Vehicle control method, vehicle, computer storage medium and computer program product

Abstract

The application discloses a vehicle control method, a vehicle, a computer storage medium and a computer program product. The vehicle control method comprises the following steps: judging whether the pitch angle of the vehicle is within a preset pitch angle threshold range; and controlling the ABS system of the vehicle to be in an inactivated state when the wheel speed state of the vehicle meets a preset wheel speed change condition. The method can control the ABS system to be in the inactivated state when the vehicle is sliding backward on a slope, so that the braking force of the vehicle is ensured, and a safety accident caused by insufficient braking force of the vehicle is avoided.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a vehicle control method, a vehicle, a computer storage medium, and a computer program product. Background Technology

[0002] Vehicle speed, wheel speed signals and their changes are important factors related to the function of ABS (Anti-lock Braking System). The vehicle can calculate the reference vehicle speed by combining the wheel speed measured by the wheel speed sensor with the algorithm. The slip ratio calculated based on the reference vehicle speed and its judgment threshold are the key conditions for the activation and deactivation of the ABS function.

[0003] In related technologies, when a vehicle is on a road surface with a low coefficient of friction or under special off-road conditions such as when the wheels are suspended in the air, the wheels may slip, resulting in excessive wheel speed. As a result, the reference speed is higher than the actual speed, which may lead to a misjudgment of the ABS activation condition. If the vehicle activates the ABS function, it may roll backward on a slope. At the same time, since the reference speed is not corrected, the reference speed is always higher than the actual speed. During the rollback, the reference speed cannot fall below the ABS disengagement threshold, so the ABS remains active, resulting in insufficient braking force and ultimately causing a safety accident. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a vehicle control method that can deactivate the ABS system when a vehicle rolls backward on a slope, thereby ensuring the vehicle's braking force and preventing safety accidents caused by insufficient braking force.

[0005] The second objective of this invention is to provide a vehicle.

[0006] The third objective of this invention is to provide a computer storage medium.

[0007] The fourth objective of this invention is to provide a vehicle.

[0008] The fifth objective of this invention is to provide a computer program product.

[0009] To address the aforementioned problems, a first aspect of the present invention provides a vehicle control method, comprising: determining that the vehicle's pitch angle is within a preset pitch angle threshold range; and controlling the vehicle's ABS system to be inactive when the vehicle's wheel speed state meets preset wheel speed change conditions.

[0010] According to the vehicle control method of the present invention, a preset pitch angle threshold range is used to determine whether the vehicle is currently in a climbing condition, and further, the vehicle is used to determine whether it is in a rolling backward condition based on the wheel speed change conditions. When it is determined that the vehicle is within the preset pitch angle threshold range and the wheel speed change of the vehicle meets the preset wheel speed change conditions, the vehicle is determined to be in a rolling backward condition, and the ABS system is controlled to be inactive, thereby ensuring the braking force of the vehicle and avoiding safety accidents caused by insufficient braking force.

[0011] In some embodiments, controlling the ABS system of the vehicle to be inactive includes: determining a reference vehicle speed based on wheel speeds; determining a corrected reference vehicle speed based on the reference vehicle speed and the wheel speed state; and controlling the ABS system of the vehicle to be inactive based on the corrected reference vehicle speed.

[0012] In some embodiments, the corrected reference speed is 0.

[0013] In some embodiments, controlling the ABS system of the vehicle to be inactive based on the modified reference vehicle speed includes: controlling the ABS system of the vehicle to be inactive when the actual vehicle speed is less than the activation threshold of the ABS system of the vehicle.

[0014] In some embodiments, the wheel speed state includes the wheel speed direction and the wheel speed.

[0015] In some embodiments, controlling the ABS system of the vehicle to be inactive includes: controlling the ABS system to forcibly deactivate when the ABS system is in an active state.

[0016] In some embodiments, the vehicle is determined to be within a preset pitch angle threshold range based on the vehicle slope signal; the vehicle's wheel speed state is determined to meet preset wheel speed change conditions based on one or more of the vehicle gear signal, wheel speed direction, wheel speed, and brake light switch signal.

[0017] In some embodiments, if it is determined that at least one wheel switches from a forward-rotating state to a stationary state, and then switches from the stationary state to a reverse-rotating state, the wheel speed state of the vehicle is determined to satisfy a preset wheel speed change condition.

