method, including:
[0006] Obtain the front axle torque acquisition value and the rear axle torque acquisition value during the driving process of the vehicle;
[0007] Determine the vehicle's total torque verification value, front axle torque verification value, and rear axle torque verification value according to the front axle torque acquisition value, the rear axle torque acquisition value, the current value of the vehicle's accelerator pedal, and the maximum accelerator pedal depth;
[0008] Verify the total torque verification value, the front axle torque verification value, and the rear axle torque verification value with the corresponding torque demand values respectively to obtain verification results;
[0009] Control the vehicle according to the verification results.
[0010] In a possible implementation manner, the obtaining the front axle torque acquisition value and the rear axle torque acquisition value during the driving process of the vehicle includes:
[0011] Obtain the left front wheel torque, right front wheel torque, left rear wheel torque, and right rear wheel torque of the vehicle;
[0012] When the absolute value of the difference between the left front wheel torque and the right front wheel torque is less than a preset torque limit, determine that the front axle torque acquisition value is the sum of the left front wheel torque and the right front wheel torque;
[0013] When the absolute value of the difference between the left front wheel torque and the right front wheel torque is greater than or equal to the torque limit, determine that the front axle torque acquisition value is twice the maximum value of the left front wheel torque and the right front wheel torque;
[0014] When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is less than the torque limit, determine that the rear axle torque acquisition value is the sum of the left rear wheel torque and the right rear wheel torque;
[0015] When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is greater than or equal to the torque limit, determine that the rear axle torque acquisition value is twice the maximum value of the left rear wheel torque and the right rear wheel torque.
[0016] In a possible implementation, the torque limit is determined by the following method:
[0017] Obtain the curb weight of the vehicle;
[0018] Determine that the torque limit is the product of the curb weight of the vehicle, the acceleration due to gravity, and a target weight.
[0019] In a possible implementation, the method further includes:
[0020] When it is obtained that both the left front wheel torque and the right front wheel torque are invalid values, control the vehicle to enter the system safety state, and control the vehicle's vehicle controller to prohibit torque output;
[0021] Or, when it is obtained that both the left rear wheel torque and the right rear wheel torque are invalid values, control the vehicle to enter the system safety state, and control the vehicle's vehicle controller to prohibit torque output.
[0022] In a possible implementation, determining the vehicle's total torque verification value, front axle torque verification value, and rear axle torque verification value according to the front axle torque acquisition value, the rear axle torque acquisition value, the current value of the vehicle's accelerator pedal, and the maximum accelerator pedal depth includes:
[0023] Calculate the vehicle's total torque verification value, the front axle torque verification value, and the rear axle torque verification value through the following formula:
[0024] Vehicle total torque verification value = (front axle torque acquisition value + rear axle torque acquisition value) × current accelerator pedal value / maximum accelerator pedal depth;
[0025] Front axle torque verification value = front axle torque acquisition value × current accelerator pedal value / maximum accelerator pedal depth;
[0026] Rear axle torque verification value = rear axle torque acquisition value × current accelerator pedal value / maximum accelerator pedal depth.
[0027] In a possible implementation, according to the vehicle total torque verification value, the front axle torque verification value and the rear axle torque verification value are respectively verified with corresponding torque demand values to obtain a verification result, including:
[0028] When the absolute value of the difference between the vehicle total torque verification value and the corresponding vehicle total torque demand is less than the torque limit, it is determined that the verification result is that the vehicle is driving normally; otherwise, it is determined that the verification result is that the vehicle is not driving normally;
[0029] When the absolute value of the difference between the front axle torque verification value and the corresponding front axle torque demand is less than half of the torque limit, it is determined that the verification result is that the vehicle is driving normally; otherwise, it is determined that the verification result is that the vehicle is not driving normally;
[0030] When the absolute value of the difference between the rear axle torque verification value and the corresponding rear axle torque demand is less than half of the torque limit, it is determined that the verification result is that the vehicle is driving normally; otherwise, it is determined that the verification result is that the vehicle is not driving normally.
[0031] In a possible implementation, controlling the vehicle according to the verification result includes:
[0032] When the verification result is that the vehicle is not driving normally, control the vehicle's vehicle controller to enter a safe state and send a zero torque request.
[0033] In a second aspect, an embodiment of the present invention provides a vehicle control device, including:
[0034] An acquisition module for acquiring the front axle torque acquisition value and the rear axle torque acquisition value during the vehicle's driving process;
[0035] A determination module for determining the vehicle's total torque verification value, front axle torque verification value, and rear axle torque verification value according to the front axle torque acquisition value, the rear axle torque acquisition value, the current accelerator pedal value of the vehicle, and the maximum accelerator pedal depth;
[0036] A verification module, configured to verify the vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value respectively with corresponding torque demand values to obtain a verification result;
[0037] A control module, configured to control the vehicle according to the verification result.
[0038] In a third aspect, an embodiment of the present invention provides a vehicle, including: a processor and a memory, where the processor is configured to execute a vehicle torque monitoring program stored in the memory to implement the vehicle control method according to any one of the above first aspects.
[0039] In a fourth aspect, an embodiment of the present invention provides a storage medium, where the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the vehicle control method according to any one of the above first aspects.
