CN116946156A

CN116946156A - Vehicle control method, vehicle, and computer-readable storage medium

Info

Publication number: CN116946156A
Application number: CN202210399617.XA
Authority: CN
Inventors: 刘海军; 武运峰; 黄丹丹; 朱嘉宁; 胡赣
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2022-04-15
Filing date: 2022-04-15
Publication date: 2023-10-27

Abstract

The embodiment of the disclosure discloses a vehicle control method, a vehicle and a computer readable storage medium, wherein the method comprises the following steps: acquiring an accelerator pedal signal of a vehicle; acquiring a brake pedal signal of the vehicle under the condition that the accelerator pedal signal indicates that the accelerator pedal has a fault; under the condition that the brake pedal signal indicates that a brake pedal is not in fault, starting a vehicle speed control mode to control the vehicle to run according to the vehicle speed control mode; and in the case that the brake pedal signal indicates that the brake pedal is in fault, controlling the current torque of the vehicle to be reduced to a first value so as to enable the vehicle to be in a sliding state.

Description

Vehicle control method, vehicle, and computer-readable storage medium

Technical Field

The embodiment of the disclosure relates to the technical field of electric automobiles, and more particularly relates to a vehicle control method, a vehicle and a computer readable storage medium.

Background

The accelerator pedal is used as a key component for identifying the driving intention of the user and for identifying the acceleration and deceleration operation of the user. The voltage signal output by the sensor of the accelerator pedal is a source of torque output by the automobile power system, so that the automobile power system controls the running of the vehicle according to the voltage signal output by the sensor of the accelerator pedal. However, the accelerator sensor is used as an electronic sensor, and the risk of failure of poor contact of a connector and short circuit and open circuit of a signal wire may cause uncontrollable power and affect the safety of vehicle driving.

In the related art, in the running process of the vehicle, the accelerator signal is collected in real time to detect whether the accelerator pedal has a fault according to the accelerator signal, and if the accelerator pedal has a fault, corresponding fault processing is performed, that is, no power requirement is required by default. However, this approach can quickly reduce the vehicle speed when the user steps on the accelerator pedal, with a significant safety risk.

Disclosure of Invention

It is an aim of embodiments of the present disclosure to provide a new solution regarding vehicle control.

According to a first aspect of the present disclosure, there is provided a vehicle control method including:

acquiring an accelerator pedal signal of a vehicle;

acquiring a brake pedal signal of the vehicle under the condition that the accelerator pedal signal indicates that the accelerator pedal has a fault;

under the condition that the brake pedal signal indicates that a brake pedal is not in fault, starting a vehicle speed control mode to control the vehicle to run according to the vehicle speed control mode;

and in the case that the brake pedal signal indicates that the brake pedal is in fault, controlling the current torque of the vehicle to be reduced to a first value so as to enable the vehicle to be in a sliding state.

According to a second aspect of the present disclosure, there is provided a vehicle comprising:

A memory for storing executable computer instructions;

a processor for executing the vehicle control method according to the first aspect of the present disclosure, according to control of the executable computer instructions.

According to a third aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, perform the vehicle control method according to the first aspect of the present disclosure.

According to the embodiment of the disclosure, in the running process of the vehicle, an accelerator pedal signal of the vehicle is obtained, whether the accelerator pedal has a fault or not is judged according to the accelerator pedal signal of the vehicle, a brake pedal signal is obtained under the condition that the accelerator pedal has a fault, whether the brake pedal has a fault or not is judged according to the brake pedal signal, and the running of the vehicle is controlled according to the fault conditions of the accelerator pedal and the brake pedal. Further, in the case where both the accelerator pedal and the brake pedal are failed, the vehicle is controlled to be in a coasting state, and in the case where both the accelerator pedal is failed and the brake pedal is normal, the vehicle speed is controlled to be slowly reduced based on the vehicle speed control mode. Therefore, compared with the existing mode of setting the torque of the vehicle to zero when the accelerator pedal fails, the accident caused by the fact that the vehicle is directly controlled to lose power when the accelerator pedal is abnormal can be avoided, the vehicle can keep basic driving functions, the vehicle cannot be anchored due to the accelerator failure, the danger coefficient of a driver and passengers is reduced, and the great loss to a user is avoided.

Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. Other relevant drawings may be made by those of ordinary skill in the art without undue burden from these drawings.

FIG. 1 is one of the flow diagrams of a vehicle control method according to one embodiment;

FIG. 2 is a second flow chart diagram of a vehicle control method according to one embodiment;

FIG. 3 is a third flow chart diagram of a vehicle control method according to one embodiment;

FIG. 4 is a fourth flow chart diagram of a vehicle control method according to one embodiment;

fig. 5 is a schematic hardware configuration of a vehicle control apparatus according to an embodiment;

FIG. 6 is one of the hardware architecture schematics of a vehicle according to one embodiment;

FIG. 7 is a second schematic diagram of a hardware architecture of a vehicle according to one embodiment.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

< method example >

Fig. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the disclosure. The vehicle control method is implemented by a vehicle. As shown in fig. 1, the vehicle control method may include the following steps 1100 to 1400.

Step 1100, an accelerator pedal signal of a vehicle is obtained.

Step 1200, acquiring a brake pedal signal of the vehicle when the accelerator pedal signal indicates that the accelerator pedal has a fault.

In this embodiment, the accelerator pedal signal may be a voltage signal output from an accelerator sensor provided on the accelerator pedal. According to the signal of the accelerator pedal of the vehicle, whether the accelerator pedal has a fault or not can be judged. The fault of the accelerator pedal can comprise an accelerator pedal signal abnormality or an accelerator pedal signal checking abnormality.

