Vehicle control method, apparatus and device, storage medium, and product

Abstract

A vehicle control method, apparatus and device, a storage medium, and a product. The vehicle control method comprises: acquiring a first traveling state and a first control parameter of a vehicle device; when the first traveling state and the first control parameter satisfy preset activation conditions of an abrupt slope slow descent function, determining a first target vehicle speed, a first target braking pressure, and a first target driving torque on the basis of the first traveling state and the first control parameter; and performing vehicle control on the basis of the first target braking pressure and the first target driving torque, such that the vehicle device travels on the basis of the first target vehicle speed.

Description

Vehicle control method, device, equipment, storage medium and product CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The embodiments of this application are based on and claim the priority of Chinese patent application with application number 202410204804.7 and application date February 23, 2024. The entire contents of the Chinese patent application are hereby introduced into the embodiments of this application as a reference. Technical Field

[0002] The present application relates to new energy vehicle technology, and in particular to a vehicle control method, device, equipment, storage medium and product. Background Art

[0003] Hill descent control means that the driver can smoothly pass through a steep downhill slope without stepping on the brake pedal.

[0004] On typical paved roads or in light off-road situations, the actual slope isn't very steep, and the vehicle's speed isn't difficult to control while the Hill Descent Control feature is activated and deactivated. However, in extreme off-road situations with steep slopes (slopes > 30°), the vehicle's speed can suddenly and rapidly increase during the brief window between activation and deactivation of Hill Descent Control due to the significant inertia of gravity, making it difficult to control. The actual vehicle speed often changes during the process of releasing the accelerator or brake pedal, making it difficult for the driver to maintain the desired speed.

[0005] It can be seen that for extreme off-road driving with large slopes, the vehicle speed is difficult to control under the existing steep slope descent function, and there is a great safety risk. Summary of the Invention

[0006] In order to solve the above technical problems, the present application hopes to provide a vehicle control method, device, equipment and storage medium that can effectively control the vehicle speed in extreme off-road large slope scenarios while reducing safety risks.

[0007] The technical solution of this application is achieved as follows:

[0008] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising:

[0009] Acquiring a first driving state and a first control parameter of a vehicle device;

[0010] determining a first target vehicle speed, a first target braking pressure, and a first target driving torque based on the first driving state and the first control parameter when the first driving state and the first control parameter satisfy a preset activation condition of the hill descent function;

[0011] The vehicle is controlled based on the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed.

[0012] In a second aspect, an embodiment of the present application provides a vehicle control device, the vehicle control device comprising:

[0013] an acquiring unit, configured to acquire a first driving state and a first control parameter of a vehicle device;

[0014] a determining unit, configured to determine a first target vehicle speed, a first target braking pressure, and a first target driving torque based on the first driving state and the first control parameter when the first driving state and the first control parameter satisfy a preset activation condition of the hill descent function;

[0015] The control unit is configured to control the vehicle according to the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed.

[0016] In a third aspect, an embodiment of the present application provides a vehicle control device, which includes: a processor and a memory configured to store a computer program that can be run on the processor, wherein the processor is configured to execute the steps of the aforementioned vehicle control method when running the computer program.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, wherein the computer program implements the steps of the aforementioned vehicle control method when executed by a processor.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements the steps of the aforementioned vehicle control method.

[0019] Embodiments of the present application provide a vehicle control method, apparatus, device, storage medium, and product. The vehicle control method includes: obtaining a first driving state and a first control parameter of a vehicle device; determining a first target vehicle speed, a first target braking pressure, and a first target driving torque based on the first driving state and the first control parameter, if the first driving state and the first control parameter satisfy a preset activation condition for a steep slope descent function; and controlling the vehicle based on the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed. That is, in embodiments of the present application, the first target vehicle speed, the first target braking pressure, and the first target driving torque can be further determined based on whether the first driving state and the first control parameter of the vehicle device satisfy the preset activation condition for the steep slope descent function, thereby controlling the vehicle based on the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed. In this way, the vehicle speed can be effectively controlled while reducing safety risks in extreme off-road steep slope scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a flow chart of a vehicle control method according to an embodiment of the present application;

[0021] FIG2 is a second flow chart of a vehicle control method according to an embodiment of the present application;

[0022] FIG3 is a third flow chart of a vehicle control method according to an embodiment of the present application;

[0023] FIG4 is a fourth flow chart of a vehicle control method according to an embodiment of the present application;

[0024] FIG5 is a fifth flow chart of a vehicle control method according to an embodiment of the present application;

[0025] FIG6 is a sixth flow chart of a vehicle control method according to an embodiment of the present application;

[0026] FIG7 is a seventh flow chart of a vehicle control method according to an embodiment of the present application;

[0027] FIG8 is a schematic diagram of the composition structure of a vehicle control device according to an embodiment of the present application;

[0028] FIG9 is a schematic diagram of the composition structure of a vehicle control device in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to enable a more detailed understanding of the features and technical contents of the embodiments of the present application, the implementation of the embodiments of the present application is described in detail below with reference to the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present application.

[0030] The embodiments of the present application provide a vehicle control method. It should be noted that the vehicle control method proposed in the embodiments of the present application can be applied to a vehicle control device or a vehicle control equipment, and the present application does not impose any specific limitation on this.

[0031] Furthermore, in the embodiments of this application, the vehicle control method proposed in the embodiments of this application is illustrated using a vehicle control device as an example. Here, the vehicle control devices can interact via CAN (Controller Area Network). CAN is a communication bus in the control system of new energy vehicles, used to transmit and receive data between various electronic control units.

[0032] FIG1 is a flow chart of a vehicle control method according to an embodiment of the present application. As shown in FIG1 , the vehicle control method may include the following steps:

[0033] Step 101: Acquire a first driving state and a first control parameter of a vehicle device.

[0034] In an embodiment of the present application, the vehicle control device may first obtain the driving state of the vehicle and simultaneously obtain the operation input of the driver.

[0035] It should be noted that the vehicle control method of the present application is applicable to extreme off-road large-slope scenarios, wherein the slope value of the large slope is greater than a preset slope threshold.

