404 results about "Vertical acceleration" patented technology

The invention discloses a bridge sensor self-optimization arrangement and state evaluation method based on a modal confidence criterion, and relates to the technical field of big data analysis and processing. The method comprises the following steps: step 1, acquiring a vertical acceleration time sequence at candidate installation coordinates of each sensor through preset vehicle excitation; 2, a physical information neural network is adopted to drive sparse damage reconstruction and sensor importance joint optimization algorithm to determine a bridge sensor self-optimization arrangement result; and step 3, installing a vertical acceleration sensor on the target bridge according to a bridge sensor self-optimization arrangement result, dividing bridge state grades according to a finite element unit damage estimation result, and outputting a bridge state evaluation result. The method can be continuously used in the bridge operation period, quantitative and traceable structure state evaluation results are provided, potential risks can be found in advance, and the reliability, practicability and intelligent level of bridge health monitoring are remarkably improved.

The invention discloses a backfill soil foundation compactness nondestructive testing method based on an intelligent sensor. The backfill soil foundation compactness nondestructive testing method comprises the following steps of S1, the intelligent sensor, S2, a GPS positioning system, S3, a wireless transmission network and S4, an information monitoring and collecting system. An on-site road roller is modified, an RTK-GPS receiver, a wireless communication antenna and an acceleration sensor are installed, accurate measurement of the position and the running speed of the rolling machine can be achieved through an automatic rolling system based on RTK-GPS and closed-loop feedback control, the acceleration sensor is fixed to a vibrating wheel, vertical acceleration signals of the vibrating wheel are collected in real time, and the vibration speed of the vibrating wheel is measured. A CMV value and a field compaction degree evaluation result are analyzed in real time through a background development system, then a correlation relation is established between a compaction degree value and the CMV value which are measured by using a standard compaction degree inspection method in a test section, and real-time compaction degree monitoring control can be carried out.

Disclosed is a method for controlling a floating wind turbine system. The floating wind turbine system comprises a floating platform, a tower mounted to the floating platform and a nacelle. The method comprises receiving, from one or more sensors of the floating wind turbine system, a signal indicative of a vertical acceleration of the floating wind turbine system. The method comprises determining, based on the received signal, a sea state parameter indicative of an oscillation of the vertical acceleration. The method comprises controlling the floating wind turbine system based on the sea state parameter.

A wheel action-based active suspension damping adjustment apparatus recognizes wheel actions through a steering apparatus, distance measuring apparatuses and force sensors and calculates an action damping magnitude according to damping parameters determined by different wheel actions, thereby achieving optimal adjustment under different actions. The changes in an inclination angle of a vehicle cabin floor and a vertical acceleration are monitored by using an inclination angle sensor and acceleration sensors, and meanwhile, an inclination angle damping and an acceleration damping are determined according to exceeding amplitudes, and a total damping of active suspensions is fed back and corrected, thereby further enhancing an adjustment and control effect of the active suspensions. According to the method, basic damping, action damping, inclination angle damping and acceleration damping data is output and recorded, and classified according to a vehicle state and the wheel actions, data changes under a same classification are compared.

The invention discloses a vehicle control method and device, equipment and a storage medium, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining the longitudinal acceleration data and vertical acceleration data of a vehicle when the vehicle is in a self-adaptive crawling condition; determining a user driving style according to the longitudinal acceleration data, and determining a road bumping level according to the vertical acceleration data; determining a target creeping speed according to the accelerator data and the brake data of the vehicle; and determining an increment torque function based on the target creeping speed, the road bumping level and the user driving style, and controlling the vehicle according to the increment torque function so as to maintain the creeping speed of the vehicle at the target creeping speed. The target crawling speed is determined according to the accelerator and brake data of the vehicle, and the incremental torque function is constructed based on the target crawling speed to control the vehicle, so that the crawling speed of the vehicle can meet the actual crawling requirement of a user as much as possible, the user operation is simplified, and the driving experience is improved.