Taking the abnormality of the accelerator pedal signal as an example, the process of judging that the accelerator pedal has a fault is described. Specifically, during the running of the vehicle, the voltage signal output by the accelerator sensor is collected at a predetermined frequency, the number of times that the voltage signal output by the accelerator sensor is abnormal is obtained, and when the number of times that the abnormal voltage signal is greater than a predetermined number of times threshold, the accelerator pedal is determined to have a fault. The voltage signal output by the accelerator sensor is abnormal, and the voltage signal output by the accelerator sensor is not in a normal voltage signal range.

Taking the abnormality of the signal check of the accelerator pedal as an example, the process of judging that the accelerator pedal has faults is described. Specifically, two accelerator sensors, namely a first accelerator sensor and a second accelerator sensor, are arranged on the accelerator pedal, a voltage signal output by the first accelerator sensor and a voltage signal output by the second accelerator sensor are obtained, and whether the accelerator pedal has a fault or not can be judged according to a functional relation between the voltage signal output by the first accelerator sensor and the voltage signal output by the second accelerator sensor. For example, determine a first throttle transmission The voltage value (V of the voltage signal output from the sensor ₁ ) And twice the voltage value of the voltage signal output by the second accelerator sensor (2V ₂ ) And (3) comparing the difference value with a preset first threshold value, and if the difference value is larger than the first threshold value, considering that the accelerator pedal signal is abnormal in verification, namely that the accelerator pedal has a fault. Therefore, based on the preset functional relation between the voltage signal output by the first accelerator sensor and the voltage signal output by the second accelerator sensor, whether the accelerator pedal has a fault or not is judged, the detection accuracy can be ensured, and meanwhile, the operation complexity can be reduced.

In this embodiment, the brake pedal signal may be a voltage signal output from a brake sensor provided on the brake pedal. Based on the brake pedal signal of the vehicle, it can be determined whether there is a failure in the brake pedal. The failure of the brake pedal may include an abnormality in the brake pedal signal, or may include an abnormality in the brake pedal signal verification.

Taking an abnormal brake pedal signal as an example, the process of judging that the brake pedal has a fault will be described. Specifically, during running of the vehicle, voltage signals output by the brake sensor are collected at a predetermined frequency, the number of times that the voltage signals output by the brake sensor are abnormal is obtained, and when the number of times that the abnormal voltage signals are greater than a predetermined number of times threshold, a brake pedal is determined to have a fault. The voltage signal output by the brake sensor is abnormal, and the voltage signal output by the brake sensor is not in a normal voltage signal range.

Taking the abnormal verification of the brake pedal signal as an example, the process of judging that the brake pedal has faults is described. Specifically, two brake sensors, namely a first brake sensor and a second brake sensor, are arranged on the brake pedal, the voltage signal output by the first brake sensor and the voltage signal output by the second brake sensor are obtained, and whether the brake pedal has a fault or not can be judged according to the functional relation between the voltage signal output by the first brake sensor and the voltage signal output by the second brake sensor. For example, a voltage value (V ₃ ) And a second brake sensor outputIs twice the voltage value of the voltage signal (2V ₄ ) And (3) comparing the difference value with a preset second threshold value, and if the difference value is larger than the second threshold value, considering that the brake pedal signal is abnormal in verification, namely that the brake pedal has faults. Therefore, based on the preset functional relation between the voltage signal output by the first brake sensor and the voltage signal output by the second brake sensor, whether the brake pedal has a fault or not is judged, the detection accuracy can be ensured, and meanwhile, the operation complexity can be reduced.

In step 1300, in the case that the brake pedal signal indicates that there is no failure in the brake pedal, a vehicle speed control mode is started to control the vehicle to run according to the vehicle speed control mode.

In the present embodiment, when the vehicle starts the vehicle speed control mode, the vehicle acceleration drive or deceleration braking may be controlled by the electric drive system of the vehicle, thereby restricting the speed at which the vehicle travels.

Step 1400, controlling the current torque of the vehicle to decrease to a first value to place the vehicle in a coasting state in the event that the brake pedal signal indicates a failure of the brake pedal.

Illustratively, the first value may be zero.

In one embodiment, after the acquiring the accelerator pedal signal of the vehicle, the method further includes: and outputting third prompting information to prompt a driver that the accelerator pedal has a fault under the condition that the accelerator pedal signal indicates that the accelerator pedal has the fault.

The third prompt message is used for prompting the driver of the vehicle that the current speed of the vehicle is about to be reduced. The third prompt may be, for example, a voice prompt, a text prompt, a vibration prompt, etc. For example, the third prompt message is "the accelerator pedal has a fault, please stop by side".

In this embodiment, when the accelerator pedal signal indicates that the accelerator pedal has a fault, third prompting information is output to prompt the driver that the accelerator pedal has a fault, so that the driver can perform corresponding processing quickly, the safety coefficient of the vehicle is increased, and traffic accidents are avoided.

In one embodiment, after acquiring the accelerator pedal signal of the vehicle, the method may further include: and under the condition that the accelerator pedal signal indicates that the accelerator pedal has a fault, controlling the vehicle to send out alarm information.

In the implementation, when the accelerator pedal signal indicates that the accelerator pedal has a fault, the vehicle is controlled to light up double flashes so as to remind surrounding vehicles of avoiding, and the driving safety is further improved.

In one embodiment, in a case where the brake pedal signal indicates that there is no failure of the brake pedal, a vehicle speed control mode is started to control the vehicle to travel according to the vehicle speed control mode, and further comprising: step 2100-step 2300.

Step 2100, a current driving mode of the vehicle is obtained.