[0018] In some embodiments, if it is determined that at least one wheel is rotating in the forward direction and its wheel speed is decreasing, and at least one other wheel other than the at least one wheel is rotating in the reverse direction and its wheel speed is increasing, it is determined that the wheel speed state of the vehicle satisfies a preset wheel speed change condition.

[0019] In some embodiments, if it is determined that the wheel speed direction of at least one wheel remains stationary, the wheel speed state of the vehicle is determined to satisfy a preset wheel speed change condition.

[0020] In some embodiments, when the wheel speed direction is consistent with the gear driving direction corresponding to the vehicle gear signal, the wheel is determined to be in a forward rotation state; when the wheel speed direction is inconsistent with the gear driving direction corresponding to the vehicle gear signal, the wheel is determined to be in a reverse rotation state.

[0021] A second aspect of the present invention provides a vehicle, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the at least one processor executes the computer program to implement the vehicle control method of the above embodiment.

[0022] According to the vehicle of the present invention, when the vehicle is rolled backward on a slope, the ABS system is kept inactive by the processor executing the vehicle control method of the above embodiment, thereby ensuring the braking force of the vehicle and avoiding safety accidents caused by insufficient braking force.

[0023] A third aspect of the present invention provides a computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle control method of the above embodiments.

[0024] A fourth aspect of the present invention provides a vehicle, comprising: an ABS system; and a controller connected to the ABS system for executing the vehicle control method of the above embodiments.

[0025] According to an embodiment of the present invention, the vehicle control method is executed by the controller. When the vehicle rolls backward on a slope, the ABS system is kept in an inactive state to ensure the braking force of the vehicle and avoid safety accidents caused by insufficient braking force.

[0026] A fifth aspect of the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle control method described above.

[0027] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1This is a flowchart of a vehicle control method according to an embodiment of the present invention; Figure 2 This is a flowchart of a vehicle control method according to another embodiment of the present invention; Figure 3 This is a flowchart of a vehicle control method according to another embodiment of the present invention; Figure 4 This is a flowchart of a vehicle control method according to another embodiment of the present invention; Figure 5 This is a structural block diagram of a vehicle according to an embodiment of the present invention; Figure 6 This is a structural block diagram of a vehicle according to another embodiment of the present invention.

[0029] Figure label: 100 vehicles; Processor 10; Memory 20; ABS system 30; Controller 40. Detailed Implementation

[0030] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0031] To address the aforementioned problems, a first aspect of the present invention proposes a vehicle control method that, when a vehicle rolls backward on a slope, controls the ABS system to remain inactive, thereby ensuring the vehicle's braking force and preventing safety accidents caused by insufficient braking force.

[0032] The first aspect of this invention provides a vehicle control method, such as... Figure 1 As shown, the vehicle control method includes steps S1-S2, and the specific steps are as follows.

[0033] Step S1: Determine if the vehicle's pitch angle is within the preset pitch angle threshold range.

[0034] Specifically, in related technologies, because the reference vehicle speed is not corrected, it is always higher than the actual vehicle speed. During the vehicle's rolldown, the reference vehicle speed cannot fall below the ABS system's disengagement threshold, and the ABS system remains active. This results in the vehicle's braking force failing to meet expectations under continuous depressurization. For example, in off-road conditions, if the vehicle brakes suddenly while climbing a hill in D gear, the braking force is insufficient, reducing the deceleration effect. Even after the vehicle speed drops to 0, all four wheels continue to roll backward, causing the vehicle to roll backward and eventually leading to loss of control and an accident. This application obtains the vehicle's operating condition information through sensors installed on the vehicle. First, it obtains the vehicle's pitch angle and determines whether the vehicle is in a climbing condition by judging the magnitude of the pitch angle. If the vehicle's pitch angle is within the preset pitch angle threshold range, it is considered that the vehicle is in a climbing condition. At this time, the vehicle has higher requirements for braking force; if the braking force is insufficient, the vehicle will roll downhill. The preset pitch angle threshold range can be set according to the actual situation; the vehicle's working condition information can include the vehicle's working status and the vehicle's working environment. For example, the vehicle's working status can include pitch angle, gear, wheel speed, wheel speed direction, acceleration, brake light switch, ABS system status, etc.; the vehicle's working environment can include slope value, road surface adhesion coefficient, etc., and no specific restrictions are imposed here.