[0036] It should be noted that, before obtaining the first driving state and the first control parameter of the vehicle device, the steep slope descent function has been turned on, but the steep slope descent function has not been activated at this time. In other words, the steep slope descent function cannot be enabled at this time.

[0037] In an embodiment of the present application, the first driving state of the vehicle device includes at least one of the following: a first slope value, a vehicle speed, and an operating state of a preset vehicle function.

[0038] It should be noted that the first slope value can vary with the actual slope; that is, the slope value can be greater than, less than, or equal to the first preset threshold. The vehicle speed can be within a set threshold range. The preset vehicle functions can include parking, ACC (Adaptive Cruise Control), and ESC (Electronic Stability Program). The operating state of the preset vehicle functions can be either on or off.

[0039] It should be noted that the set threshold range can represent the threshold range in which the vehicle speed is in a normal working state.

[0040] It should be noted that when the operating status of the preset vehicle function is in the running-on state, the steep hill descent function cannot be activated.

[0041] In an embodiment of the present application, the first control parameter includes at least one of the following: a first accelerator pedal stroke, a first brake pedal stroke, and a hill descent function control parameter.

[0042] It should be noted that the first accelerator pedal stroke being less than the second preset threshold value may indicate that the driver has hardly stepped on the accelerator pedal. It can be understood that at this time, the driver has not stepped on the accelerator pedal.

[0043] It should be noted that brake pedal travel refers to the extent to which the driver presses the brake pedal, which is used to control the working force of the car's braking system.

[0044] It should be noted that the first brake pedal stroke being less than the third preset threshold value may represent that the driver has hardly stepped on the brake pedal. It can be understood that at this time, the driver has not stepped on the brake pedal.

[0045] Step 102: When the first driving state and the first control parameter satisfy the preset activation condition of the hill descent function, determine a first target vehicle speed, a first target braking pressure, and a first target driving torque based on the first driving state and the first control parameter.

[0046] In an embodiment of the present application, after obtaining the first driving state and the first control parameter of the vehicle device, the vehicle control device can further determine the first target vehicle speed, the first target braking pressure and the first target driving torque based on the first driving state and the first control parameter when the first driving state and the first control parameter meet the preset activation conditions of the hill descent function.

[0047] In an embodiment of the present application, activation of the hill descent control function may be active activation of the hill descent control function by the driver, or passive activation of the hill descent control function by the vehicle control device.

[0048] In an embodiment of the present application, whether the steep hill descent function is triggered for the first time is determined based on the control parameters of the steep hill descent function; when it is determined that the steep hill descent function is triggered for the first time, and the first slope value is greater than the first preset threshold value, and the vehicle speed is within the set threshold range, and the operating state of the preset vehicle function is in the operating off state, and the first accelerator pedal stroke is less than the second preset threshold value, it is determined that the preset activation conditions of the steep hill descent function are met.

[0049] It should be noted that, based on the premise that the hill descent function is triggered for the first time, this application further determines whether the first slope value is greater than a first preset threshold, whether the vehicle speed is within the set threshold range, whether the operating state of the preset vehicle function is in the operation-off state, and whether the first accelerator pedal stroke is less than a second preset threshold. Only when the hill descent function is triggered for the first time, and the first slope value is greater than the first preset threshold, and the vehicle speed is within the set threshold range, and the operating state of the preset vehicle function is in the operation-off state, and the first accelerator pedal stroke is less than the second preset threshold, can the driver actively activate the hill descent function. In this way, timely activation of the hill descent function can be ensured.

[0050] It should be noted that when the hill descent function is first triggered, and the first slope value is greater than a first preset threshold, the vehicle speed is within the set threshold range, the preset vehicle function is in the off state, and the first accelerator pedal travel is less than a second preset threshold, the hill descent function can be proactively activated even if the driver has stepped on the brake pedal. In other words, as long as the driver has triggered the hill descent function for the first time, the hill descent function can be proactively activated regardless of whether the driver has stepped on the brake pedal. This ensures timely activation of the hill descent function.

[0051] In an embodiment of the present application, when the first slope value is greater than the first preset threshold value, the vehicle speed is within the set threshold range, the operating state of the preset vehicle function is in the operation-off state, the first accelerator pedal stroke is less than the second preset threshold value, and the first brake pedal stroke is less than the third preset threshold value, it is determined that the preset activation conditions of the steep slope descent function are met.

[0052] It should be noted that the hill descent control function is activated after it is triggered for the first time.

[0053] It should be noted that, under the premise that the steep hill descent function is not triggered, the present application further determines whether the first slope value is greater than a first preset threshold value, whether the vehicle speed is within the set threshold range, whether the operation state of the preset vehicle function is in the operation-off state, whether the first accelerator pedal stroke is less than a second preset threshold value, and whether the first brake pedal stroke is less than a third preset threshold value. Only when the first slope value is greater than the first preset threshold value, the vehicle speed is within the set threshold range, the operation state of the preset vehicle function is in the operation-off state, the first accelerator pedal stroke is less than the second preset threshold value, and the first brake pedal stroke is less than the third preset threshold value, can the vehicle control device automatically (passively) activate the steep hill descent function. In this way, the steep hill descent function can be activated in a timely manner.

[0054] It should be noted that when the hill descent function is activated, the vehicle control device may determine the first target vehicle speed, the first target braking pressure, and the first target driving torque required by the vehicle device.

[0055] It should be noted that the first target vehicle speed, the first target brake pressure and the first target driving torque can be determined based on the first slope value, the vehicle speed, the first accelerator pedal travel, the first brake pedal travel and the steep slope descent function control parameters.

[0056] Step 103 : Control the vehicle according to the first target braking pressure and the first target driving torque, so that the vehicle travels based on the first target vehicle speed.

[0057] In an embodiment of the present application, when the first driving state and the first control parameter meet the preset activation conditions of the steep hill descent function, after determining the first target vehicle speed, the first target braking pressure and the first target driving torque based on the first driving state and the first control parameter, the vehicle control device can further control the vehicle according to the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed.