The invention provides a method and a device for determining a linear operation and maintenance standard of a long-span bridge. The method comprises the following steps of: firstly, determining a quantitative relation between a track static long-wave uneven cis-chord measurement value and vehicle body vertical acceleration data; determining a vehicle body vibration acceleration limit value caused by the dynamic deformation of the high-speed railway bridge according to a vehicle body vertical acceleration limit value caused by the uneven static long wave of the track on the high-speed railway bridge, a vehicle body vibration acceleration value caused by the dynamic deformation of the high-speed railway bridge and a vehicle body vibration acceleration value caused by the random irregularity of the track; and finally, determining a linear chord measurement value of the high-speed railway bridge according to the quantitative relation and a vehicle body vibration acceleration limit value caused by dynamic deformation of the high-speed railway bridge. The method can effectively solve the problem that in the technical field of rail transit, the operation and maintenance standard of the line shape of a long-span bridge is not accurate.

The invention discloses an automobile semi-active suspension PID parameter adaptive adjustment and vibration control method and system based on reinforcement learning, and the method mainly comprises the following working steps: 1, constructing a reinforcement learning environment comprising a suspension dynamics high-fidelity simulation model and a PID controller; 2, defining a state space including a vehicle body vertical acceleration error e (t), an error integral term summa e (t) dt, an error differential term de (t) / dt, a suspension dynamic stroke zdef (t), a driving vehicle speed v (t) and road surface unevenness estimation xi (t); and 3, defining an action space including a proportion coefficient increment delta Kp, an integral coefficient increment delta Ki, a differential coefficient increment delta Kd and an output compensation amount delta e (t) of the PID controller. According to the method, the problem that the suspension performance is reduced due to the fact that control parameters of a traditional PID control method are fixed under the non-linear and time-varying working conditions is solved, and the riding comfort and the handling stability of the vehicle are remarkably improved.

A method for adapting a transfer function of an active suspension of a vehicle comprises the vehicle driving along a section of road for which a surface profile is stored in a control unit of the vehicle. The active suspension is activated according to a predetermined transfer function for adaptation to the surface profile by means of adjustment values in order to compensate for unevenness of the surface profile. A shock absorber sensor system and / or a tire sensor system of the vehicle is used to record vertical accelerations while driving along the section of road and transfer them to the control unit. The invention provides that the adjustment values and the vertical accelerations are transferred by the vehicle to an external central computer.

The invention belongs to the technical field of vehicles, and particularly relates to an ABS function trigger control method and device, a vehicle and a medium. The method comprises the following steps: calculating a wheel slip rate; determining driver intention according to the hydraulic sensor signal, the brake pedal sensor signal and the accelerator pedal sensor signal, wherein the driver intention comprises emergency braking, conventional braking, sliding and acceleration; the road bumping state is determined according to the wheel slip rate, the vehicle vertical acceleration and the suspension displacement; according to the intention of the driver and the road bumping state, the triggering condition of the ABS function is determined; and determining whether the triggering condition of the ABS function is met or not according to the wheel slip rate. By judging the intention of the driver and the road bumping state and adjusting the triggering condition of the ABS function in real time according to the intention of the driver and the road bumping state, false triggering of the ABS function when the vehicle passes through the bumping road is avoided.

The invention discloses a new energy automobile shock absorber state intelligent early warning method based on attitude monitoring, and relates to the field of state intelligent early warning, and the method comprises the steps: collecting multi-dimensional attitude data such as the vertical acceleration, the pitch angle speed and the roll angle speed of an automobile in real time, and carrying out the self-adaptive detection of an impact event through combining with a dynamic threshold algorithm; and normal driving vibration and abnormal impact working conditions can be accurately distinguished. In the feature extraction stage, multi-dimensional physical features such as a peak-to-peak value, a root-mean-square value, a damping ratio and the like are combined and coded, so that the dynamic attenuation characteristics of the shock absorber in an impact event can be comprehensively represented. By establishing a similar event feature database in a healthy state and performing multi-feature space deviation calculation by adopting a mahalanobis distance, the robustness of anomaly detection is remarkably improved. Therefore, the technical problems of poor environmental adaptability, low diagnosis precision and the like of the traditional method can be effectively solved.

The invention discloses a dynamic analysis model for a linear full-scale anchored floating bridge under the action of waves, which provides support for dynamic response analysis and vibration control of a large anchored floating bridge structure, and comprises the following steps: firstly, constructing a numerical model of the full-scale anchored floating bridge, and then constructing an environmental load action model; the dynamic analysis model has open source performance and good compatibility and has advantages when solving the complex multi-disaster coupling problem, and the flexible parametric modeling capability of the dynamic analysis model is also beneficial to analysis of the floating bridge structure; the invention further discloses a structural response control method for the dynamic analysis model of the linear full-scale anchored floating bridge under the wave action. According to the dynamic characteristics of the anchoring type floating bridge structure, the tuned mass dampers can be additionally arranged on the cross section of the main beam of the bridge, the vertical acceleration of the main beam of the bridge is controlled by reasonably selecting the parameters, the arrangement number and the arrangement positions of the tuned mass dampers, and therefore the driving comfort is improved.