[0040] The vehicle control solution provided by the embodiment of the present invention includes: acquiring the front axle torque acquisition value and the rear axle torque acquisition value during the vehicle driving process; determining the vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value according to the front axle torque acquisition value, the rear axle torque acquisition value, the current value of the vehicle's accelerator pedal, and the maximum accelerator pedal depth; verifying the vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value respectively with corresponding torque demand values to obtain a verification result; and controlling the vehicle according to the verification result. Therefore, multiple corresponding torque verification values can be calculated based on multiple torque acquisition values of the vehicle, the torque verification values are verified with corresponding torque demands, and the vehicle is controlled according to the verification result, realizing accurate monitoring and control of the vehicle torque state, avoiding danger caused by torque problems of the vehicle, avoiding false triggering of the vehicle safety state, improving vehicle safety, and ensuring the safe driving and good performance of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] Figure 1 It is a schematic flowchart of a vehicle control method provided by an embodiment of the present invention;
[0042] Figure 2 It is a schematic flowchart of another vehicle control method provided by an embodiment of the present invention;
[0043] Figure 3 It is a schematic flowchart of yet another vehicle control method provided by an embodiment of the present invention;
[0044] Figure 4 It is a schematic structural diagram of a vehicle control device provided by an embodiment of the present invention;
[0045] Figure 5A schematic structural diagram of a vehicle provided by an embodiment of the present invention;
[0046] Figure 6 A schematic diagram of the hardware structure of a vehicle provided by an embodiment of the present invention. Detailed implementation manners
[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
[0048] For ease of understanding of the embodiments of the present invention, the following will further explain with specific embodiments with reference to the accompanying drawings. The embodiments do not constitute a limitation to the embodiments of the present invention.
[0049] Figure 1 A schematic flowchart of a vehicle control method provided by an embodiment of the present invention, as Figure 1 shown, the method specifically includes:
[0050] S11. Obtain the front axle torque acquisition value and the rear axle torque acquisition value during the driving of the vehicle.
[0051] The vehicle control method provided by the embodiment of the present invention is applied to a vehicle, and the vehicle may include, but is not limited to: fuel vehicles, new energy vehicles, etc. Specifically, a plurality of corresponding torque verification values can be calculated according to a plurality of torque acquisition values of the vehicle, the torque verification values are verified with the corresponding torque requirements, and the vehicle is controlled according to the verification results.
[0052] In this embodiment, first, the front axle torque acquisition value and the rear axle torque acquisition value need to be determined according to the torque acquisition value of each wheel end of the vehicle. Specifically, torque sensors can be installed at the wheel ends of each wheel of the vehicle (for example, installed in the wheel axle, half axle or hub) to measure the torque acquisition value of each wheel end in real time.
[0053] The torque sensor has high sensitivity and accuracy, can accurately capture the minute changes in the wheel end torque, and convert it into an electrical signal, and can be connected to the traction control system (TCS) of the vehicle.
[0054] At the same time, an additional torque sensor can be installed on the output shaft of the motor to obtain a signal related to the torque demand value. The sensor is connected to the motor control unit (MCU) to provide data support for the calculation and monitoring of the torque demand value.
[0055] Meanwhile, the vehicle is equipped with multiple controllers, including but not limited to the vehicle control unit (VCU), engine control unit (ECU), electronic stability program (ESP), etc. Among them, the VCU is respectively connected to the MCU and TCS and interacts with each other. These controllers are interconnected and data-interacted through a high-speed CAN bus or other reliable communication networks. In terms of hardware design, it is ensured that the communication network has sufficient bandwidth and reliability to support real-time and accurate data transmission.
[0056] For example, as Figure 6 shown, it is a schematic diagram of a vehicle hardware structure provided by an embodiment of the present invention, including four wheel ends, namely the left front wheel end equipped with an FL wheel end torque collector, the right front wheel end equipped with an FR wheel end torque collector, the left rear wheel end equipped with an RL wheel end torque collector, and the right rear wheel end equipped with an RR wheel end torque collector.
[0057] The TCS real-time collects the torques of the four wheels and conducts rationality verification. The left front wheel torque collection value is TWFL and is sent to the TCS, the right front wheel torque collection value is TWFR and is sent to the TCS, the left rear wheel torque collection value is TWRL and is sent to the TCS, and the right rear wheel torque collection value is TWRR and is sent to the TCS.
[0058] Furthermore, calculate the front axle torque collection value according to the left front wheel torque collection value and the right front wheel torque collection value, and calculate the rear axle torque collection value according to the left rear wheel torque collection value and the right rear wheel torque collection value. The corresponding calculation method of the front axle torque collection value can be selected according to the difference between the two front wheel torque collection values, and the corresponding calculation method of the rear axle torque collection value can be selected according to the difference between the two rear wheel torque collection values. The calculation methods can include: determining the sum of the two front wheel torque collection values as the front axle torque collection value, or determining the larger front wheel torque collection value as the front axle torque collection value. And determining the sum of the two rear wheel torque collection values as the rear axle torque collection value, or determining the larger rear wheel torque collection value as the rear axle torque collection value.
[0059] S12. Determine the vehicle's overall torque verification value, front axle torque verification value, and rear axle torque verification value according to the front axle torque collection value, the rear axle torque collection value, the current value of the vehicle's accelerator pedal, and the maximum value of the accelerator pedal depth.
[0060] In this embodiment, the vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value are respectively used to perform safety verification with the corresponding torque demand values. The current value of the accelerator pedal represents the control signal input by the driver through the accelerator pedal and can be expressed as a proportional value or a percentage. The maximum value of the accelerator pedal depth represents the maximum depth when the accelerator pedal is fully depressed and can be expressed as the angle of the pedal or the vertical displacement, etc.