[0035] Step S2: When the vehicle's wheel speed meets the preset wheel speed change conditions, the vehicle's ABS system is kept in an inactive state.

[0036] Specifically, after determining that the vehicle is within the preset pitch angle threshold range, the vehicle's wheel speed status is further judged based on the vehicle's operating condition information. If the vehicle's wheel speed status meets the preset wheel speed change conditions, the vehicle is in a backward rolling condition on a slope. To ensure that the vehicle can provide sufficient braking force, the ABS system is kept in an inactive state. Thus, the vehicle can brake according to the driver's needs. In other words, the vehicle can provide sufficient braking force according to the driver's actual braking needs, avoiding the vehicle rolling backward due to insufficient braking force, which could ultimately lead to a safety accident.

[0037] According to the vehicle control method of the present invention, the vehicle is currently in a climbing condition by determining whether it is in a hill-climbing condition by a preset pitch angle threshold range, and further determines whether the vehicle is in a rolling backward condition based on wheel speed change conditions. When it is determined that the vehicle is within the preset pitch angle threshold range and the vehicle's wheel speed state meets the preset wheel speed change conditions, the vehicle is determined to be in a rolling backward condition, and the ABS system is controlled to be inactive, thereby ensuring the vehicle's braking force and avoiding safety accidents caused by insufficient vehicle braking force.

[0038] In some embodiments, controlling the ABS system of the vehicle to be inactive includes determining a reference vehicle speed based on wheel speed; determining a corrected reference vehicle speed based on the reference vehicle speed and wheel speed state; and controlling the ABS system of the vehicle to be inactive based on the corrected reference vehicle speed.

[0039] Specifically, sensors installed in the vehicle acquire its operating condition information. Then, using the wheel speed of each wheel, a reference speed is calculated based on a complex algorithm. This reference speed is used to calculate the slip ratio. During braking, changes in the slip ratio affect the vehicle's braking performance and stability. The vehicle controls the slip ratio by keeping the ABS system active to prevent skidding or fishtailing during braking. Therefore, the ABS system's activation can be controlled based on the reference speed. However, in off-road conditions such as skidding or suspension, the actual vehicle speed is low, and the ABS system activation is unlikely due to the actual speed. But because the wheel speeds of each wheel can change abruptly or asynchronously, the calculated reference speed is inaccurate, resulting in an error between the reference speed and the actual speed. As errors accumulate, the vehicle's reference speed can consistently exceed its actual speed. When the vehicle is climbing an incline, with the driver pressing the brake pedal and some vehicle functions activated, the vehicle may interpret the slip ratio as meeting the ABS activation criteria. This could prevent the ABS from activating as intended. During this period, because the ABS is already activated, even with the driver pressing the brake pedal deeply, the vehicle cannot provide sufficient braking force. Insufficient braking force leads to reduced deceleration and potential rollback on the incline. Therefore, when an abnormal reference speed is detected and the vehicle is rolling back on an incline (i.e., the vehicle's operating conditions meet the requirements for wheel speed direction change), the reference speed is corrected to deactivate the ABS system. This ensures sufficient braking force on the incline and prevents rollback caused by the abnormal reference speed. The actual speed is the speed obtained from the vehicle's speed sensor.

[0040] In some embodiments, the reference vehicle speed is corrected to 0.

[0041] Specifically, when the vehicle's pitch angle is within a preset pitch angle threshold range and the vehicle's wheel speed meets preset wheel speed change conditions, the reference speed is in an abnormal state, far exceeding the vehicle's actual speed. Therefore, the reference speed needs to be corrected. At this time, the reference speed is corrected to 0 based on the wheel speed status, thus correcting the reference speed to be less than the vehicle's ABS system activation threshold. In this case, the ABS system does not meet its activation conditions and is in an inactive state. It should be noted that within the first preset time threshold after determining that the corrected reference speed is 0, if the corrected reference speed is higher than the ABS system activation threshold, the ABS system will still not be activated. The setting of the first preset time threshold needs to take into account the vehicle's operating conditions when the ABS is not activated.

[0042] In some embodiments, controlling the vehicle's ABS system to be inactive based on the corrected reference vehicle speed includes controlling the vehicle's ABS system to be inactive when the corrected reference vehicle speed is less than the vehicle's ABS system activation threshold.