The invention provides a road surface type identification method and device based on bidirectional time sequence characteristic adaptive fusion, and relates to the technical field of data processing, and the method comprises the steps: obtaining a longitudinal acceleration, a transverse acceleration and a vertical acceleration collected in a vehicle driving process, determining a dynamic temperature, and obtaining a characteristic used for representing a road surface type; then, based on the longitudinal acceleration, the transverse acceleration, the vertical acceleration and the dynamic temperature, time stamps of the longitudinal acceleration, the transverse acceleration and the vertical acceleration are collected, and time sequence features are constructed; and finally, processing the time sequence features by using a neural network model, and outputting a classification result of pavement types. According to the road surface type identification method based on bidirectional time sequence feature adaptive fusion provided by the invention, the accuracy and reliability of road surface type identification are improved, and accurate identification and accurate prediction of the type of the road surface where the automobile tire is located are realized.

A wheel action-based active suspension damping adjustment apparatus recognizes wheel actions through a steering apparatus, distance measuring apparatuses and force sensors and calculates an action damping magnitude according to damping parameters determined by different wheel actions, thereby achieving optimal adjustment under different actions. The changes in an inclination angle of a vehicle cabin floor and a vertical acceleration are monitored by using an inclination angle sensor and acceleration sensors, and meanwhile, an inclination angle damping and an acceleration damping are determined according to exceeding amplitudes, and a total damping of active suspensions is fed back and corrected, thereby further enhancing an adjustment and control effect of the active suspensions. According to the method, basic damping, action damping, inclination angle damping and acceleration damping data is output and recorded, and classified according to a vehicle state and the wheel actions, data changes under a same classification are compared.

The invention discloses a hovering accelerator estimation method and system for an electric power inspection unmanned aerial vehicle, equipment and a medium, and the method comprises the steps: taking a hovering accelerator of the unmanned aerial vehicle as an estimator, taking a vertical acceleration as a measurement quantity, and carrying out the real-time estimation of the hovering accelerator of the unmanned aerial vehicle through an extended Kalman filtering algorithm; the extended Kalman filtering algorithm is integrated into hovering control of the unmanned aerial vehicle for the first time, compared with an existing PID control algorithm, the control precision and the dynamic response capability of fixed-point hovering of the unmanned aerial vehicle are improved, better robustness is achieved, high-precision, real-time and dynamic stable hovering control can be achieved, the method can be suitable for the unmanned aerial vehicle with the weight changing in real time, and the hovering control accuracy of the unmanned aerial vehicle is improved. And the method has better generalization ability.

The embodiment of the invention discloses a vehicle suspension system, a vehicle data generation method and a vehicle, and belongs to the field of carriers. The vehicle suspension system comprises a vehicle frame; a wheel bracket; the height adjusting part is respectively connected with the frame and the wheel bracket and is used for adjusting the distance between the frame and the wheel bracket; the angular displacement sensor is respectively connected with the frame and the wheel bracket, and when the distance between the frame and the wheel bracket is changed, the angular displacement sensor generates angular displacement; the controller is configured to obtain the angle value of the angular displacement sensor; and calculating the height and the vertical acceleration of the frame according to the angle value. The embodiment of the invention has the technical effects that the monitoring of the height and the vertical acceleration of the frame is completed only by using one sensor, and the cost of the vehicle is reduced.

The invention relates to a multi-signal fusion real-time deduction method for three-dimensional wave parameters along with a ship, and a deduction device consists of a state sensor, a one-way stress sensor, a vertical acceleration sensor, a shunt, a terminal junction box, a signal acquisition instrument, a host, analysis software, a signal transmission cable and the like. The deduction method comprises the processes of system state matrix discretization, transfer function calculation, Kalman filtering deduction model construction, convergence analysis, result comparison and the like, and three-dimensional time-frequency parameters of waves are deduced in real time through fusion analysis of ship motion and actual measurement data of a key position stress response sensor. Real-time information of surrounding waves can be provided for more sailing ships, more comprehensive reference basis can be provided for ship sailing and ship type optimization, and the method has practical significance and market value.