[0061] The method for calculating the vehicle torque verification value is: the product of the sum of the front axle torque acquisition value and the rear axle torque acquisition value and the current value of the accelerator pedal divided by the maximum value of the accelerator pedal depth. The method for calculating the front axle torque verification value is: the product of the front axle torque acquisition value and the current value of the accelerator pedal divided by the maximum value of the accelerator pedal depth. The method for calculating the rear axle torque verification value is: the product of the rear axle torque acquisition value and the current value of the accelerator pedal divided by the maximum value of the accelerator pedal depth.
[0062] S13. Verify the vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value with the corresponding torque demand values respectively to obtain verification results.
[0063] In this embodiment, the torque demand value can represent the power output required by the vehicle under different driving conditions. This demand value is affected by various factors and can be determined by operating parameters such as the mass of the vehicle, driving conditions, driving speed, acceleration demand, road gradient, etc. Different vehicle manufacturers calculate the torque demand value in different ways, and the torque demand value can be determined according to the specific calculation method and the operating parameters of the current vehicle.
[0064] Among them, the vehicle torque verification value corresponds to the vehicle torque demand value, the front axle torque verification value corresponds to the front axle torque demand value, and the rear axle torque verification value corresponds to the rear axle torque demand value. Each torque demand value can be compared and verified respectively according to each torque verification value to check whether the vehicle can drive normally after each current torque demand value is output.
[0065] Specifically, the comparison and verification method can be to calculate the difference between the verification value and the corresponding demand value respectively, and determine whether the current demand value can make the vehicle drive normally according to the magnitude of the difference. It can be set that when the absolute value of the difference is within the preset threshold range, the verification result is that the vehicle drives normally, and when the absolute value of the difference is not within the preset threshold range, the verification result is that the vehicle drives abnormally.
[0066] S14. Control the vehicle according to the verification result.
[0067] In this embodiment, when the verification result indicates that the vehicle is driving normally, the torque demand value is output normally to enable the vehicle to drive normally. When the verification result indicates that the vehicle is not driving normally, the torque demand value is output normally to enable the vehicle to drive normally, and the vehicle VCU enters the safe state and sends a 0 torque request. Meanwhile, an alarm event is triggered.
[0068] The vehicle control method provided by the embodiment of the present invention includes obtaining the front axle torque acquisition value and the rear axle torque acquisition value during the driving process of the vehicle; determining the vehicle's total vehicle torque verification value, front axle torque verification value, and rear axle torque verification value according to the front axle torque acquisition value, the rear axle torque acquisition value, the current value of the vehicle's accelerator pedal, and the maximum accelerator pedal depth; verifying the total vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value with the corresponding torque demand values respectively to obtain the verification result; and controlling the vehicle according to the verification result. Thus, multiple corresponding torque verification values can be calculated based on multiple torque acquisition values of the vehicle, the torque verification values are verified with the corresponding torque demands, and the vehicle is controlled according to the verification result, realizing accurate monitoring and control of the vehicle torque state, avoiding risks caused by torque problems of the vehicle, avoiding false triggering of the vehicle safety state, improving vehicle safety, and ensuring the safe driving and good performance of the vehicle.
[0069] Figure 2 As shown in the flowchart of another vehicle control method provided by the embodiment of the present invention, Figure 2 as shown, this method specifically includes:
[0070] S21. Obtain the left front wheel torque, right front wheel torque, left rear wheel torque, and right rear wheel torque of the vehicle.
[0071] S22. When the absolute value of the difference between the left front wheel torque and the right front wheel torque is less than the preset torque limit, determine that the front axle torque acquisition value is the sum of the left front wheel torque and the right front wheel torque.
[0072] S23. When the absolute value of the difference between the left front wheel torque and the right front wheel torque is greater than or equal to the torque limit, determine that the front axle torque acquisition value is twice the maximum value of the left front wheel torque and the right front wheel torque.
[0073] S24. When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is less than the torque limit, determine that the rear axle torque acquisition value is the sum of the left rear wheel torque and the right rear wheel torque.
[0074] S25. When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is greater than or equal to the torque limit, determine that the rear axle torque acquisition value is twice the maximum value of the left rear wheel torque and the right rear wheel torque.
[0075] In this embodiment, the torque limit is determined by the following method:
[0076] Obtain the curb weight of the vehicle; determine that the torque limit is the product of the curb weight of the vehicle, the acceleration due to gravity, and the target weight. For example, generally take the torque required for the vehicle acceleration at 0.1g as the limit value, that is, Tg = 0.1g * M, where M is the curb weight of the vehicle and g is the acceleration due to gravity.
[0077] After obtaining the torque limit, the vehicle's TCS collects the torques of the four wheels in real time and performs a rationality check. Taking four-wheel drive as an example.
[0078] The torque acquisition value of the left front wheel is TWFL and is sent to the TCS. The torque acquisition value of the right front wheel is TWFR and is sent to the TCS. The torque acquisition value of the left rear wheel is TWRL and is sent to the TCS. The torque acquisition value of the right rear wheel is TWRR and is sent to the TCS.
[0079] Furthermore, the torque acquisition values of the four wheels are divided into the front axle and the rear axle and the differences are calculated separately:
[0080] If the absolute value of the difference in the torque acquisition values does not exceed the torque limit Tg, the wheel speeds are considered valid and the front axle torque acquisition value and the rear axle torque acquisition value are calculated.