The driving modes of the vehicle may include a normal driving mode and an auxiliary driving mode. An auxiliary driving switch is generally provided on the vehicle, by which the driver can start the amplitude driving mode. It will be appreciated that the driving assistance switch may be a physical switch provided on the vehicle, a control on a multimedia device of the vehicle, or a control on another intelligent device (e.g., a terminal device communicatively connected to the vehicle).

For example, during running of the vehicle, the whole vehicle control system may receive a switching signal output by the auxiliary driving switch, control the vehicle to start the auxiliary driving mode when the switching signal is a first signal, and control the vehicle to remain in the normal driving mode when the switching signal is a second signal. It is understood that the first signal is a high level signal and the second signal is a low level signal.

Here, the step of obtaining the current driving mode of the vehicle may be performed after the step of determining whether the accelerator pedal and the brake pedal are faulty or may be performed before the step of determining whether the accelerator pedal and the brake pedal are faulty, and the order of execution of the step of obtaining the current driving mode of the vehicle and the step of determining whether the accelerator pedal and the brake pedal are faulty is not limited in the embodiment of the present disclosure.

Step 2200, starting a vehicle speed control mode to control the vehicle to run according to the vehicle speed control mode when the current driving mode is a normal driving mode.

Step 2300, starting a vehicle speed control mode to control the vehicle to run according to the vehicle speed control mode and outputting a first prompt message to prompt a driver to start an emergency running mode when the current driving mode is an auxiliary driving mode.

In the present embodiment, in the assisted driving mode, if there is a failure of the accelerator pedal and there is no failure of the brake pedal, the emergency running mode may be started. The emergency travel mode may be initiated by a cruise switch provided by the vehicle, for example. In the emergency running mode, the vehicle can be controlled to run at a preset speed in the case that the accelerator pedal is failed and the brake pedal is normal, so that the vehicle can be controlled to continue running in the case that the accelerator pedal of the vehicle is failed, and the vehicle can be controlled to run to a closer destination, such as an emergency lane, a service station, and a maintenance point.

The first prompt message is used for prompting a driver of the vehicle to start an emergency running mode. Illustratively, the first prompt may be a voice prompt, a text prompt, a vibration prompt, or the like. For example, the first prompt message is "the accelerator pedal has a fault, the brake pedal has no fault, and the emergency running mode is started. For example, the first prompt information may be output with a preset display effect. For example, in the case where the current driving mode is the assist driving mode, if there is a failure of the accelerator pedal and there is no failure of the brake pedal, the cruise switch for starting the emergency driving mode is controlled to be displayed in a preset manner to prompt the user to start the emergency driving mode through the cruise switch.

In this embodiment, under the condition that the accelerator pedal signal has a fault and the brake pedal has no fault, the current driving mode of the vehicle may be obtained, if the current driving mode is the auxiliary driving mode, the vehicle is automatically controlled to enter the vehicle speed control mode, and at the same time, a first prompt message is output to prompt the driver to start the emergency driving mode, and the emergency driving mode is timely started. Therefore, when the accelerator pedal of the vehicle fails, the cruising running function of the vehicle can be reused, the cruising running function of the vehicle is utilized to control the vehicle to run according to the emergency running mode, the vehicle can continue to run when the accelerator pedal fails, potential safety hazards caused by directly setting the torque of the vehicle to zero and inconvenience brought to a driver are avoided, the driving safety is further guaranteed, and the driving experience is improved.

The emergency travel mode will be described with specific examples.

In one embodiment, after the outputting the first prompt information to prompt the driver to initiate the emergency running mode, the method may further include: and when the emergency running mode is started, the vehicle speed control mode is closed, and the vehicle is controlled to run at a first set speed.

In this embodiment, the first set speed may be a travel speed of the vehicle in an emergency set by the user, wherein the emergency may include an accelerator pedal failure. In specific implementation, after the emergency running mode is started, the whole vehicle control system receives a first set speed output by the cruise control system, and controls torque addition and subtraction of the vehicle according to the first set speed so as to keep the current speed of the vehicle at the first set speed. In this way, when there is a failure in the accelerator pedal of the vehicle, the cruise function of the vehicle can be reused, and the vehicle can be controlled to travel in the emergency travel mode. In addition, under the condition of the fault of the accelerator pedal, the driving running requirement of a user can be normally input, the sliding distance of the vehicle during the fault can be reduced as much as possible, the safety coefficient of the vehicle is increased, and the occurrence of traffic accidents is avoided.

The control method of the vehicle in the normal driving mode will be described below with a specific example. Referring to fig. 2, the control method of the vehicle includes the following steps.

Step 301, controlling the vehicle to be in a normal driving mode;

step 302, judging whether the accelerator pedal has a fault according to the accelerator pedal signal, if so, executing step 303, otherwise, repeating step 302;

step 303, outputting a third prompt message to prompt the driver that the accelerator pedal has a fault;

step 304, judging whether the brake pedal has a fault according to the brake pedal signal, if yes, executing step 305, otherwise, executing step 306;

step 305, setting the current torque of the vehicle to zero so as to enable the vehicle to be in a sliding state;

step 306, a vehicle speed control mode is initiated.

In this example, if the accelerator pedal fails in the normal driving mode of the vehicle, it is further determined whether the brake pedal fails, and if the brake pedal fails, the vehicle is immediately controlled to be in a coasting state, and if the brake pedal does not fail, the vehicle speed control mode is started to control the vehicle to slow down. Therefore, compared with the existing mode of setting the torque of the vehicle to zero when the accelerator pedal fails, the accident caused by the fact that the vehicle is directly controlled to lose power when the accelerator pedal is abnormal can be avoided, the vehicle can keep basic driving functions, the vehicle cannot be anchored due to the accelerator failure, the danger coefficient of a driver and passengers is reduced, and the great loss to a user is avoided.