[0058] It should be noted that the first target vehicle speed can represent the vehicle speed when the hill descent function is activated, and the first target vehicle speed can also represent the vehicle speed actually required by the driver; the first target braking pressure can represent the braking pressure when the hill descent function is activated; the first target driving torque can represent the driving torque when the hill descent function is activated.

[0059] In the embodiment of the present application, the driving torque of the vehicle device is adjusted based on the first target driving torque, and the wheel braking force of the vehicle device is adjusted based on the first target braking pressure, so that the vehicle device travels based on the first target vehicle speed.

[0060] It should be noted that adjusting the vehicle's driving torque based on the first target driving torque may involve rapidly reducing the vehicle's current driving torque to the first target driving torque and continuously controlling the vehicle based on the first target driving torque. In this manner, while applying the first target braking pressure to the vehicle, the vehicle's driving torque is rapidly reduced, thereby more quickly controlling the vehicle's speed.

[0061] In an embodiment of the present application, after the vehicle is controlled according to the first target braking pressure and the first target driving torque so that the vehicle equipment travels based on the first target vehicle speed, a second driving state and a second control parameter are obtained; when the second driving state and the second control parameters meet the preset exit conditions of the steep slope descent function, vehicle speed control information is determined based on the second driving state and the second control parameters; and the driving of the vehicle equipment is controlled according to the vehicle speed control information.

[0062] It should be noted that the second driving state of the vehicle device may be a second slope value. The second control parameter may be a second accelerator pedal stroke or a second brake pedal stroke.

[0063] In an embodiment of the present application, whether the steep hill descent function is triggered for the first time is determined based on the steep hill descent function control parameters. When the second slope value is greater than the first preset threshold value and it is determined that the steep hill descent function is not triggered for the first time, it is determined that the preset exit conditions of the steep hill descent function are met, and the driving torque of the vehicle equipment is adjusted based on the second target driving torque. At the same time, the wheel braking force of the vehicle equipment is adjusted based on the second target braking pressure to control the driving of the vehicle equipment.

[0064] In an embodiment of the present application, when the second slope value is greater than the first preset threshold value and the second accelerator pedal stroke is greater than or equal to the second preset threshold value, it is determined that the preset exit conditions of the steep slope descent function are met, and the driving torque of the vehicle equipment is adjusted based on the third target driving torque, and at the same time, the wheel braking force of the vehicle equipment is adjusted based on the second target braking pressure to control the driving of the vehicle equipment.

[0065] In an embodiment of the present application, when the second slope value is greater than the first preset threshold value and the second brake pedal stroke is greater than or equal to the third preset threshold value, it is determined that the preset exit condition of the steep slope descent function is met; the driving torque of the vehicle equipment is adjusted based on the second target driving torque, and the wheel braking force of the vehicle equipment is adjusted based on the third target braking pressure to control the driving of the vehicle equipment.

[0066] It should be noted that the second target driving torque and the third target driving torque are both driving torques actually required by the driver.

[0067] It should be noted that the second target braking pressure and the third target braking pressure are both the braking pressures actually required by the driver.

[0068] An embodiment of the present application provides a vehicle control method, the vehicle control method comprising: obtaining a first driving state and a first control parameter of a vehicle device; determining a first target vehicle speed, a first target braking pressure, and a first target driving torque based on the first driving state and the first control parameter when the first driving state and the first control parameter satisfy a preset activation condition of a steep slope descent function; and controlling the vehicle based on the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed. That is, in an embodiment of the present application, the first target vehicle speed, the first target braking pressure, and the first target driving torque can be further determined based on whether the first driving state and the first control parameter of the vehicle device satisfy the preset activation condition of the steep slope descent function, thereby controlling the vehicle based on the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed. In this way, the vehicle speed can be effectively controlled in a steep slope scenario of extreme off-road driving while reducing safety risks.

[0069] FIG2 is a second flow chart of a vehicle control method according to an embodiment of the present application. As shown in FIG2 , after the vehicle is controlled according to the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed, the vehicle control method includes the following steps:

[0070] Step 104: Acquire a second driving state and a second control parameter.

[0071] In an embodiment of the present application, after controlling the vehicle according to the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed, the vehicle control device can further obtain a second driving state and a second control parameter.

[0072] In an embodiment of the present application, the second driving state of the vehicle equipment includes: a second slope value.

[0073] It should be noted that the second slope value may vary with the actual slope, that is, the slope value may be greater than the first preset threshold, or may be less than or equal to the first preset threshold.

[0074] In an embodiment of the present application, the second control parameter includes at least one of the following: a second accelerator pedal stroke or a second brake pedal stroke.

[0075] It should be noted that the second accelerator pedal stroke being greater than or equal to the second preset threshold may indicate that the driver has stepped on the accelerator pedal. The second brake pedal stroke being greater than or equal to the third preset threshold may indicate that the driver has stepped on the brake pedal.

[0076] Step 105: When the second driving state and the second control parameter satisfy a preset exit condition of the hill descent function, determine vehicle speed control information based on the second driving state and the second control parameter.

[0077] In an embodiment of the present application, after obtaining the second driving state and the second control parameters, the vehicle control device can further determine the vehicle speed control information based on the second driving state and the second control parameters when the second driving state and the second control parameters meet the preset exit conditions of the steep slope descent function.

[0078] It should be noted that if the second driving state and the second control parameters meet the preset exit conditions of the hill descent control function, the vehicle device exits the hill descent control function. In this case, the vehicle speed control information determined by the second driving state and the second control parameters can further control vehicle driving to ensure that the vehicle device remains in a continuously controlled state after exiting the hill descent control function.

[0079] Step 106: Control the vehicle equipment to travel according to the vehicle speed control information.

[0080] In an embodiment of the present application, when the second driving state and the second control parameters meet the preset exit conditions of the steep slope descent function, after determining the vehicle speed control information based on the second driving state and the second control parameters, the vehicle control device can further control the driving of the vehicle device according to the vehicle speed control information.