[0081] 1. For example, if |TWFL - TWFR| < Tg, then the front axle torque acquisition value is considered valid, and the front axle torque acquisition value is equal to the sum of the torque acquisition values of the left front and right front wheels, that is, the front axle torque acquisition value TF = TWFL + TWFR.
[0082] If |TWFL - TWFR| ≥ Tg, then take twice the larger torque acquisition value as the front axle torque acquisition value, that is, the front axle torque acquisition value TF = 2max{TWFL, TWFR}.
[0083] In a possible implementation, when both the torque of the left front wheel and the torque of the right front wheel are invalid values, control the vehicle to enter the system safety state, and control the vehicle's vehicle controller to prohibit torque output.
[0084] That is, if both TWFL and TWFR return invalid values, it is considered that the front axle torque acquisition value output fails. At this time, the system safety state should be entered: the VCU prohibits torque output.
[0085] 2. For example, if |TWRL - TWRR| < Tg, then the rear axle torque acquisition value is considered valid, and the rear axle torque acquisition value is equal to the sum of the torque acquisition values of the left rear and right rear wheels, that is, the rear axle torque acquisition value TR = TWRL + TWRR.
[0086] If |TWRL - TWRR| ≥ Tg, then take twice the larger torque acquisition value as the rear axle torque acquisition value, that is, the rear axle torque acquisition value TR = 2max{TWRL, TWRR}.
[0087] In a possible implementation, when the left rear wheel torque and the right rear wheel torque are both invalid values, the vehicle is controlled to enter the system safety state, and the vehicle's vehicle control unit is controlled to prohibit torque output.
[0088] That is, if both TWRL and TWRR return invalid values, it is considered that there is a fault in the output of the rear axle torque acquisition value. At this time, the system safety state should be entered: the VCU prohibits torque output.
[0089] S26. Calculate the vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value.
[0090] In this embodiment, the vehicle torque verification value = (front axle torque acquisition value + rear axle torque acquisition value) × current accelerator pedal value / maximum accelerator pedal depth;
[0091] The front axle torque verification value = front axle torque acquisition value × current accelerator pedal value / maximum accelerator pedal depth;
[0092] The rear axle torque verification value = rear axle torque acquisition value × current accelerator pedal value / maximum accelerator pedal depth.
[0093] Specifically, torque calculation is performed in the vehicle's VCU. The vehicle's VCU calculates the torque verification value, and the L2 layer of the VCU calculates based on the torque acquisition value sent by the TCS.
[0094] Formula for calculating the vehicle torque verification value TY2: TY2 = (TF + TR) * current accelerator pedal value / maximum accelerator pedal depth;
[0095] Formula for calculating the front axle torque verification value TFY2: TFY2 = TF * current accelerator pedal value / maximum accelerator pedal depth;
[0096] Formula for calculating the rear axle torque verification value TRY2: TRY2 = TR * current accelerator pedal value / maximum accelerator pedal depth.
[0097] S27. When the absolute value of the difference between the vehicle torque verification value and the corresponding vehicle torque demand is less than the torque limit, determine that the verification result is that the vehicle is driving normally; otherwise, determine that the verification result is that the vehicle is driving abnormally.
[0098] S28. When the absolute value of the difference between the front axle torque verification value and the corresponding front axle torque demand is less than half of the torque limit, determine that the verification result is that the vehicle is driving normally; otherwise, determine that the verification result is that the vehicle is driving abnormally.
[0099] S29. When the absolute value of the difference between the rear axle torque verification value and the corresponding rear axle torque demand is less than half of the torque limit, determine that the verification result is that the vehicle is driving normally; otherwise, determine that the verification result is that the vehicle is not driving normally.
[0100] S210. When the verification result is that the vehicle is not driving normally, control the vehicle's vehicle control unit to enter the safe state and send a zero torque request.
[0101] In this embodiment, torque calculation is performed in the vehicle's VCU. The L1 layer of the VCU pre-obtains the externally input operating parameters and vehicle parameters, and calculates the vehicle total torque demand value TY1, the front axle torque demand value TFY1, and the rear axle torque demand value TRY1 according to the externally input parameters according to a preset formula. The torque demand value represents the torque value that needs to be provided under the current operating state of the vehicle. The torque demand values are different for different vehicle manufacturers and different operating states, and can be determined according to the calculation methods of the torque demand values preset by different vehicle manufacturers.
[0102] Specifically, the verification method is as follows: The VCU compares the torque demand value of the L1 layer with the corresponding torque acquisition value of the L2 layer. If the difference between the two exceeds the safety threshold, enter the safe state.
[0103] Vehicle total torque verification: If |TY1 - TY2| < Tg is satisfied, determine that the verification result is that the vehicle is driving normally and normally control the torque output. Otherwise, determine that the verification result is abnormal driving. At this time, control the vehicle's VCU to enter the safe state: send a 0 torque request, and the MCU executes 0 torque.
[0104] Front axle torque verification: If |TFY1 - TFY2| < 0.5Tg is satisfied, determine that the verification result is that the vehicle is driving normally and normally control the torque output. Otherwise, determine that the verification result is abnormal driving. At this time, control the vehicle's VCU to enter the safe state: send a 0 torque request, and the MCU executes 0 torque.