[0043] Specifically, when the vehicle's corrected reference speed is lower than the ABS system's activation threshold, the ABS system will be deactivated to ensure that it will not be mistakenly activated, preventing the vehicle from failing to provide sufficient braking force. The ABS system activation threshold can be set according to actual conditions; for example, it can be set to -5 km / h to 5 km / h, without specific limitations.

[0044] In some embodiments, wheel speed status includes wheel speed direction and wheel speed.

[0045] Specifically, when the wheel speed status is collected by the wheel speed sensor, the wheel speed direction and wheel speed can be obtained. If the wheel speed direction is detected to be reversed, the wheel speed passes through zero point, and the reference speed is determined to be 0, and the reference speed is corrected.

[0046] For example, refer to Figure 2 The vehicle control method described in this embodiment of the invention includes steps S3-S12, and the specific steps are as follows.

[0047] Step S3, begin.

[0048] Step S4: Obtain vehicle slope signal, gear signal, wheel speed signal, wheel speed direction signal, brake light switch signal, and ABS status signal.

[0049] Step S5: Monitor wheel speed signal and wheel speed direction signal.

[0050] Step S6: Does at least one wheel switch from a forward rotation state to a stationary state, and then switch from a stationary state to a reverse rotation state? If yes, proceed to step S8; if no, proceed to step S6.

[0051] Step S7: Is at least one wheel rotating forward and its wheel speed decreasing, and at least one other wheel (excluding at least one wheel) rotating in reverse and its wheel speed increasing? If yes, proceed to step S8; if no, proceed to step S7.

[0052] Step S8: Is the wheel speed direction of at least one wheel kept at rest? If yes, proceed to step S8; if no, proceed to step S4.

[0053] Step S9: The wheel speed signal and wheel speed direction signal meet the preset wheel speed change conditions.

[0054] Step S10: Determine the corrected reference speed as 0.

[0055] Step S11: Correct the reference vehicle speed to be less than the ABS system activation threshold.

[0056] In step S12, the vehicle completes braking.

[0057] In some embodiments, controlling the vehicle's ABS system to be inactive includes controlling the ABS system to forcibly deactivate when the ABS system is active.

[0058] Specifically, if the vehicle's operating conditions meet the requirements for wheel speed direction change, and if the ABS system is confirmed to be active, the controller sends a command to force the ABS system to deactivate. In this case, the vehicle can provide sufficient braking force according to the driver's actual braking needs, ensuring the vehicle's hill-start braking performance and preventing the vehicle from rolling away.

[0059] In some embodiments, the vehicle pitch angle is determined to be within a preset pitch angle threshold range based on the vehicle slope signal; the vehicle wheel speed state is determined to meet preset wheel speed change conditions based on one or more of the vehicle gear signal, wheel speed direction, wheel speed, and brake light switch signal.

[0060] Specifically, the vehicle's pitch angle is determined by the vehicle's slope signal to see if it is within a preset pitch angle threshold range, thus determining whether the vehicle is in a climbing condition. If the vehicle is in a climbing condition, sufficient braking force should be ensured. The vehicle's gear signal and wheel speed direction can determine whether the wheels are rotating in the forward or reverse direction. Wheel speed is used to calculate the vehicle's reference speed. The brake light switch signal determines whether the driver has pressed the brake pedal; for example, if the brake lights are on, the driver has pressed the brake pedal, and if the brake lights are off, the driver has not pressed the brake pedal. The ABS system status signal can determine whether the ABS system is active.

[0061] For example, refer to Figure 3 The vehicle control method described in this embodiment of the invention includes steps S13-S20, and the specific steps are as follows.

[0062] Step S13, Begin.

[0063] Step S14: Obtain vehicle slope signal, gear signal, wheel speed signal, wheel speed direction signal, brake light switch signal, and ABS status signal.

[0064] Step S15: The driver depresses the brake pedal.

[0065] Step S16: Is the ABS system activated? If yes, proceed to step S15; otherwise, proceed to step S18.

[0066] Step S17: Monitor wheel speed signal and wheel speed direction signal.

[0067] Step S18: Does the wheel speed signal and wheel speed direction signal meet the preset wheel speed change conditions? If yes, proceed to step S19; otherwise, proceed to step S17.

[0068] Step S19: Force the ABS system to exit. In step S20, the vehicle completes braking.