[0081] It should be noted that the vehicle speed control information can be the second target braking pressure and the second target driving torque; the vehicle speed control information can also be the third target braking pressure and the second target driving torque; the vehicle speed control information can also be the second target braking pressure and the third target driving torque.

[0082] An embodiment of the present application provides a vehicle control method, the method comprising: obtaining a second driving state and a second control parameter; determining vehicle speed control information based on the second driving state and the second control parameter, if the second driving state and the second control parameter satisfy a preset exit condition of a hill descent control function; and controlling the vehicle's travel according to the vehicle speed control information. In other words, if the vehicle exits the hill descent control function, the vehicle control device may further control the vehicle's travel based on the vehicle speed control information determined by the second driving state and the second control parameter, thereby ensuring that the vehicle remains in a continuously controlled state after exiting the hill descent control function.

[0083] FIG3 is a flow chart of a vehicle control method according to an embodiment of the present application. As shown in FIG3 , determining whether a preset exit condition of the hill descent function is satisfied according to the second driving state and the second control parameter includes:

[0084] Step 201: Determine whether the steep slope descent function is triggered for the first time based on the steep slope descent function control parameters.

[0085] In an embodiment of the present application, after acquiring the second driving state and the second control parameter, the vehicle control device may further determine whether the hill descent function is triggered for the first time based on the hill descent function control parameter.

[0086] It should be noted that, according to the control parameters of the steep slope descent function, it is determined that this is not the first time that the steep slope descent function is triggered, that is, the steep slope descent function is triggered again, which means that the steep slope descent function has been turned off at this time.

[0087] Step 202: When the second slope value is greater than the first preset threshold value and it is determined that the steep slope descent function is not triggered for the first time, determine whether the preset exit condition of the steep slope descent function is met.

[0088] In an embodiment of the present application, after determining whether the steep hill descent function is triggered for the first time based on the control parameters of the steep hill descent function, the vehicle control device can further determine whether the preset exit conditions of the steep hill descent function are met when the second slope value is greater than the first preset threshold and it is determined that the steep hill descent function is not triggered for the first time.

[0089] It should be noted that, in this application, if the second slope value is greater than the first preset threshold, the steep hill descent function is further determined not to have been triggered for the first time, and the steep hill descent function is disabled. The vehicle control device controls the first target driving torque to decrease to the second target driving torque, and simultaneously controls the first target braking pressure to decrease to the second target braking pressure.

[0090] It should be noted that controlling the first target driving torque to decrease to the second target driving torque may be controlling the first target driving torque to decrease slowly to the second target driving torque. Controlling the first target braking pressure to decrease to the second target braking pressure may be controlling the first target braking pressure to decrease slowly to the second target braking pressure.

[0091] Accordingly, controlling the vehicle device to travel according to the vehicle speed control information includes:

[0092] Step 203 : adjusting the driving torque of the vehicle device based on the second target driving torque, and adjusting the wheel braking force of the vehicle device based on the second target braking pressure, so as to control the driving of the vehicle device.

[0093] In an embodiment of the present application, when the second slope value is greater than the first preset threshold value and it is determined that the steep hill descent function is not triggered for the first time, after determining that the preset exit conditions of the steep hill descent function are met, the vehicle control device can further adjust the driving torque of the vehicle device based on the second target driving torque, and at the same time adjust the wheel braking force of the vehicle device based on the second target braking pressure to control the driving of the vehicle device.

[0094] It should be noted that the second target driving torque may represent the driving torque actually required by the driver, and the second target braking pressure may represent the braking pressure actually required by the driver.

[0095] An embodiment of the present application provides a vehicle control method, which includes: determining whether the steep slope descent function is triggered for the first time based on a steep slope descent function control parameter; if a second slope value is greater than a first preset threshold value and it is determined that the steep slope descent function is not triggered for the first time, determining that a preset exit condition of the steep slope descent function is satisfied; adjusting the driving torque of the vehicle device based on a second target driving torque; and adjusting the wheel braking force of the vehicle device based on a second target braking pressure to control the travel of the vehicle device. The present application ensures that the vehicle device travels in a controllable state after exiting the steep slope descent function by slowly reducing the first target driving torque to the second target driving torque and slowly reducing the first target braking pressure to the second target braking pressure, thereby ensuring the safety of the driver.

[0096] FIG4 is a fourth flow chart of a vehicle control method according to an embodiment of the present application. As shown in FIG4 , determining whether a preset exit condition of the hill descent function is satisfied according to the second driving state and the second control parameter includes:

[0097] Step 301: When the second slope value is greater than the first preset threshold value and the second accelerator pedal stroke is greater than or equal to the second preset threshold value, determine that the preset exit condition of the steep slope descent function is met.

[0098] In an embodiment of the present application, after obtaining the second driving state and the second control parameter, the vehicle control device can further determine whether the preset exit conditions of the steep slope descent function are met when the second slope value is greater than the first preset threshold and the second accelerator pedal stroke is greater than or equal to the second preset threshold.

[0099] It should be noted that the second slope value being greater than the first preset threshold value may indicate that the vehicle equipment is traveling on a steep slope for extreme off-road driving.

[0100] It should be noted that the second accelerator pedal stroke being greater than or equal to the second preset threshold value may indicate that the driver desires to control the vehicle equipment to exit the steep slope descent function by stepping on the accelerator pedal.

[0101] Accordingly, controlling the vehicle device to travel according to the vehicle speed control information includes:

[0102] Step 302 : Adjust the driving torque of the vehicle device based on the third target driving torque, and adjust the wheel braking force of the vehicle device based on the second target braking pressure to control the vehicle device to travel.

[0103] In an embodiment of the present application, when the second slope value is greater than the first preset threshold value and the second accelerator pedal stroke is greater than or equal to the second preset threshold value, after determining that the preset exit conditions of the steep slope descent function are met, the vehicle control device can further adjust the driving torque of the vehicle device based on the third target driving torque, and at the same time adjust the wheel braking force of the vehicle device based on the second target braking pressure to control the driving of the vehicle equipment.