[0105] Rear axle torque verification: If |TRY1 - TRY2| < 0.5Tg is satisfied, determine that the verification result is that the vehicle is driving normally and normally control the torque output. Otherwise, determine that the verification result is abnormal driving. At this time, control the vehicle's VCU to enter the safe state: send a 0 torque request, and the MCU executes 0 torque.
[0106] The vehicle control method provided by the embodiment of the present invention can calculate the torque acquisition values of the whole vehicle, the front axle, and the rear axle according to the torque acquisition values of each wheel end, calculate the torque verification value according to the torque acquisition values, verify the torque demand value through the torque verification value, and then determine the control mode of the vehicle. Thus, by improving the accuracy of calculating the torque verification value, the reliability of the torque demand value after verification can be improved, and then whether the VCU outputs a torque value can be controlled, avoiding faults caused by torque and ensuring the safety of the vehicle during driving.
[0107] As an example, Figure 3 is a schematic flowchart of another vehicle control method provided by the embodiment of the present invention. As Figure 3 shown, the method specifically includes:
[0108] Obtain the matrix limit Tg input from the outside, and obtain the left front wheel torque acquisition value TWFL collected by the sensor. The right front wheel torque acquisition value is TWFR, the left rear wheel torque acquisition value is TWRL, and the right rear wheel torque acquisition value is TWRR. Verify whether the front axle torque acquisition value is valid according to the torque acquisition values of the two front wheels. When |TWFL - TWFR| < Tg, TF = TWFL + TWFR; when |TWFL - TWFR| ≥ Tg, TF = 2max{TWFL, TWFR}. The above two cases are valid.
[0109] Verify whether the rear axle torque acquisition value is valid according to the torque acquisition values of the two rear wheels. When |TWRL - TWRR| < Tg, TR = TWRL + TWRR; when |TWRL - TWRR| ≥ Tg, TR = 2max{TWRL, TWRR}. The above two cases are valid.
[0110] Obtain the whole vehicle torque demand value TY1, the front axle torque demand value TFY1, and the rear axle torque demand value TRY1. Calculate the whole vehicle torque verification value TY2, the front axle torque verification value TFY2, and the rear axle torque verification value TRY2 through the L2 layer of the VCU.
[0111] When |TY1 - TY2| < Tg, the vehicle travels normally; otherwise, the VCU enters the safe state: send a 0 torque request. When |TFY1 - TFY2| < 0.5Tg, the vehicle travels normally; otherwise, the VCU enters the safe state: send a 0 torque request. When |TRY1 - TRY2| < 0.5Tg, the vehicle travels normally; otherwise, the VCU enters the safe state: send a 0 torque request.
[0112] Figure 4 is a schematic structural diagram of a vehicle control device provided by the embodiment of the present invention. As Figure 4 shown, the device specifically includes:
[0113] An acquisition module 41 for acquiring the front axle torque acquisition value and the rear axle torque acquisition value during the driving of the vehicle;
[0114] A determination module 42 for determining the vehicle's overall vehicle torque verification value, front axle torque verification value, and rear axle torque verification value according to the front axle torque acquisition value, the rear axle torque acquisition value, the current value of the vehicle's accelerator pedal, and the maximum accelerator pedal depth;
[0115] A verification module 43 for verifying the overall vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value respectively with the corresponding torque demand values to obtain a verification result;
[0116] A control module 44 for controlling the vehicle according to the verification result.
[0117] In a possible implementation manner, the acquisition module is specifically configured to acquire the left front wheel torque, right front wheel torque, left rear wheel torque, and right rear wheel torque of the vehicle;
[0118] When the absolute value of the difference between the left front wheel torque and the right front wheel torque is less than a preset torque limit, determining the front axle torque acquisition value as the sum of the left front wheel torque and the right front wheel torque;
[0119] When the absolute value of the difference between the left front wheel torque and the right front wheel torque is greater than or equal to the torque limit, determining the front axle torque acquisition value as twice the maximum value of the left front wheel torque and the right front wheel torque;
[0120] When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is less than the torque limit, determining the rear axle torque acquisition value as the sum of the left rear wheel torque and the right rear wheel torque;
[0121] When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is greater than or equal to the torque limit, determining the rear axle torque acquisition value as twice the maximum value of the left rear wheel torque and the right rear wheel torque.
[0122] In a possible implementation manner, the acquisition module is further configured to acquire the curb weight of the vehicle;
[0123] Determine the torque limit as the product of the curb weight of the vehicle, the acceleration due to gravity, and the target weight.
[0124] In a possible implementation manner, the control module is further configured to, when both the left front wheel torque and the right front wheel torque are invalid values, control the vehicle to enter the system safety state and control the vehicle's vehicle controller to prohibit torque output;
[0125] Alternatively, when invalid values are obtained for both the left rear wheel torque and the right rear wheel torque, the vehicle is controlled to enter the system safety state, and the vehicle's vehicle control unit is controlled to prohibit torque output.
[0126] In a possible implementation, the determining module is specifically configured to calculate the vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value through the following formulas:
[0127] Vehicle torque verification value = (front axle torque acquisition value + rear axle torque acquisition value) × current accelerator pedal value / maximum accelerator pedal depth;
[0128] Front axle torque verification value = front axle torque acquisition value × current accelerator pedal value / maximum accelerator pedal depth;
[0129] Rear axle torque verification value = rear axle torque acquisition value × current accelerator pedal value / maximum accelerator pedal depth.