The invention relates to the technical field of elevator running state evaluation, in particular to an elevator running state evaluation method and system based on multi-source heterogeneous data. Comprising the following steps that elevator car vertical acceleration signals, traction machine output torque signals, traction machine output current signals, motor encoder rotating speed signals, elevator running log time, stopping floor records, running frequency records and door opening and closing frequency records are collected, all data are aligned based on timestamps, and the elevator car vertical acceleration signals and the traction machine output current signals are obtained according to starting and running of elevator running. The stop state segments the data stream to form a period of time, generating a synchronized multi-source operating data stream. Multi-source heterogeneous data such as elevator car vertical acceleration signals, traction machine output torque signals and motor encoder rotating speed signals are integrated, synchronization data streams are generated based on timestamp alignment and running state segmentation, and the problem of feature misjudgment caused by data asynchronization or state mixing is solved.

The invention discloses a method for evaluating the use performance and driving comfort of a bridge after an explosion load effect. The method comprises the following steps: establishing a finite element model of the bridge under the explosion effect, and extracting the residual area of the section of the bridge after the explosion and the elevation of the bridge floor after the explosion; calculating distribution of bridge section damage degree and bridge deck irregularity level; and the traffic capacity of the bridge is evaluated accordingly. For a bridge which can still be used, a result file of a bridge part after explosion is imported, then an axle coupling model after explosion is established, and unevenness after explosion is formed; and extracting the calculated and analyzed vertical acceleration of the vehicle, and calculating the root mean square value of the acceleration to evaluate the driving comfort of the vehicle. According to the method, through coupling evaluation of the damage degree and the bridge floor irregularity level, the composite influence of explosion on the bridge safety and the driving comfort is comprehensively quantified, and the misjudgment risk caused by one-sided evaluation is avoided; and meanwhile, the economic cost is greatly reduced through a simulation analysis and calculation mode, and the safety risk of post-disaster scene survey is avoided.

The invention provides a vehicle control method and a vehicle, and relates to the technical field of chassis control, and the method comprises the steps: obtaining the mass center vertical speed of the vehicle during the driving period of the vehicle; determining the wheel mass center vertical acceleration of each wheel according to the mass center vertical speed, the speed of the wheel moving in the vertical direction caused by the vehicle pitching motion corresponding to each wheel and the speed of the wheel moving in the vertical direction caused by the vehicle rolling motion; according to the mass center vertical speed and the wheel mass center vertical acceleration of each wheel, target action parameters of a suspension corresponding to each wheel are determined; and according to the target action parameters of the suspension corresponding to each wheel, the actual main power or the actual damping force output by the suspension corresponding to each wheel is controlled. According to the invention, the driving stability and riding comfort of the vehicle can be maintained during the driving period of the vehicle.

The invention discloses an electric passenger car track detection method, which comprises the following steps of: starting initialization after a track detection host is electrified, entering a waiting state after completion, reading a tag ID, judging the tag ID, starting detection if the tag ID is started, and continuing to detect the tag ID if the tag ID is not started. The track detection host obtains the transverse / vertical acceleration of a vehicle through the triaxial accelerometer, obtains a line radio frequency tag signal through the radio frequency tag reader, and obtains and calculates track information through the inertial navigation device. And the synchronous controller outputs mileage information to the rail detection host after acquiring a signal of the speed sensor, and triggers the laser triangulation assembly to acquire steel rail profile data. The rail inspection host obtains the transverse / vertical acceleration, the track, the mileage and the steel rail profile information of the vehicle, and solves the geometric parameter data of the rail. The technical problems that an existing rail detection operation mode is low in operation efficiency, real-time online detection cannot be achieved, and detection line data cannot truly reflect line dynamic parameters in the running state of the electric passenger car can be solved.