A control method of the vehicle in the assist driving mode will be described below with a specific example. Referring to fig. 3, the control method of the vehicle includes the following steps.

Step 401, controlling the vehicle to be in an auxiliary driving mode;

step 402, judging whether the accelerator pedal has a fault according to the accelerator pedal signal, if so, executing step 403, otherwise, repeating step 402;

step 403, judging whether the brake pedal has a fault according to the brake pedal signal, if yes, executing step 404, otherwise, executing step 405;

step 404, setting the current torque of the vehicle to zero so as to enable the vehicle to be in a sliding state, and outputting prompt information so as to prompt a driver that the accelerator pedal and the brake pedal have faults;

step 405, starting a vehicle speed control mode, and outputting a first prompt message to prompt a driver to start an emergency running mode;

step 406, judging whether an activation instruction of the cruise system is received, if yes, executing step 407, otherwise, returning to step 405;

step 407, starting an emergency running mode and closing a vehicle speed control mode.

In this example, if the accelerator pedal fails while the vehicle is in the assisted driving mode, it is further determined whether the brake pedal fails, and if the brake pedal fails, the vehicle is immediately controlled to be in a coasting state, and if the brake pedal does not fail, the vehicle speed control mode is started, and the user is prompted to start the emergency running mode. Therefore, when the accelerator pedal of the vehicle fails, the cruising running function of the vehicle can be reused, and the vehicle is controlled to run according to the emergency running mode, so that the vehicle can continue to run when the accelerator pedal fails, the vehicle cannot be anchored due to the accelerator failure, the risk coefficient of a driver and passengers is reduced, and larger loss to a user is avoided.

The following describes a vehicle speed control mode in a specific embodiment.

In one embodiment, the controlling the vehicle to travel according to the vehicle speed control mode may further include: step 5100-step 5300.

Step 5100, obtaining a current vehicle speed of the vehicle.

And step 5200, controlling the current vehicle speed to be reduced to a second set speed under the condition that the current vehicle speed is in a set speed interval.

Step 5300, controlling the vehicle to gradually slow down according to a predetermined strategy when the current vehicle speed is outside the set speed interval and the current vehicle speed is greater than or equal to a third set speed.

The set speed interval can be used for judging whether the current speed of the vehicle is lower or not so as to directly control the current speed to be reduced to a second set speed when the vehicle runs at a lower speed, thereby ensuring the driving safety of the vehicle in the accelerator fault state. It is understood herein that the set speed interval may be set by those skilled in the art according to actual experience or simulation test results, for example, the set speed interval is 10km/h or more and less than 30km/h.

The third set speed may be an upper limit value of the set speed section, for example, the third set speed is 30km/h. Based on the set speed interval and the third set speed, whether the current speed of the vehicle is higher or not can be judged, the vehicle can be controlled to be slowed down step by step, the vehicle is prevented from being slowed down too fast, and the driving safety is improved.

The second set speed may be a safe running speed of the vehicle when there is a failure of the accelerator pedal of the vehicle. The second set speed may be, for example, a lower limit value of the set speed section, for example, 10km/h. The second set speed may also be other values, for example 12km/h, 8km/h, etc., as examples.

In specific implementation, after entering the vehicle speed control mode, the current vehicle speed of the vehicle can be obtained, the current vehicle speed is compared with the set speed interval, and when the current vehicle speed of the vehicle is in the set speed interval, the vehicle is indicated to run at a lower vehicle speed, and the vehicle can be directly controlled to be reduced to the second set speed. And further judging whether the current speed of the vehicle is greater than or equal to a third set speed under the condition that the current speed of the vehicle is outside the set speed interval, so that the vehicle is driven at a higher speed when the current speed is outside the set speed interval and is greater than or equal to the third set speed, and the vehicle can be controlled to be decelerated step by step according to a preset strategy. Like this, under the speed control mode, can control the vehicle and step by step slow down according to the current speed of vehicle, avoid the speed of a motor vehicle to descend fast, guarantee the security of driving to, can avoid the moment of torsion of vehicle to descend too fast and lead to the vehicle unstable, also avoid the decline of vehicle too slowly, lead to the deceleration time to lengthen, increase the potential safety hazard.

In one embodiment, after the obtaining the current speed of the vehicle, the method may further include: and controlling the vehicle to run at idle speed under the condition that the current vehicle speed is outside the set speed interval and the current vehicle speed is smaller than a fourth set speed.

The fourth set speed may be a lower limit value of the set speed section, for example, the fourth set speed is 10km/h. Based on the set speed interval and the fourth set speed, it may be determined whether the current vehicle speed of the vehicle is in a lower safe running speed range, so that the idle running of the vehicle is directly controlled without performing a deceleration control when the current vehicle speed of the vehicle is between the set speed intervals and the current vehicle speed is less than the fourth set speed. Therefore, under the condition of the fault of the accelerator pedal, the vehicle can keep the basic driving function, the vehicle cannot be anchored due to the fault of the accelerator, the danger coefficient of a driver and passengers is reduced, the great loss to the user is avoided, and the driving safety is improved.

In one embodiment, the controlling the vehicle to gradually slow down according to the predetermined strategy may further include: step 6100-step 6300.

Step 6100, determining a current speed level corresponding to the current speed according to the current speed.

In this embodiment, the speed level of the vehicle may be preset, and different speed levels correspond to different speed ranges. In particular implementations, the current vehicle speed may be compared to speed ranges corresponding to different speed levels to determine a current speed level corresponding to the current vehicle speed.