[0130] In a possible implementation, the verification module is specifically configured to determine that the verification result is that the vehicle is driving normally when the absolute value of the difference between the vehicle torque verification value and the corresponding vehicle torque demand is less than the torque limit, and otherwise determine that the verification result is that the vehicle is not driving normally;
[0131] When the absolute value of the difference between the front axle torque verification value and the corresponding front axle torque demand is less than half of the torque limit, determine that the verification result is that the vehicle is driving normally, and otherwise determine that the verification result is that the vehicle is not driving normally;
[0132] When the absolute value of the difference between the rear axle torque verification value and the corresponding rear axle torque demand is less than half of the torque limit, determine that the verification result is that the vehicle is driving normally, and otherwise determine that the verification result is that the vehicle is not driving normally.
[0133] In a possible implementation, the control module is specifically configured to, when the verification result is that the vehicle is not driving normally, control the vehicle's vehicle control unit to enter the safety state and send a zero torque request.
[0134] The vehicle control device provided in this embodiment may be a device as shown in Figure 4 and can execute all steps of the vehicle control method as shown in Figures 1-3 to thereby achieve the technical effects of the vehicle control method shown in Figures 1-3 For specific reference, please refer to Figures 1-3 the relevant description. For the sake of brevity, it will not be elaborated here.
[0135] Figure 5 This is a schematic structural diagram of a vehicle provided in an embodiment of the present invention.Figure 5 The vehicle 500 shown includes: at least one processor 501, a memory 502, at least one network interface 504, and other user interfaces 503. Each component in the vehicle 500 is coupled together through a bus system 505. It can be understood that the bus system 505 is used to implement connection communication between these components. In addition to including a data bus, the bus system 505 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clear illustration, in Figure 5 all kinds of buses are labeled as the bus system 505.
[0136] Among them, the user interface 503 may include a display, a keyboard, or a pointing device (for example, a mouse, a trackball, a touchpad, or a touch screen, etc.).
[0137] It can be understood that the memory 502 in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM). The memory 502 described herein is intended to include but not be limited to these and any other suitable types of memory.
[0138] In some embodiments, the memory 502 stores the following elements, executable units, or data structures, or subsets thereof, or extended sets thereof: an operating system 5021 and an application program 5022.
[0139] Among them, the operating system 5021 includes various system programs, such as the framework layer, the core library layer, the driver layer, etc., which are used to implement various basic services and handle hardware-based tasks. The application program 5022 includes various application programs, such as the Media Player, the Browser, etc., which are used to implement various application services. The program for implementing the method of the embodiment of the present invention may be included in the application program 5022.
[0140] In the embodiment of the present invention, by calling the program or instruction stored in the memory 502, specifically, it may be the program or instruction stored in the application program 5022, the processor 501 is used to execute the method steps provided by each method embodiment, for example, including:
[0141] Obtain the front axle torque acquisition value and the rear axle torque acquisition value during the vehicle driving process;
[0142] According to the front axle torque acquisition value, the rear axle torque acquisition value, the current value of the vehicle's accelerator pedal and the maximum value of the accelerator pedal depth, determine the vehicle's overall vehicle torque verification value, the front axle torque verification value and the rear axle torque verification value;
[0143] Verify the overall vehicle torque verification value, the front axle torque verification value and the rear axle torque verification value with the corresponding torque demand values respectively to obtain the verification result;
[0144] Control the vehicle according to the verification result.
[0145] In a possible implementation manner, obtain the left front wheel torque, the right front wheel torque, the left rear wheel torque and the right rear wheel torque of the vehicle;
[0146] When the absolute value of the difference between the left front wheel torque and the right front wheel torque is less than a preset torque limit, determine that the front axle torque acquisition value is the sum of the left front wheel torque and the right front wheel torque;
[0147] When the absolute value of the difference between the left front wheel torque and the right front wheel torque is greater than or equal to the torque limit, determine that the front axle torque acquisition value is twice the maximum value of the left front wheel torque and the right front wheel torque;
[0148] When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is less than the torque limit, determine that the rear axle torque acquisition value is the sum of the left rear wheel torque and the right rear wheel torque;
[0149] When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is greater than or equal to the torque limit, determine that the rear axle torque acquisition value is twice the maximum value of the left rear wheel torque and the right rear wheel torque.
[0150] In a possible implementation, obtain the curb weight of the vehicle;
[0151] Determine that the torque limit is the product of the curb weight of the vehicle, the acceleration due to gravity, and the target weight.
[0152] In a possible implementation, when both the left front wheel torque and the right front wheel torque are invalid values, control the vehicle to enter the system safety state, and control the vehicle's vehicle controller to prohibit torque output;
[0153] Or, when both the left rear wheel torque and the right rear wheel torque are invalid values, control the vehicle to enter the system safety state, and control the vehicle's vehicle controller to prohibit torque output.
[0154] In a possible implementation, calculate the vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value through the following formula:
[0155] Vehicle torque verification value = (front axle torque acquisition value + rear axle torque acquisition value) × current accelerator pedal value / maximum accelerator pedal depth;
[0156] Front axle torque verification value = front axle torque acquisition value × current accelerator pedal value / maximum accelerator pedal depth;
[0157] Rear axle torque verification value = rear axle torque acquisition value × current accelerator pedal value / maximum accelerator pedal depth.