The invention discloses a high-robustness P-wave seismic phase first arrival picking method, which is used for identifying a P-wave seismic phase by adopting a three-step picking method and comprises the following steps of: 1, performing one-dimensional multi-scale wavelet decomposition on an original vertical acceleration record, and reconstructing the acceleration record; step 2, respectively searching moments greater than a trigger threshold value for the original and reconstructed acceleration records by adopting an STA / LTA method, comparing differences, judging whether a signal is a P-wave seismic phase or an interference signal, and preliminarily picking up a P-wave first arrival moment; and 3, taking a section of record from the first arrival time point to the front and back of the original vertical acceleration record, and accurately picking up the P-wave first arrival time by applying the AIC criterion. In order to eliminate the influence of an interference signal on a first arrival P wave seismic phase, the acceleration record is reconstructed by using a large-scale wavelet coefficient, and the difference between the first arrival time point of the original acceleration record and the first arrival time point of the reconstructed acceleration record is compared, so that the accuracy of the pickup method is improved. The method can effectively eliminate the influence of various interference signals, is simple in calculation, and meets the requirement of earthquake early warning timeliness.

The invention belongs to the technical field of aircrafts, and particularly discloses a vertical take-off and landing aircraft landing system, a control method and an aircraft. The landing system of the vertical take-off and landing aircraft comprises a take-off and landing mechanism, an energy absorption mechanism and a braking mechanism. The landing gear comprises a rack, a supporting frame and aircraft wheels arranged at the lower end of the supporting frame, the energy absorption mechanism is arranged on the rack and used for absorbing kinetic energy generated when the supporting frame is turned outwards, the braking mechanism is used for adjusting braking force of the aircraft wheels so as to adjust the turning amplitude of the supporting frame, and when the aircraft lands, the braking mechanism actively adjusts the friction coefficient between the landing gear and the ground so as to adjust the turning amplitude of the supporting frame. The size of friction acting of the undercarriage and the ground and acting of an undercarriage energy absorption system is adjusted, so that the vertical acceleration of the fuselage of the aircraft is reduced, the fuselage load is reduced, the risk that the fuselage and airborne equipment are damaged due to plastic deformation is reduced, the load transmitted to passengers is reduced, the safety and reliability of the whole aircraft are improved, and safe landing of the aircraft is guaranteed. And the risk that the aircraft is damaged due to hard landing is reduced.

The invention relates to a vehicle jumping method, a storage medium, a program product, equipment, a system and a vehicle. The vehicle jumping method comprises the steps that in the vehicle jumping process, the tire pressure of a vehicle is adjusted so as to assist the vehicle in jumping. By adjusting the tire pressure of the vehicle, on one hand, the rigidity of the tire can be changed, and on the other hand, the vertical acceleration of the vehicle can be changed, so that the jumping capacity of the vehicle is optimized, for example, the take-off stroke is increased, the leap distance is increased, the oscillation curve is optimized, and landing buffering is increased, and more efficient and comfortable jumping is achieved.

The invention discloses a high-speed railway vertical curve dynamic long wave irregularity optimization method, which comprises the following steps: acquiring a line vertical section of a new line or an operation line and parameters thereof, and dynamically detecting filtering and / or driving dynamics indexes according to a preset high-speed railway, determining an easement curve mathematical model corresponding to the initial easement curve line type and the length and the circular curve radius thereof, adding the initial easement curve line type to the head and the tail of the line vertical section circular curve, constructing constraint conditions according to the vertical section characteristics of the new line or the operation line, and solving all vertical section vertical curve optimization parameters meeting the constraint conditions; and designing and constructing according to actual engineering conditions. The method is wide in application range, can effectively eliminate the sudden change of the vertical acceleration of the train body when the high-speed train passes through the head and the tail of the longitudinal section circular curve, can weaken the irregularity of long waves of 120 m and above in dynamic detection of the head and the tail of the high-speed railway circular curve, and effectively improves the dynamic vertical smoothness of the high-speed railway.

The invention discloses a shock absorber control method and device based on excitation frequency and a vehicle, and belongs to the technical field of vehicle control. The shock absorber control method comprises the steps that the vertical acceleration of a vehicle body and the sprung and unsprung relative displacement of a shock absorber are obtained; according to the vertical acceleration of the vehicle body and the sprung and unsprung relative displacement of a shock absorber, initial ceiling damping force and initial ground ceiling damping force are determined respectively; acquiring a current driving mode of the vehicle, determining a frequency division point according to the current driving mode, and performing high-pass and low-pass filtering on the initial ceiling damping force and the initial ground ceiling damping force according to the frequency division point to determine a final ceiling damping force and a final ground ceiling damping force; and the final ceiling damping force and the final ground ceiling damping force are summed to obtain final damping force, control current needed for achieving the damping force at the current speed is determined according to the current speed of the shock absorber and the final damping force, and the shock absorber is controlled according to the control current needed for achieving the damping force at the speed.