For example, four speed levels, i.e., a first speed level, a second speed level, a third speed level, and a fourth speed level are set; wherein, the speed range of the first speed grade is v more than or equal to 80km/h, the speed range of the second speed grade is 60km/h less than or equal to v less than 80km/h, the speed range of the third speed grade is 30km/h less than or equal to v less than 60km/h, and the speed range of the fourth speed grade is 10km/h less than or equal to v less than 30km/h. Assuming that the current speed of the vehicle is 90km/h, the current speed level corresponding to the current speed is a first speed level.

Step 6200, adjusting the current vehicle speed to a target speed corresponding to the current speed level.

In the present embodiment, different target speeds may be set for different speed classes, the target speeds being used to define the running speed of the vehicle. For example, the target speed for a speed class may be a lower limit of the speed range of the speed class. For example, the target speed corresponding to the first speed level is 80km/h, the target speed corresponding to the second speed level is 60km/h, the target speed corresponding to the third speed level is 30km/h, and the target speed corresponding to the fourth speed level is 10km/h.

In the implementation, after determining the current speed level corresponding to the current speed, comparing the current speed with the target speed corresponding to the current speed level, and under the condition that the current speed is greater than the target speed corresponding to the current speed level, adjusting the current speed to the target speed corresponding to the current speed level, so that the current speed is slowly reduced, and limiting the running speed of the vehicle is realized.

Optionally, adjusting the current vehicle speed to a target speed corresponding to the current speed level may further include: and adjusting the current vehicle speed to a target speed corresponding to the current speed level in a second preset time.

The second predetermined time may be set by those skilled in the art according to actual experience, for example, the second predetermined time is 1min, which is not limited in the embodiment of the present disclosure.

In this embodiment, when determining the current speed level corresponding to the current vehicle speed, the current vehicle speed is adjusted to the target speed corresponding to the current speed level in the second predetermined time, so that the vehicle speed can be controlled in the safe running speed range in time, the sliding distance of the vehicle during the fault can be reduced as much as possible, the safety coefficient of the vehicle is increased, and the occurrence of traffic accidents is avoided.

Step 6300, controlling the current vehicle speed to decrease to a target speed corresponding to a target speed level when a duration of running of the vehicle at the target speed corresponding to the current speed level reaches a first predetermined time, until the decreased current vehicle speed is within the set speed interval. The target speed level is the next speed level below the current speed level. For example, the current speed level is a first speed level and the target speed level is a second speed level.

The first predetermined time may be preset. The first predetermined time may be a time condition for each control of a decrease in the current vehicle speed of the vehicle. The speed level may be used as a magnitude condition for each control of the current speed drop of the vehicle. That is, when the current vehicle speed is adjusted to the target speed corresponding to the current speed level, the duration of the vehicle traveling at the target speed corresponding to the current speed level is recorded, and when the duration reaches the first predetermined time, the current vehicle speed is controlled to drop again. And the current vehicle speed is reduced from the target vehicle speed corresponding to the current speed level to the target vehicle speed corresponding to the target speed level until the reduced current vehicle speed is positioned in the set speed interval.

Here, it should be noted that the first predetermined time may be set by a person skilled in the art according to practical experience, for example, the first predetermined time is 2min, which is not limited in the embodiment of the present disclosure.

Continuously taking the current speed of 90km/h as an example, and controlling the current speed to be reduced from 90km/h to a target speed (80 km/h) corresponding to the first speed level in a vehicle speed control mode; after 2 minutes, controlling the current speed to be reduced from 80km/h to a target speed (60 km/h) corresponding to the second speed level; after 2 minutes, the current speed is controlled to be reduced from 60km/h to a target speed (30 km/h) corresponding to a third speed level; after 2 minutes, the current vehicle speed is controlled to be reduced from 30km/h to a target speed (10 km/h) corresponding to the fourth speed level, that is, the reduced current vehicle speed is located within the set speed section.

In this embodiment, after the vehicle speed control mode is started, under the condition that the current vehicle speed is outside the set speed interval and the vehicle speed is large, determining a current speed grade corresponding to the current vehicle speed according to the current vehicle speed, adjusting the current vehicle speed to a target vehicle speed corresponding to the current speed grade, and then controlling the vehicle to gradually slow down according to the speed grade until the reduced current vehicle speed is located in the set speed interval. Therefore, when the accelerator pedal is in fault, the current speed can be reduced rapidly, and the safety of the vehicle is ensured. And moreover, the unstable vehicle caused by the too fast decrease of the current torque can be avoided, the lengthening of the deceleration time caused by the too slow decrease of the current torque can be avoided, and the potential safety hazard is increased.

Optionally, controlling the current vehicle speed to decrease to a target speed corresponding to the target speed level until the decreased current vehicle speed is within the set speed interval may further include: and in a second preset time, controlling the current vehicle speed to be reduced to a target speed corresponding to a target speed level until the reduced current vehicle speed is positioned in the set speed interval.

In this embodiment, when the current vehicle speed is outside the set speed interval and the current vehicle speed is relatively large, the current vehicle speed can be controlled to be gradually reduced, and when the current vehicle speed is controlled to be reduced each time, the current vehicle speed is limited to be stabilized within a second preset time, so that the rapid reduction of the vehicle speed can be avoided, meanwhile, the vehicle speed can be timely controlled within a safe running speed range, the sliding distance of the vehicle during faults can be reduced as much as possible, the safety coefficient of the vehicle is increased, and traffic accidents are avoided.