[0158] In a possible implementation, when the absolute value of the difference between the vehicle torque verification value and the corresponding vehicle torque demand is less than the torque limit, determine that the verification result is that the vehicle is driving normally; otherwise, determine that the verification result is that the vehicle is not driving normally;
[0159] When the absolute value of the difference between the front axle torque verification value and the corresponding front axle torque demand is less than half of the torque limit, determine that the verification result is that the vehicle is driving normally; otherwise, determine that the verification result is that the vehicle is not driving normally;
[0160] When the absolute value of the difference between the rear axle torque verification value and the corresponding rear axle torque demand is less than half of the torque limit, determine that the verification result is that the vehicle is driving normally; otherwise, determine that the verification result is that the vehicle is not driving normally.
[0161] In a possible implementation, when the verification result is that the vehicle is not driving normally, control the vehicle's vehicle controller to enter the safety state and send a zero torque request.
[0162] The method disclosed in the embodiments of the present invention above can be applied to the processor 501 or implemented by the processor 501. The processor 501 may be an integrated circuit chip with signal processing capabilities. During implementation, the steps of the above method can be completed through the integrated logic circuit of the hardware in the processor 501 or instructions in the form of software. The above-mentioned processor 501 may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by a hardware decoding processor, or completed by a combination of the hardware and software units in the decoding processor. The software unit may be located in a mature storage medium in the art such as a random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, register, etc. This storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502 and combines its hardware to complete the steps of the above method.
[0163] It can be understood that the embodiments described herein can be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the processing unit can be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in this application, or a combination thereof.
[0164] For a software implementation, the techniques described herein can be implemented by units that execute the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented within the processor or external to the processor.
[0165] The vehicle provided in this embodiment may be, for example,Figure 5 The vehicle shown in Figures 1-3 can execute all steps of the vehicle control method in Figures 1-3 and thus achieve the technical effects of the vehicle control method shown in Figures 1-3 For specific details, please refer to the relevant description. For the sake of brevity, it will not be elaborated here.
[0166] An embodiment of the present invention also provides a storage medium (computer-readable storage medium). The storage medium stores one or more programs. Among them, the storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk or solid-state drive; the memory may also include a combination of the above types of memory.
[0167] When one or more programs in the storage medium can be executed by one or more processors to implement the vehicle control method executed on the device side as described above.
[0168] The processor is used to execute the vehicle control program stored in the memory to implement the following steps of the vehicle control method executed on the device side:
[0169] Obtain the front axle torque acquisition value and the rear axle torque acquisition value during the driving of the vehicle;
[0170] According to the front axle torque acquisition value, the rear axle torque acquisition value, the current value of the vehicle's accelerator pedal and the maximum value of the accelerator pedal depth, determine the vehicle's overall torque verification value, front axle torque verification value and rear axle torque verification value;
[0171] Verify the overall torque verification value, the front axle torque verification value and the rear axle torque verification value with the corresponding torque demand values respectively to obtain a verification result;
[0172] Control the vehicle according to the verification result.
[0173] In a possible implementation manner, obtain the left front wheel torque, right front wheel torque, left rear wheel torque and right rear wheel torque of the vehicle;
[0174] When the absolute value of the difference between the left front wheel torque and the right front wheel torque is less than a preset torque limit, determine that the front axle torque acquisition value is the sum of the left front wheel torque and the right front wheel torque;
[0175] When the absolute value of the difference between the left front wheel torque and the right front wheel torque is greater than or equal to the torque limit, determine that the front axle torque acquisition value is twice the maximum value of the left front wheel torque and the right front wheel torque;
[0176] When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is less than the torque limit, determine that the collected rear axle torque value is the sum of the left rear wheel torque and the right rear wheel torque;
[0177] When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is greater than or equal to the torque limit, determine that the collected rear axle torque value is twice the maximum value of the left rear wheel torque and the right rear wheel torque.
[0178] In a possible implementation, obtain the curb weight of the vehicle;
[0179] Determine that the torque limit is the product of the curb weight of the vehicle, the acceleration due to gravity, and the target weight.
[0180] In a possible implementation, when it is obtained that both the left front wheel torque and the right front wheel torque are invalid values, control the vehicle to enter the system safety state, and control the vehicle's vehicle controller to prohibit torque output;
[0181] Or, when it is obtained that both the left rear wheel torque and the right rear wheel torque are invalid values, control the vehicle to enter the system safety state, and control the vehicle's vehicle controller to prohibit torque output.
[0182] In a possible implementation, calculate the vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value through the following formula:
[0183] Vehicle torque verification value = (front axle torque collected value + rear axle torque collected value) × current accelerator pedal value / maximum accelerator pedal depth;
[0184] Front axle torque verification value = front axle torque collected value × current accelerator pedal value / maximum accelerator pedal depth;
[0185] Rear axle torque verification value = rear axle torque collected value × current accelerator pedal value / maximum accelerator pedal depth.
[0186] In a possible implementation, when the absolute value of the difference between the vehicle torque verification value and the corresponding vehicle torque demand is less than the torque limit, determine that the verification result is that the vehicle is driving normally, otherwise determine that the verification result is that the vehicle is not driving normally;
[0187] When the absolute value of the difference between the front axle torque verification value and the corresponding front axle torque demand is less than half of the torque limit, determine that the verification result is that the vehicle is driving normally, otherwise determine that the verification result is that the vehicle is not driving normally;
[0188] When the absolute value of the difference between the rear axle torque verification value and the corresponding rear axle torque requirement is less than half of the torque limit, it is determined that the verification result is that the vehicle is driving normally; otherwise, it is determined that the verification result is that the vehicle is not driving normally.