The invention discloses a vehicle semi-active suspension heaven and earth shed control method and system, electronic equipment and a medium, and the method comprises the steps: determining a heaven shed control damping force according to a sprung vertical speed, a sprung vertical speed and a heaven shed damping coefficient, and determining an earth shed control damping force according to the sprung vertical speed, the sprung vertical speed and an earth shed damping coefficient; the road roughness is determined according to the vehicle body pitch angle speed, the vehicle body roll angle speed, the sprung vertical acceleration and the sprung vertical speed; determining a damper operation mode according to the driving mode, and determining a heaven and earth shed distribution coefficient according to the road roughness and the damper operation mode; target damping force is determined according to the ceiling control damping force, the ground ceiling control damping force and the ceiling and ground ceiling distribution coefficient, and then vibration reduction control is conducted on the current vehicle according to the target damping force. According to the method, the accuracy of vehicle semi-active suspension control is improved, so that the riding comfort, the handling stability and the driving safety of the vehicle are improved, and the method can be applied to the technical field of vehicle control.

An electronic stability control system for a vehicle is disclosed. The electronic stability control system for a vehicle may include: first, second, third, and fourth acceleration sensors mounted on each wheel of the vehicle to detect the lateral acceleration and vertical acceleration of the corresponding wheel; a controller configured to be connected to first, second, third, and fourth acceleration sensors and receives lateral accelerations and vertical accelerations of the four wheels, calculate maximum values of lateral accelerations of front and rear wheels and lateral tire stiffness of the front and rear wheels considering load movement based on the lateral accelerations and vertical accelerations of the four wheels, calculate side slip angles of the front and rear wheels and a difference between the side slip angles of the front and rear wheels based on maximum values of lateral angular velocities of the front and rear wheels and the lateral tire stiffness of the front and rear wheels considering load movement, and determine brake pressure and a target wheel to which the brake pressure is to be applied in response to the difference between the side slip angles of the front and rear wheels exceeding a set value; and an actuator configured to receive a control signal from the controller and apply the brake pressure to the target wheel.An electronic stability control method for a vehicle using the electronic stability control system is further disclosed.

The invention relates to the technical field of model construction, and discloses a control model construction method based on an intelligent suspension system, which comprises the steps of data acquisition, feature extraction, control parameter analysis, control model construction and suspension system control. According to the method, key data such as vehicle body vertical acceleration and wheel vertical displacement are accurately collected, feature extraction and control parameter analysis are combined, accurate calculation of the damping coefficient and the spring stiffness coefficient of the suspension system is achieved, and a basis is provided for real-time control; mutual relations among parameters of the suspension system, such as correlation between a stress value and a damping coefficient and correlation between wheel vertical displacement and a spring stiffness coefficient, are comprehensively considered, so that the control is more scientific and reasonable; a kinetic equation is constructed according to the mechanics principle, data and parameters are substituted into the equation to determine an adjustment coefficient, and a solid theoretical basis is provided for control; the suspension system can be dynamically adjusted in real time according to road conditions, the driving comfort and safety are improved, and the intelligent development requirement of modern automobiles is met.

In some aspects, mobile devices with foldable and rollable displays can use a sensor to detect vertical acceleration with respect to the ground to determine if the mobile device has been dropped. If the sensor detects that the mobile device has been dropped the foldable device can fold or retract at least partially to afford protection from the fragile display from striking the ground. Even folding the display to an angle less than 180 degrees can afford some protection because the mobile device can strike edges of the mobile device instead of the display itself. In various embodiments, a rollable device can retract the display if predetermined acceleration limits are exceeded.

The invention provides a vehicle control method, a vehicle control device and a vehicle, and relates to the technical field of vehicle control. The method comprises the steps that under the condition that a target instruction is received, the vehicle sinking depth of a vehicle is obtained, and the target instruction is used for indicating that the requirement for controlling the vehicle to be disengaged from the trapped state exists; based on the vehicle sinking depth, target output power of the suspension system is determined, and the target output power is used for controlling the suspension system to enable the vehicle to generate vertical acceleration; a suspension system is controlled based on the target output power, and a drive system is controlled to cause the vehicle to jump and drive away from the trapped state. According to the method, the vehicle can be controlled when the vehicle is in a trapped state, so that the success rate of vehicle escape is increased.