[0104] It should be noted that, in this application, the second accelerator pedal travel is further determined to be greater than or equal to the second preset threshold value, provided that the second slope value is greater than the first preset threshold value. Only when it is determined that the second accelerator pedal travel is greater than or equal to the second preset threshold value will the vehicle control device control the first target driving torque to decrease to the third target driving torque, and simultaneously control the first target braking pressure to decrease to the second target braking pressure.

[0105] It should be noted that controlling the first target driving torque to decrease to the third target driving torque may be controlling the first target driving torque to decrease slowly to the third target driving torque. Controlling the first target braking pressure to decrease to the second target braking pressure may be controlling the first target braking pressure to decrease slowly to the second target braking pressure.

[0106] It should be noted that the second target braking pressure represents the braking pressure actually required by the driver. The third target driving torque represents the driving torque actually required by the driver, and the third target driving torque can be determined by the second accelerator pedal travel.

[0107] An embodiment of the present application provides a vehicle control method, which includes: when a second slope value is greater than a first preset threshold value and a second accelerator pedal stroke is greater than or equal to the second preset threshold value, determining that a preset exit condition of a steep slope descent function is satisfied, adjusting the driving torque of the vehicle device based on a third target driving torque, and adjusting the wheel braking force of the vehicle device based on a second target braking pressure to control the travel of the vehicle device. The present application ensures that the vehicle device travels in a controllable state after exiting the steep slope descent function by slowly reducing the first target driving torque to the third target driving torque and slowly reducing the first target braking pressure to the second target braking pressure, thereby ensuring the safety of the driver.

[0108] FIG5 is a fifth flow chart of a vehicle control method according to an embodiment of the present application. As shown in FIG5 , determining whether a preset exit condition of the hill descent function is satisfied according to the second driving state and the second control parameter includes:

[0109] Step 401: When the second slope value is greater than the first preset threshold value and the second brake pedal stroke is greater than or equal to the third preset threshold value, determine that the preset exit condition of the steep slope descent function is met.

[0110] In an embodiment of the present application, after obtaining the second driving state and the second control parameter, the vehicle control device can further determine that the preset exit conditions of the steep slope descent function are met when the second slope value is greater than the first preset threshold and the second brake pedal stroke is greater than or equal to the third preset threshold.

[0111] It should be noted that the second slope value being greater than the first preset threshold value indicates that the vehicle equipment is traveling on a steep slope for extreme off-road driving.

[0112] It should be noted that the second brake pedal stroke being greater than or equal to the third preset threshold value indicates that the driver desires to control the vehicle equipment to exit the steep slope descent function by stepping on the brake pedal.

[0113] Accordingly, controlling the vehicle device to travel according to the vehicle speed control information includes:

[0114] Step 402 : Adjust the driving torque of the vehicle device based on the second target driving torque, and adjust the wheel braking force of the vehicle device based on the third target braking pressure to control the driving of the vehicle device.

[0115] In an embodiment of the present application, when the second slope value is greater than the first preset threshold value and the second brake pedal stroke is greater than or equal to the third preset threshold value, after determining that the preset exit conditions of the steep slope descent function are met, the vehicle control device can further adjust the driving torque of the vehicle device based on the second target driving torque, and at the same time adjust the wheel braking force of the vehicle device based on the third target braking pressure to control the driving of the vehicle equipment.

[0116] It should be noted that, in this application, the second brake pedal travel is further determined to be greater than or equal to a third preset threshold value, provided that the second slope value is greater than the first preset threshold value. Only when it is determined that the second brake pedal travel is greater than or equal to the third preset threshold value will the vehicle control device control the first target driving torque to decrease to the second target driving torque, and simultaneously control the first target braking pressure to decrease to the third target braking pressure.

[0117] It should be noted that controlling the first target driving torque to decrease to the second target driving torque may be controlling the first target driving torque to slowly decrease to the second target driving torque; controlling the first target braking pressure to decrease to the third target braking pressure may be controlling the first target braking pressure to slowly decrease to the third target braking pressure.

[0118] It should be noted that the third target braking pressure represents the braking pressure actually required by the driver, and the third target braking pressure can be determined by the second brake pedal stroke. The second target driving torque represents the driving torque actually required by the driver.

[0119] In an embodiment of the present application, when the second slope value is less than or equal to the first preset threshold, after controlling the vehicle device to exit the steep slope descent function, the vehicle control device can further release the first target driving torque and release the first target braking pressure at the same time.

[0120] It should be noted that if the second slope value is less than or equal to the first preset threshold, it indicates that the vehicle has entered a road section with a relatively low slope (less than 30°). Therefore, the vehicle no longer needs the hill descent control function at this point, and the hill descent control function can be automatically disabled.

[0121] It should be noted that releasing the first target driving torque means immediately releasing the first target driving torque, and releasing the first target braking pressure means immediately releasing the first target braking pressure.

[0122] An embodiment of the present application provides a vehicle control method, the method comprising: determining that a preset exit condition of a steep slope descent function is satisfied when a second slope value is greater than a first preset threshold value and a second brake pedal stroke is greater than or equal to a third preset threshold value; adjusting the driving torque of the vehicle device based on a second target driving torque, and simultaneously adjusting the wheel braking force of the vehicle device based on a third target braking pressure, to control the travel of the vehicle device. The present application ensures that the vehicle device travels in a controllable state after exiting the steep slope descent function by slowly reducing the first target driving torque to the second target driving torque and slowly reducing the first target braking pressure to the third target braking pressure, thereby ensuring the safety of the driver.

[0123] Based on the above embodiment, another embodiment of the present application proposes a vehicle control method, which can be applied to a vehicle control device or a vehicle control equipment. In the embodiment of the present application, the vehicle control method proposed in the embodiment of the present application is exemplified by taking the vehicle control equipment as an example.

[0124] It should be noted that in the embodiment of the present application, FIG6 is a flow chart of a vehicle control method according to the embodiment of the present application. As shown in FIG6, the vehicle control device includes a hill descent control system and a drive system. The hill descent control system and the drive system interact via the vehicle CAN network.