[0069] The following is for reference. Figure 4 The vehicle control method described in this embodiment of the invention includes steps S21-S25, and the specific steps are as follows.

[0070] Step S21: Obtain vehicle slope signal, gear signal, wheel speed signal, wheel speed direction signal, brake light switch signal, and ABS status signal.

[0071] Step S22: Monitor wheel speed signal and wheel speed direction signal.

[0072] Step S23: Determine that the wheel speed signal and wheel speed direction signal meet the preset wheel speed change conditions, and execute step S23 or step S24.

[0073] Step S24: Force the ABS system to exit.

[0074] Step S25: Determine the corrected reference speed as 0.

[0075] In some embodiments, when it is determined that at least one wheel switches from a forward rotation state to a stationary state, and then switches from a stationary state to a reverse rotation state, it is determined that the wheel speed state of the vehicle satisfies a preset wheel speed change condition.

[0076] Specifically, a positive wheel speed indicates the wheel is rotating in the forward direction, a negative wheel speed indicates the wheel is rotating in the reverse direction, and a wheel speed of 0 indicates the wheel is stationary. If the vehicle's operating information detects that a wheel changes from forward to stationary and then switches back to reverse, that wheel loses traction and slips. At this point, the vehicle may be on a road surface with a low coefficient of friction. Based on the gradient, the vehicle is in a climbing condition. This indicates that the ABS system has been erroneously activated, resulting in insufficient braking force and an inability to continue climbing. The vehicle is in a rollback condition on the slope, meaning the vehicle meets the condition of wheel speed direction change. The ABS system should be prevented from performing anti-lock braking actions to ensure the vehicle has sufficient braking force on the slope and prevent rollback.

[0077] In some embodiments, when it is determined that at least one wheel is rotating in the forward direction and its wheel speed is decreasing, and at least one other wheel other than at least one wheel is rotating in the reverse direction and its wheel speed is increasing, it is determined that the wheel speed state of the vehicle satisfies a preset wheel speed change condition.

[0078] Specifically, when it is determined that at least one wheel is rotating forward and its wheel speed is decreasing, and at least one other wheel other than at least one wheel is rotating in reverse and its wheel speed is increasing, it indicates that at least one wheel is in a state of being suspended in the air, while at least one other wheel other than at least one wheel has started to rotate in reverse, and the vehicle is rolling backward. If it is determined that the vehicle is in a climbing condition based on the slope value, then it is judged that the vehicle is in a backward rolling condition on the slope, that is, the wheel speed state of the vehicle meets the condition of wheel speed direction change, and the ABS system should be controlled to be in an inactive state, so that the vehicle can have sufficient slope braking force.

[0079] In some embodiments, when it is determined that the wheel speed direction of at least one wheel remains stationary, it is determined that the wheel speed state of the vehicle satisfies a preset wheel speed change condition.

[0080] Specifically, if at least one wheel is kept stationary (i.e., its wheel speed is 0), and the vehicle is determined to be climbing based on the gradient, the vehicle will remain stationary on the slope. If the ABS is activated, the ABS system will continuously depressurize, causing the braking force to continuously decrease. Over time, this will result in insufficient braking force on the slope, causing the vehicle to roll away.

[0081] In some embodiments, when the wheel speed direction is consistent with the gear driving direction corresponding to the vehicle gear signal, the wheel is determined to be in a forward rotation state; when the wheel speed direction is inconsistent with the gear driving direction corresponding to the vehicle gear signal, the wheel is determined to be in a reverse rotation state.

[0082] Specifically, taking the vehicle's current gear as D as an example, when the direction of the wheel's speed is the same as the forward direction corresponding to the D gear, the wheel is in a forward rotation state and the wheel speed value is positive; conversely, if the direction of the wheel's speed is not the same as the forward direction corresponding to the D gear, the wheel is in a reverse rotation state and the wheel speed value is negative; when the wheel speed value is 0, the wheel is in a stationary state.

[0083] A second aspect of the present invention provides a vehicle 100, such as Figure 5 As shown, the vehicle 100 includes at least one processor 10 and a memory 20 communicatively connected to the at least one processor 10.

[0084] The memory 20 stores a computer program that can be executed by at least one processor 10. When the at least one processor 10 executes the computer program, it implements the vehicle control method of the above embodiment.