In one embodiment, in a case where the duration of the vehicle traveling at the target speed corresponding to the current speed level reaches the first predetermined time, the method may further include, before the current vehicle speed decreases to the target speed corresponding to the target speed level, controlling the current vehicle speed to decrease to the target speed: and outputting a second prompt message to prompt a driver to control the current vehicle speed to be reduced.

The second prompt message is used for prompting a driver of the vehicle that the current speed of the vehicle is about to be reduced. The second prompt may be, for example, a voice prompt, a text prompt, a vibration prompt, etc. For example, the second prompt message is "accelerator pedal has a failure, and the vehicle will be decelerating after 2 minutes, please note.

In a specific implementation, outputting the second prompt information may include: when the current vehicle speed is adjusted to the target speed corresponding to the current speed level, a second prompt message is output to prompt the driver that the vehicle is about to be decelerated. Outputting the second prompt information may also include: when the speed level of the current vehicle speed is reduced by one level each time and the current vehicle speed is between the set speed intervals, a second prompt message is output to prompt the driver that the vehicle is to be reduced.

In this embodiment, in the process of controlling the current speed of the vehicle to gradually decrease, the second prompt information is output to prompt the driver that the vehicle will decrease in speed, so that the driver can be reminded to control the vehicle to travel according to the vehicle speed, so that the vehicle can quickly enter a safety area, the safety coefficient of the vehicle is increased, and traffic accidents are avoided.

In one embodiment, the controlling the vehicle to travel according to the vehicle speed control mode may further include: acquiring the stepping state of the brake pedal; and when the stepping state of the brake pedal is the stepped state, controlling the current torque of the vehicle to be reduced to a first value so as to enable the vehicle to be in a sliding state.

In this embodiment, the first value may be zero, and the current torque is set to zero to cause the vehicle to stop rapidly.

The depressed state of the brake pedal may include a depressed state and an un-depressed state. According to the depressed state of the brake pedal, it is possible to determine whether the driver has a intention to park, so that in the case where the driver has a intention to park, the current torque of the vehicle is immediately set to zero, so that the vehicle is in a coasting state.

For example, the stepping state of the brake pedal may be determined based on a switching signal output from a brake pedal switch. More specifically, in the vehicle speed control mode, the vehicle control system may receive a switching signal output from the brake pedal switch, and determine that the depressed state of the brake pedal is a depressed state, that is, that the driver depresses the brake pedal, when the switching signal output from the brake pedal switch is the first signal; when the switch signal output from the brake pedal switch is the second signal, it is determined that the depressed state of the brake pedal is an un-depressed state, that is, the driver does not depress the brake pedal. It is understood that the first signal is a high level signal and the second signal is a low level signal.

For example, the state of depression of the brake pedal may also be determined from the depth signal output by the brake pedal sensor. More specifically, in the vehicle speed control mode, the vehicle control system may receive a depth signal output from a brake pedal sensor, and determine that a depressed state of the brake pedal is a depressed state, that is, that the driver depresses the brake pedal, when a depression depth value of the depth signal reaches a predetermined depth threshold.

In this embodiment, in the vehicle speed control mode, when the driver does not step on the brake pedal, the control vehicle speed is slowly reduced, and when the driver steps on the brake pedal, the current torque of the vehicle is immediately set to zero, so that the vehicle is in a sliding state, and in this way, the vehicle can be controlled to run according to the current driving condition under the condition that the accelerator pedal fails, and the driving safety is further ensured.

In one embodiment, after the vehicle speed control mode is initiated, the method may further include: and controlling the vehicle to send out alarm information.

In the implementation, the control of the vehicle to send the warning information may be to control the vehicle to light up the double flashing to remind surrounding vehicles to pay attention to avoid, so as to further improve the driving safety.

The vehicle speed control mode is described below with a specific example. Referring to fig. 4, the control method of the vehicle includes the following steps.

Step 701, starting a vehicle speed control mode;

step 702, judging whether the current vehicle speed is greater than or equal to 80km/h, if yes, executing step 703, otherwise, executing step 704;

step 703, the current vehicle speed is adjusted to 80km/h, a second prompt message is output, the double flashing is controlled to be lightened, and then step 705 is executed;

Step 704, judging whether the current vehicle speed is greater than or equal to 60km/h, if so, executing step 706, otherwise, executing step 707;

step 705, judging whether the duration of the vehicle running at 80km/h is greater than a first predetermined time (2 min), if yes, executing step 706, otherwise, executing step 714;

step 706, the current speed is adjusted to 60km/h, a second prompt message is output, the lighting of the double flash is controlled, and then step 708 is executed;

step 707, judging whether the current vehicle speed is greater than or equal to 30km/h, if yes, executing step 709, otherwise, executing step 710;

step 708, judging whether the duration of running of the vehicle at 60km/h is greater than a first predetermined time (2 min), if yes, executing step 709, otherwise, executing step 714;

step 709, the current speed is adjusted to be 30km/h, a second prompt message is output, the double flashing is controlled to be lightened, and then step 711 is executed;

step 710, judging whether the current vehicle speed is greater than or equal to 10km/h, if yes, executing step 712, otherwise, executing step 713;

step 711, judging whether the duration of the vehicle running at 30km/h is greater than a first predetermined time (2 min), if yes, executing step 712, otherwise, executing step 714;

Step 712, the current speed is adjusted to 10km/h, and a second prompt message is output, the control is to light up the double flashing, and then step 714 is executed;

step 713, controlling the idle running of the vehicle, and then, executing step 714;

step 714, determining whether the brake pedal is depressed, if yes, executing step 715, otherwise, executing step 716;

step 715, setting the torque to 0, entering the coasting state, and then performing step 717;

step 716, maintaining the last state;

step 717, it is determined whether the brake pedal is released, and if so, the process returns to step 702, otherwise, the process returns to step 715.