[0125] It should be noted that after the hill descent system inputs the vehicle speed, the first slope value, the hill descent function control parameters, the first accelerator pedal stroke, and the first brake pedal stroke, it can output the first target vehicle speed, the first target brake pressure, and the first target driving torque.

[0126] It should be noted that the driving system is used to control the vehicle driving based on the first target driving torque.

[0127] In an embodiment of the present application, as shown in FIG6 , the vehicle control method is specifically a method for activating the hill descent function, which specifically includes the following steps:

[0128] Step 11: Turn on the hill descent function.

[0129] Step 12: Monitor the vehicle's driving status and the driver's operating input in real time.

[0130] Step 13: Determine whether the vehicle's driving state and the driver's operation input meet the preset activation conditions of the hill descent control function.

[0131] Step 14: When the preset activation conditions of the hill descent function are met, the hill descent function is activated and the vehicle is controlled to maintain a target speed while descending the slope.

[0132] It should be noted that the driving state of the vehicle includes at least one of the following: a first slope value, a vehicle speed, and an operating state of a preset vehicle function.

[0133] It should be noted that the driver's operation input includes at least one of the following: a first accelerator pedal stroke, a first brake pedal stroke, and a hill descent function control parameter.

[0134] It should be noted that the preset activation conditions are divided into two conditions: active activation and passive activation.

[0135] It should be noted that whether the steep hill descent function is triggered for the first time is determined based on the control parameters of the steep hill descent function; when it is determined that the steep hill descent function is triggered for the first time, and the first slope value is greater than the first preset threshold value, and the vehicle speed is within the set threshold range, and the operating state of the preset vehicle function is in the operating off state, and the first accelerator pedal stroke is less than the second preset threshold value, it is determined that the preset activation conditions of the steep hill descent function are met. At this time, the driver actively activates the steep hill descent function.

[0136] It should be noted that the preset activation conditions for the hill descent function are determined to be met only when the first slope value is greater than a first preset threshold, the vehicle speed is within a set threshold range, the preset vehicle function is in the off state, the first accelerator pedal travel is less than a second preset threshold, and the first brake pedal travel is less than a third preset threshold. Only then will the vehicle control device automatically (passively) activate the hill descent function.

[0137] It should be noted that if the vehicle's driving state and the driver's operating input do not meet the preset activation conditions of the steep hill descent function, the steep hill descent function will not be activated.

[0138] It should be noted that when the hill descent function is first triggered, and the first slope value is greater than a first preset threshold, the vehicle speed is within the set threshold range, the preset vehicle function is in the off state, and the first accelerator pedal travel is less than a second preset threshold, the hill descent function can be proactively activated even if the driver has stepped on the brake pedal. In other words, as long as the driver has triggered the hill descent function for the first time, the hill descent function can be proactively activated regardless of whether the driver has stepped on the brake pedal. This ensures timely activation of the hill descent function.

[0139] It should be noted that after the hill descent function is activated, the hill descent system requests the drive system to quickly reduce the current driving torque to the first target driving torque, and at the same time actively adjusts the vehicle's wheel braking force based on the first target braking pressure to maintain vehicle speed stability, that is, controls the vehicle's driving at the first target speed.

[0140] It should be noted that the current method for activating the vehicle's hill descent control function is: depress the brake pedal, maintain a low speed → release the brake pedal → activate the vehicle's hill descent control function → re-apply the brakes. As a result, from the time the brake pedal is released to the time brake pressure is re-established, the vehicle will rapidly travel on steep slopes in extreme off-road driving due to the sudden increase in speed, and will then be quickly dragged backwards after the brakes are applied. The uncontrollable speed of the vehicle can easily threaten the driver's personal safety. Because the driver's desired speed is the speed at which they begin to release the brake pedal, while the actual speed controlled by the vehicle is the speed at which the hill descent control function is activated, the driver's experience is very poor.

[0141] In the embodiments of the present application, regardless of whether the hill descent function is activated actively or passively, the vehicle's ultimate speed is the driver's desired speed. Furthermore, after activating the hill descent function, the present application rapidly reduces the drive torque to the first target drive torque while simultaneously applying the first target brake pressure. This not only rapidly controls the vehicle's speed but also ensures the driver's driving safety.

[0142] It should be noted that, in the embodiment of the present application, FIG7 is a flow chart of a vehicle control method in the embodiment of the present application. As shown in FIG7 , the vehicle control method is specifically a method for exiting the steep slope descent function, which specifically includes the following steps:

[0143] Step 21: After activating the hill descent function, monitor the vehicle's driving status and the driver's operating input in real time.

[0144] Step 22: Determine whether the vehicle's driving state and the driver's operation input meet the preset exit conditions of the steep slope descent function.

[0145] Step 23: When the preset exit conditions of the hill descent control function are met, the vehicle is controlled to exit the hill descent control function, the vehicle speed control information is determined based on the vehicle's driving state and the driver's operation input, and the vehicle equipment is controlled to travel according to the vehicle speed control information.

[0146] It should be noted that the driver's operation input may be: the second accelerator pedal stroke or the second brake pedal stroke.

[0147] It should be noted that the driving state of the vehicle may be: a second slope value.

[0148] It should be noted that the exit conditions of the steep slope descent function include: the second accelerator pedal stroke is greater than or equal to the second preset threshold, the second brake pedal stroke is greater than or equal to the third preset threshold, the steep slope descent function is triggered again, or the second slope value is less than or equal to the first preset threshold.

[0149] In an embodiment of the present application, a determination is made based on the hill descent control parameter whether the hill descent function has been triggered for the first time. If the second slope value is greater than a first preset threshold and it is determined that the hill descent function has not been triggered for the first time (the hill descent function has been triggered again), a determination is made that a preset exit condition for the hill descent function has been satisfied, and the driving torque of the vehicle device is adjusted based on a second target driving torque, while the wheel braking force of the vehicle device is adjusted based on a second target braking pressure to control vehicle travel. By slowly reducing the first target driving torque to the second target driving torque and slowly reducing the first target braking pressure to the second target braking pressure, the present application ensures that the vehicle travels in a controllable state after exiting the hill descent function, thereby ensuring driver safety.