[0189] In a possible implementation, when the verification result is that the vehicle is not driving normally, the vehicle's vehicle controller is controlled to enter a safe state and a zero torque request is sent.
[0190] Those skilled in the art should also be able to further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Skilled professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.
[0191] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.
[0192] The specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A vehicle control method, characterized in that: include: Acquire a front axle torque acquisition value and a rear axle torque acquisition value during the vehicle's driving process; Determine a vehicle torque verification value, a front axle torque verification value, and a rear axle torque verification value of the vehicle according to the front axle torque collection value, the rear axle torque collection value, the current value of the accelerator pedal of the vehicle, and the maximum accelerator pedal depth; According to the vehicle torque verification value, the front axle torque verification value and the rear axle torque verification value are respectively verified with corresponding torque demand values to obtain verification results; The vehicle is controlled according to the verification result.
2. The method according to claim 1, characterized in that The acquiring of the front axle torque acquisition value and the rear axle torque acquisition value during the vehicle driving process includes: Obtaining the left front wheel torque, the right front wheel torque, the left rear wheel torque and the right rear wheel torque of the vehicle; When the absolute value of the difference between the left front wheel torque and the right front wheel torque is less than a preset torque limit, determining the front axle torque acquisition value to be the sum of the left front wheel torque and the right front wheel torque; When the absolute value of the difference between the left front wheel torque and the right front wheel torque is greater than or equal to the torque limit, determining the front axle torque acquisition value to be twice the maximum value between the left front wheel torque and the right front wheel torque; When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is less than the torque limit, determining the rear axle torque acquisition value to be the sum of the left rear wheel torque and the right rear wheel torque; When the absolute value of the difference between the left rear wheel torque and the right rear wheel torque is greater than or equal to the torque limit, the rear axle torque acquisition value is determined to be twice the maximum value of the left rear wheel torque and the right rear wheel torque.
3. The method according to claim 2, characterized in that The torque limit is determined by: Obtaining the vehicle curb weight of the vehicle; The torque limit is determined as the product of the vehicle curb mass, the gravitational acceleration and the target weight.
4. The method according to claim 2, characterized in that: The method further comprises: When the acquired left front wheel torque and the right front wheel torque are both invalid values, controlling the vehicle to enter a system safety state, and controlling the vehicle controller of the vehicle to prohibit torque output; Or, when the acquired left rear wheel torque and the right rear wheel torque are both invalid values, the vehicle is controlled to enter a system safety state, and the vehicle controller of the vehicle is controlled to prohibit torque output.
5. The method according to claim 2, characterized in that: The method of determining the vehicle torque verification value, the front axle torque verification value and the rear axle torque verification value of the vehicle according to the front axle torque collection value, the rear axle torque collection value, the current value of the accelerator pedal of the vehicle and the maximum accelerator pedal depth includes: The vehicle torque calibration value, the front axle torque calibration value and the rear axle torque calibration value are calculated by the following formula: Vehicle torque calibration value = (front axle torque collection value + rear axle torque collection value) × accelerator pedal current value / accelerator pedal maximum depth; Front axle torque calibration value = front axle torque acquisition value × current value of accelerator pedal / maximum accelerator pedal depth; Rear axle torque verification value = rear axle torque collection value × accelerator pedal current value / accelerator pedal maximum depth.
6. The method according to claim 2, characterized in that According to the vehicle torque verification value, the front axle torque verification value and the rear axle torque verification value are respectively verified with corresponding torque demand values to obtain verification results, including: When the absolute value of the difference between the vehicle torque verification value and the corresponding vehicle torque demand is less than the torque limit, determining that the verification result is normal driving of the vehicle, otherwise determining that the verification result is abnormal driving of the vehicle; When the absolute value of the difference between the front axle torque verification value and the corresponding front axle torque demand is less than half of the torque limit, determining that the verification result is that the vehicle is running normally, otherwise determining that the verification result is that the vehicle is running abnormally; When the absolute value of the difference between the rear axle torque verification value and the corresponding rear axle torque demand is less than half of the torque limit, the verification result is determined to be normal driving of the vehicle; otherwise, the verification result is determined to be abnormal driving of the vehicle.
7. The method according to claim 6, characterized in that The controlling the vehicle according to the verification result includes: When the verification result indicates that the vehicle is not driving normally, a vehicle controller that controls the vehicle to enter a safe state and sends a zero torque request.
8. A vehicle control device, characterized in that: include: An acquisition module, used for acquiring a front axle torque acquisition value and a rear axle torque acquisition value during the driving process of the vehicle; A determination module, configured to determine a vehicle torque verification value, a front axle torque verification value, and a rear axle torque verification value of the vehicle according to the front axle torque collection value, the rear axle torque collection value, a current value of an accelerator pedal of the vehicle, and a maximum accelerator pedal depth; A verification module, configured to verify the vehicle torque verification value, the front axle torque verification value, and the rear axle torque verification value with corresponding torque demand values to obtain a verification result; A control module is used to control the vehicle according to the verification result.
9. A vehicle, characterized in that: include: A processor and a memory, wherein the processor is used to execute a vehicle torque monitoring program stored in the memory to implement the vehicle control method according to any one of claims 1 to 7.
10. A storage medium, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the vehicle control method according to any one of claims 1 to 7.