Here, the maintenance of the previous state may be to maintain the adjusted vehicle speed for continued running.

In this example, after the vehicle speed control mode is started, if the current vehicle speed is outside the set speed interval and the vehicle speed is large, the current speed level corresponding to the current vehicle speed is determined according to the current vehicle speed, the current vehicle speed is adjusted to the target vehicle speed corresponding to the current speed level, and then the vehicle is controlled to be gradually decelerated according to the speed level until the reduced current vehicle speed is within the set speed interval. Therefore, when the accelerator pedal is in fault, the current speed can be reduced rapidly, and the safety of the vehicle is ensured. And moreover, the unstable vehicle caused by the too fast decrease of the current torque can be avoided, the lengthening of the deceleration time caused by the too slow decrease of the current torque can be avoided, and the potential safety hazard is increased.

< device example >

Referring to fig. 5, the embodiment of the disclosure further provides a vehicle control device. As shown in fig. 5, the vehicle control apparatus 800 may include a first acquisition module 810, a second acquisition module 820, a first control module 830, and a second control module 840.

The first acquisition module 810 may be used to acquire an accelerator pedal signal of a vehicle.

The second obtaining module 820 may be configured to obtain a brake pedal signal of the vehicle in a case where the accelerator pedal signal indicates that there is a failure in the accelerator pedal.

The first control module 830 may be configured to initiate a vehicle speed control mode to control the vehicle to travel according to the vehicle speed control mode if the brake pedal signal indicates that there is no failure of the brake pedal.

The second control module 840 may be configured to control the current torque of the vehicle to decrease to a first value to place the vehicle in a coasting state in the event that the brake pedal signal indicates a failure of the brake pedal.

In one embodiment, the first control module 830 is specifically configured to: acquiring a current driving mode of the vehicle; under the condition that the current driving mode is a normal driving mode, starting a vehicle speed control mode to control the vehicle to run according to the vehicle speed control mode; and under the condition that the current driving mode is an auxiliary driving mode, starting a vehicle speed control mode to control the vehicle to run according to the vehicle speed control mode, and outputting first prompting information to prompt a driver to start an emergency running mode.

In one embodiment, the vehicle control apparatus 800 further includes:

and the third control module is used for closing the vehicle speed control mode and controlling the vehicle to run at a first set speed under the condition that the emergency running mode is started.

In one embodiment, the first control module 830 includes:

a first acquisition unit configured to acquire a current vehicle speed of the vehicle;

the first control unit is used for controlling the current vehicle speed to be reduced to a second set speed under the condition that the current vehicle speed is in a set speed interval;

and the second control unit is used for controlling the vehicle to gradually slow down according to a preset strategy when the current vehicle speed is outside the set speed interval and the current vehicle speed is greater than or equal to a third set speed.

In one embodiment, the second control unit is specifically configured to: determining a current speed grade corresponding to the current speed according to the current speed; adjusting the current vehicle speed to a target speed corresponding to the current speed level; controlling the current vehicle speed to be reduced to a target speed corresponding to the target speed level under the condition that the duration of running of the vehicle at the target speed corresponding to the current speed level reaches a first preset time, until the reduced current vehicle speed is positioned in the set speed interval; wherein the target speed level is a next speed level lower than the current speed level.

In one embodiment, the vehicle control apparatus 800 further includes:

and the first output module is used for controlling the current vehicle speed to be reduced to the target speed corresponding to the target speed level under the condition that the duration of the vehicle running at the target speed corresponding to the current speed level reaches a first preset time, and outputting second prompt information to prompt a driver to control the current vehicle speed to be reduced until the current vehicle speed is reduced to the target vehicle speed.

In one embodiment, the first control module 830 further includes:

and the third control unit is used for controlling the vehicle to run at idle speed when the current vehicle speed is outside the set speed interval and the current vehicle speed is smaller than a fourth set speed.

In one embodiment, the first control module 830 further includes:

a second acquisition unit configured to acquire a stepping state of the brake pedal;

and a fourth control unit configured to control the current torque of the vehicle to be reduced to a first value to bring the vehicle into a coasting state, in a case where the depressed state of the brake pedal is a depressed state.

In one embodiment, the vehicle control apparatus 800 further includes:

The second output module is used for outputting third prompt information to prompt a driver that the accelerator pedal has a fault under the condition that the accelerator pedal signal indicates that the accelerator pedal has the fault.

Referring to fig. 6, an embodiment of the present disclosure further provides a vehicle. As shown in fig. 6, the vehicle 900 includes a memory 910 and a processor 920. Memory 910 is used to store executable computer instructions. The processor 920 is configured to execute the vehicle control method according to the foregoing embodiment according to control of the executable computer instructions.

In one embodiment, as shown in FIG. 7, the vehicle 100 includes an accelerator pedal sensor 101, a brake pedal sensor 102, a vehicle speed sensor 103, a driver assistance switch 104, a vehicle control system 105, an electric drive system 106, a brake system 107, and an intelligent voice multimedia system 108.

The accelerator pedal sensor 101 is connected to the vehicle control system 105, and is configured to output an accelerator pedal signal to the vehicle control system 105, so that the vehicle control system 105 determines whether the accelerator pedal has a fault according to the accelerator pedal signal. The accelerator pedal signal is typically a hard-wired signal.

The brake pedal sensor 102 is connected to the vehicle control system 105, and is configured to output a brake pedal signal to the vehicle control system 105, so that the vehicle control system 105 determines whether the brake pedal has a fault according to the brake pedal signal. Wherein the brake pedal signal is typically a hard-wired signal.