[0150] In an embodiment of the present application, when the second slope value is greater than a first preset threshold value and the second accelerator pedal travel is greater than or equal to the second preset threshold value, it is determined that the preset exit condition of the steep hill descent function has been met, and the driving torque of the vehicle device is adjusted based on the third target driving torque, and the wheel braking force of the vehicle device is adjusted based on the second target braking pressure to control vehicle travel. The present application ensures that the vehicle travels in a controllable state after exiting the steep hill descent function by slowly reducing the first target driving torque to the third target driving torque and slowly reducing the first target braking pressure to the second target braking pressure, thereby ensuring the safety of the driver.

[0151] In an embodiment of the present application, when the second slope value is greater than a first preset threshold value and the second brake pedal travel is greater than or equal to a third preset threshold value, it is determined that a preset exit condition of the steep hill descent function has been satisfied; the driving torque of the vehicle device is adjusted based on the second target driving torque, and the wheel braking force of the vehicle device is adjusted based on the third target brake pressure to control vehicle travel. This application ensures that the vehicle travels in a controllable state after exiting the steep hill descent function by slowly reducing the first target brake pressure to the third target brake pressure and slowly reducing the first target driving torque to the second target driving torque, thereby ensuring driver safety.

[0152] In an embodiment of the present application, when the second slope value is less than or equal to the first preset threshold, after controlling the vehicle to exit the steep slope descent function, the vehicle control device can immediately release the first target driving torque and immediately release the first target braking pressure.

[0153] It should be noted that the second target braking pressure and the third target braking pressure are both braking pressures actually required by the driver. The second target driving torque and the third target driving torque are both driving torques actually required by the driver.

[0154] It should be noted that the current method for disabling the hill descent control function is to deactivate it by pressing the accelerator or brake pedal, which immediately releases the brake pressure. However, after disabling the function, the vehicle experiences uncontrollable speeds on steep, sloped sections of extreme off-road terrain due to the lack of torque limit and the premature release of brake pressure. If the driver accidentally depresses the accelerator at this point, the excessive torque output can pose a significant safety risk.

[0155] In an embodiment of the present application, after the vehicle exits the steep slope descent function, the target braking pressure slowly decreases while the target driving torque is in a limited state. At this time, even if the vehicle is still in a steep slope section of extreme off-road, the vehicle speed is still controllable. In this way, the safety risks caused by driver misoperation can be effectively avoided.

[0156] Based on the same inventive concept as the above-mentioned embodiment, another embodiment of the present application provides a vehicle control device. Figure 8 is a schematic diagram of the composition structure of a vehicle control device. As shown in Figure 8, the vehicle control device 30 includes: an acquisition unit 31, a determination unit 32, and a control unit 33.

[0157] An acquiring unit 31 is configured to acquire a first driving state and a first control parameter of a vehicle device;

[0158] a determination unit 32 for determining a first target vehicle speed, a first target braking pressure, and a first target driving torque based on the first driving state and the first control parameter when the first driving state and the first control parameter satisfy a preset activation condition of the hill descent function;

[0159] The control unit 33 is configured to control the vehicle according to the first target braking pressure and the first target driving torque, so that the vehicle travels based on the first target vehicle speed.

[0160] An embodiment of the present application also provides a schematic diagram of the composition structure of a vehicle control device. As shown in Figure 9, the vehicle control device 40 proposed in the embodiment of the present application may include a processor 41 and a memory 42 configured to store a computer program that can run on the processor. Furthermore, the vehicle control device 40 may also include a communication interface 43 and a bus 44 for connecting the processor 41, the memory 42 and the communication interface 43.

[0161] In the embodiments of the present application, the processor 41 may be at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, and a microprocessor. It is understood that for different devices, the electronic device used to implement the functions of the processor may also be other, and this embodiment of the present application does not specifically limit this. The vehicle control device 40 may also include a memory 42, which may be connected to the processor 41. The memory 42 is used to store executable program code, which includes computer operating instructions. The memory 42 may include high-speed RAM memory or non-volatile memory, such as at least two disk drives.

[0162] In the embodiment of the present application, the bus 44 is used to connect the communication interface 43, the processor 41 and the memory 42, as well as the mutual communication between these devices.

[0163] In the embodiment of the present application, the memory 42 is used to store instructions and data.

[0164] Furthermore, in an embodiment of the present application, the above-mentioned processor 41 is used to obtain a first driving state and a first control parameter of the vehicle equipment; when the first driving state and the first control parameter meet the preset activation conditions of the steep slope descent function, the first target vehicle speed, the first target braking pressure and the first target driving torque are determined based on the first driving state and the first control parameter; the vehicle is controlled according to the first target braking pressure and the first target driving torque so that the vehicle equipment travels based on the first target vehicle speed.

[0165] In practical applications, the memory 42 may be a volatile memory, such as a random-access memory (RAM); or a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); or a combination of the above types of memory, and provide instructions and data to the processor 41.

[0166] An embodiment of the present application provides a vehicle control device and a vehicle control apparatus, wherein the vehicle control apparatus obtains a first driving state and a first control parameter of a vehicle device; when the first driving state and the first control parameter satisfy a preset activation condition of a steep slope descent function, the first target vehicle speed, the first target braking pressure, and the first target driving torque are determined based on the first driving state and the first control parameter; and the vehicle is controlled based on the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed. In other words, in an embodiment of the present application, the first target vehicle speed, the first target braking pressure, and the first target driving torque can be further determined based on whether the first driving state and the first control parameter of the vehicle device satisfy the preset activation condition of the steep slope descent function, and the vehicle is controlled based on the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed. In this way, the vehicle speed can be effectively controlled in a steep slope scenario of extreme off-road driving while reducing safety risks.

[0167] An embodiment of the present application provides a computer-readable storage medium having a program stored thereon, which implements the vehicle control method described above when executed by a processor.