[0085] According to the vehicle 100 of the present invention, the vehicle control method of the above embodiment is executed by the processor 10, which can control the ABS system to be inactive when the vehicle 100 rolls backward on a slope, thereby ensuring the braking force of the vehicle 100 and avoiding safety accidents caused by insufficient braking force.

[0086] A third aspect of the present invention provides a computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle control method of the above embodiments.

[0087] A fourth aspect of the present invention provides a vehicle 100, such as Figure 6 As shown, vehicle 100 includes ABS system 30 and controller 40.

[0088] The controller 40 is connected to the ABS system 30 and is used to execute the vehicle control method described in the above embodiment.

[0089] According to an embodiment of the present invention, the vehicle 100 executes a vehicle control method through the controller 40. When the vehicle 100 rolls backward on a slope, the ABS system 30 is kept in an inactive state to ensure the braking force of the vehicle 100 and prevent the vehicle 100 from causing a safety accident due to insufficient braking force.

[0090] A fifth aspect of the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle control method described above.

[0091] In the description of this specification, any process or method described in the flowcharts or otherwise herein may be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0092] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). In addition, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning paper or other media, followed by editing, interpreting or otherwise processing as necessary, and then stored in computer memory.

[0093] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0094] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0095] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0096] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0097] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0098] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that, include: Determine if the vehicle's pitch angle is within the preset pitch angle threshold range; When the wheel speed of the vehicle meets the preset wheel speed change conditions, the ABS system of the vehicle is kept in an inactive state.

2. The vehicle control method according to claim 1, characterized in that, Controlling the vehicle's ABS system to be inactive includes: The reference speed of the vehicle is determined based on the wheel speed; The corrected reference speed of the vehicle is determined based on the reference vehicle speed and the wheel speed state; The vehicle's ABS system is deactivated based on the corrected reference vehicle speed.

3. The vehicle control method according to claim 2, characterized in that, The corrected reference speed is 0.

4. The vehicle control method according to claim 2, characterized in that, Controlling the vehicle's ABS system to be inactive based on the corrected reference vehicle speed includes: When the corrected reference vehicle speed is less than the ABS system activation threshold of the vehicle, the ABS system of the vehicle is controlled to be inactive.

5. The vehicle control method according to any one of claims 2-4, characterized in that, The wheel speed status includes the wheel speed direction and the wheel speed.

6. The vehicle control method according to claim 1, characterized in that, Controlling the vehicle's ABS system to be inactive includes: When the ABS system is active, control the ABS system to force it to shut down.

7. The vehicle control method according to claim 1, characterized in that, The vehicle's wheel speed status is determined to meet the preset wheel speed change conditions based on one or more of the vehicle gear position signal, wheel speed direction, wheel speed, and brake light switch signal.

8. The vehicle control method according to claim 7, characterized in that, When at least one wheel switches from a forward-rotating state to a stationary state, and then switches from the stationary state to a reverse-rotating state, it is determined that the wheel speed state of the vehicle satisfies a preset wheel speed change condition.

9. The vehicle control method according to claim 7, characterized in that, When at least one wheel is rotating in the forward direction and its wheel speed is decreasing, and at least one other wheel other than the at least one wheel is rotating in the reverse direction and its wheel speed is increasing, it is determined that the wheel speed state of the vehicle satisfies a preset wheel speed change condition.

10. The vehicle control method according to claim 7, characterized in that, When at least one wheel remains stationary in the direction of its wheel speed, the wheel speed state of the vehicle is determined to satisfy a preset wheel speed change condition.

11. The vehicle control method according to any one of claims 8-10, characterized in that, When the direction of the wheel speed is consistent with the direction of travel of the gear corresponding to the vehicle gear signal, the wheel is determined to be rotating forward. When the direction of the wheel speed is inconsistent with the direction of travel of the gear corresponding to the vehicle gear signal, the wheel is determined to be in a reverse state.

12. A vehicle, characterized in that, include: At least one processor; A memory that is communicatively connected to at least one of the processors; The memory stores a computer program that can be executed by at least one of the processors, and when the at least one processor executes the computer program, it implements the vehicle control method according to any one of claims 1-11.

13. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle control method according to any one of claims 1-11.

14. A vehicle, characterized in that, include: ABS system; A controller, connected to the ABS system, is used to execute the vehicle control method according to any one of claims 1-11.

15. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the vehicle control method according to any one of claims 1-11.

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