The vehicle speed sensor 103 is connected with the vehicle control system 105, and is configured to send the current vehicle speed to the vehicle control system 105, so that the vehicle control system 105 controls the vehicle according to the current vehicle speed.

The auxiliary driving switch 104 is connected to the vehicle control system 105, and is configured to send a switching signal to the vehicle control system 105, so that the vehicle control system 105 controls the start of the auxiliary driving mode according to the switching signal of the auxiliary driving switch 704.

The electric drive system 106 is coupled to the vehicle control system 105 for receiving a torque request from the vehicle control system 705 and controlling vehicle acceleration or deceleration braking based on the torque request.

The brake system 107 is connected to the vehicle control system 105, and is configured to receive a brake torque request from the vehicle control system 105 when a user depresses a brake pedal, and respond to the brake torque request from the vehicle control system 105.

The intelligent voice multimedia system 108 is connected with the vehicle control system 105, and is used for receiving a command of the vehicle control system 105 and sending information such as text alarm, voice alarm, reminding and the like to a driver.

It will be appreciated herein that the function corresponding to the first acquisition module may be implemented by the accelerator pedal sensor 101 shown in fig. 7; the corresponding function of the second acquisition module may be implemented by the brake pedal sensor 102 shown in fig. 7; the functions corresponding to the first control module, the second control module, the third control module, and the fourth control module may be implemented by the vehicle control system 105 shown in fig. 7.

< example of Medium >

In the present embodiment, there is also provided a computer-readable storage medium storing computer instructions that are readable and executable by a computer and that when executed by a processor perform the vehicle control method of the foregoing embodiment.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are referred to each other, and each embodiment is mainly described as different from other embodiments, but it should be apparent to those skilled in the art that the above embodiments may be used alone or in combination with each other as required. In addition, for the device embodiment, since it corresponds to the method embodiment, description is relatively simple, and reference should be made to the description of the corresponding part of the method embodiment for relevant points. The system embodiments described above are merely illustrative, in that the modules illustrated as separate components may or may not be physically separate.

The present invention may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present invention.

The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.

The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.

Computer program instructions for carrying out operations of the present invention may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "e.g." language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer readable program instructions, which can execute the computer readable program instructions.

Various aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A vehicle control method, characterized in that the method comprises:

acquiring an accelerator pedal signal of a vehicle;

2. The method of claim 1, wherein the enabling of the vehicle speed control mode to control the vehicle to travel in accordance with the vehicle speed control mode comprises:

acquiring a current driving mode of the vehicle;

under the condition that the current driving mode is a normal driving mode, starting a vehicle speed control mode to control the vehicle to run according to the vehicle speed control mode;

and under the condition that the current driving mode is an auxiliary driving mode, starting a vehicle speed control mode to control the vehicle to run according to the vehicle speed control mode, and outputting first prompting information to prompt a driver to start an emergency running mode.

3. The method of claim 2, wherein after outputting the first prompt message to prompt the driver to initiate the emergency driving mode, the method further comprises:

and when the emergency running mode is started, the vehicle speed control mode is closed, and the vehicle is controlled to run at a first set speed.

4. The method according to claim 1 or 2, characterized in that the controlling the vehicle running according to the vehicle speed control mode includes:

acquiring the current speed of the vehicle;

Controlling the current vehicle speed to be reduced to a second set speed under the condition that the current vehicle speed is in a set speed interval;

and under the condition that the current vehicle speed is outside the set speed interval and the current vehicle speed is greater than or equal to a third set speed, controlling the vehicle to gradually slow down according to a preset strategy.

5. The method of claim 4, wherein said controlling the gradual deceleration of the vehicle according to a predetermined strategy comprises:

determining a current speed grade corresponding to the current speed according to the current speed;

adjusting the current vehicle speed to a target speed corresponding to the current speed level;

controlling the current vehicle speed to be reduced to a target speed corresponding to the target speed level under the condition that the duration of running of the vehicle at the target speed corresponding to the current speed level reaches a first preset time, until the reduced current vehicle speed is positioned in the set speed interval;

wherein the target speed level is a next speed level lower than the current speed level.

6. The method according to claim 5, wherein in the case where the duration of travel of the vehicle at the target speed corresponding to the current speed level reaches a first predetermined time, the current vehicle speed is controlled to decrease to the target speed corresponding to the target speed level until the current vehicle speed decreases to the target vehicle speed, the method further comprises:

And outputting a second prompt message to prompt a driver to control the current vehicle speed to be reduced.

7. The method of claim 4, wherein after the obtaining the current vehicle speed of the vehicle, the method further comprises:

and controlling the vehicle to run at idle speed under the condition that the current vehicle speed is outside the set speed interval and the current vehicle speed is smaller than a fourth set speed.

8. The method according to claim 1 or 2, characterized in that the controlling the vehicle running according to the vehicle speed control mode further includes:

acquiring the stepping state of the brake pedal;

and when the stepping state of the brake pedal is the stepped state, controlling the current torque of the vehicle to be reduced to a first value so as to enable the vehicle to be in a sliding state.

9. The method of claim 1, wherein after the acquiring the accelerator pedal signal of the vehicle, the method further comprises:

and outputting third prompting information to prompt a driver that the accelerator pedal has a fault under the condition that the accelerator pedal signal indicates that the accelerator pedal has the fault.

10. A vehicle, characterized by comprising:

A memory for storing executable computer instructions;

a processor for executing the vehicle control method according to any one of claims 1 to 9, in accordance with control of the executable computer instructions.

11. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer instructions which, when executed by a processor, perform the vehicle control method of any of claims 1-9.