[0168] Specifically, the program instructions corresponding to a vehicle control method in this embodiment may be stored on a storage medium such as a CD, a hard disk, or a USB flash drive. When the program instructions corresponding to a vehicle control method in the storage medium are read or executed by a vehicle control device, the following steps are included:

[0169] Acquiring a first driving state and a first control parameter of a vehicle device;

[0170] determining a first target vehicle speed, a first target braking pressure, and a first target driving torque based on the first driving state and the first control parameter when the first driving state and the first control parameter satisfy a preset activation condition of the hill descent function;

[0171] The vehicle is controlled based on the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed.

[0172] Embodiments of the present application provide a computer program product. This application may take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware embodiments. Furthermore, this application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage) containing computer-usable program code. When the computer program is read and executed by a computer, it implements some or all of the steps in the vehicle control method described above.

[0173] The present application is described with reference to the implementation flow diagrams and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flow diagram and / or block diagram can be implemented by computer program instructions, as well as the combination of the processes and / or boxes in the flow diagram and / or block diagram. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the functions specified in one or more processes in the flow diagram and / or one or more boxes in the block diagram.

[0174] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in implementing one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0175] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0176] The above description is merely a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application.

Claims

1. A vehicle control method, applied to an electronic device of a vehicle, comprising: Acquiring a first driving state and a first control parameter of a vehicle device; determining a first target vehicle speed, a first target braking pressure, and a first target driving torque based on the first driving state and the first control parameter when the first driving state and the first control parameter satisfy a preset activation condition of the hill descent function; The vehicle is controlled based on the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed.

2. The method according to claim 1, wherein The first driving state includes at least one of the following: a first slope value, a vehicle speed, and an operating state of a preset vehicle function; The first control parameter includes at least one of the following: a first accelerator pedal stroke, a first brake pedal stroke, and a hill descent function control parameter.

3. The method according to claim 2, wherein: Determining whether a preset activation condition of the hill descent function is satisfied according to the first driving state and the first control parameter includes: Determining whether the steep slope descent function is triggered for the first time according to the steep slope descent function control parameters; When it is determined that the hill descent function is triggered for the first time, and the first slope value is greater than a first preset threshold, and the vehicle speed is within a set threshold range, and the operating state of the preset vehicle function is in the operation-off state, and the first accelerator pedal stroke is less than a second preset threshold, it is determined that the preset activation conditions of the hill descent function are met.

4. The method according to claim 2, wherein: Determining whether a preset activation condition of the hill descent function is satisfied according to the first driving state and the first control parameter includes: When the first slope value is greater than a first preset threshold, the vehicle speed is within a set threshold range, the operating state of the preset vehicle function is in an operating-off state, the first accelerator pedal stroke is less than a second preset threshold, and the first brake pedal stroke is less than a third preset threshold, it is determined that the preset activation conditions of the steep hill descent function are met.

5. The method according to any one of claims 1 to 4, wherein The controlling the vehicle according to the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed includes: The driving torque of the vehicle apparatus is adjusted based on the first target driving torque, while the wheel braking force of the vehicle apparatus is adjusted based on the first target braking pressure so that the vehicle apparatus travels based on the first target vehicle speed.

6. The method according to claim 3 or 4, wherein: After controlling the vehicle according to the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed, the method further includes: acquiring a second driving state and a second control parameter; determining vehicle speed control information based on the second driving state and the second control parameter when the second driving state and the second control parameter satisfy a preset exit condition of the hill descent function; The vehicle device is controlled to travel according to the vehicle speed control information.

7. The method according to claim 6, wherein: The second driving state includes: a second slope value; The second control parameter includes: a second accelerator pedal stroke or a second brake pedal stroke.

8. The method according to claim 7, wherein: Determining whether a preset exit condition of the hill descent control function is satisfied according to the second driving state and the second control parameter includes: Determining whether the steep slope descent function is triggered for the first time according to the steep slope descent function control parameters; If the second slope value is greater than the first preset threshold value and it is determined that the steep slope descent function is not triggered for the first time, determining that a preset exit condition of the steep slope descent function is satisfied; Accordingly, controlling the vehicle device to travel according to the vehicle speed control information includes: The driving torque of the vehicle device is adjusted based on the second target driving torque, and the wheel braking force of the vehicle device is adjusted based on the second target braking pressure to control the vehicle device to travel.

9. The method according to claim 7, wherein: Determining whether a preset exit condition of the hill descent control function is satisfied according to the second driving state and the second control parameter includes: When the second slope value is greater than the first preset threshold value and the second accelerator pedal travel is greater than or equal to the second preset threshold value, determining that a preset exit condition of the steep hill descent function is satisfied; Accordingly, controlling the vehicle device to travel according to the vehicle speed control information includes: The driving torque of the vehicle device is adjusted based on the third target driving torque, and the wheel braking force of the vehicle device is adjusted based on the second target braking pressure to control the vehicle device to travel.

10. The method according to claim 7, wherein: Determining whether a preset exit condition of the hill descent control function is satisfied according to the second driving state and the second control parameter includes: When the second slope value is greater than the first preset threshold value and the second brake pedal stroke is greater than or equal to a third preset threshold value, determining that a preset exit condition of the steep slope descent function is satisfied; Accordingly, controlling the vehicle device to travel according to the vehicle speed control information includes: The driving torque of the vehicle device is adjusted based on the second target driving torque, and the wheel braking force of the vehicle device is adjusted based on the third target braking pressure to control the vehicle device to travel.

11. A vehicle control device, comprising: an acquiring unit, configured to acquire a first driving state and a first control parameter of a vehicle device; a determining unit, configured to determine a first target vehicle speed, a first target braking pressure, and a first target driving torque based on the first driving state and the first control parameter when the first driving state and the first control parameter satisfy a preset activation condition of the hill descent function; A control unit is configured to perform vehicle control according to the first target braking pressure and the first target driving torque so that the vehicle device travels based on the first target vehicle speed.

12. A vehicle control device, comprising: a processor and a memory configured to store a computer program capable of being executed on the processor, Wherein, the processor is configured to execute the vehicle control method according to any one of claims 1 to 10 when running the computer program.

13. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 10 is implemented.

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