CN117193274A - Vehicle control method and vehicle-mounted controller - Google Patents

Abstract

The application discloses a vehicle control method and a vehicle-mounted controller, which realize rapid vehicle moving. The method is applied to the vehicle-mounted controller, and comprises the following steps: responding to a parking releasing request sent by a vehicle owner side mobile terminal, and controlling the vehicle to start and then release parking; and detecting whether the vehicle has potential safety hazards in a parking releasing state, and if so, performing safety control on the vehicle.

Description

Vehicle control method and vehicle-mounted controller

Technical Field

The application relates to the technical field of vehicle remote control, in particular to a vehicle control method and a vehicle-mounted controller.

Background

As the amount of the reserved automobiles is continuously increased, parking spaces become more and more scarce, and the phenomena of difficult and messy parking are more and more serious, and various disputes caused by the problem of parking the automobiles frequently affect the life and social order of people greatly. For example, when a parked vehicle blocks other vehicles to normally pass, the blocked vehicle owner needs to inform the blocked vehicle owner of timely going to the ignition of the vehicle for moving the vehicle, but many times the blocked vehicle owner cannot arrive at the scene immediately, so that disputes are caused.

Disclosure of Invention

In view of the above, the present application provides a vehicle control method and an on-vehicle controller to realize rapid vehicle moving.

A vehicle control method applied to an in-vehicle controller, the method comprising:

responding to a parking releasing request sent by a vehicle owner side mobile terminal, and controlling the vehicle to start and then release parking;

and detecting whether the vehicle has potential safety hazards in a parking releasing state, and if so, performing safety control on the vehicle.

Optionally, the parking releasing includes: and controlling the vehicle to enter a neutral gear and releasing the electronic hand brake.

Optionally, the detecting whether the vehicle has a potential safety hazard in the parking release state, if so, performing safety control on the vehicle includes:

and detecting whether the vehicle speed of the vehicle in the parking release state exceeds a preset vehicle speed, and if so, controlling the braking system of the vehicle to apply braking force to the vehicle to limit the speed of the vehicle.

Optionally, the detecting whether the vehicle speed of the vehicle in the parking released state exceeds the preset vehicle speed, if yes, performing speed limiting control on the vehicle by controlling a braking system of the vehicle to apply braking force to the vehicle, including:

detecting the speed and the acceleration of the vehicle in a parking release state, wherein the acceleration and the speed are in the same direction;

if the vehicle speed is greater than the preset vehicle speed and the acceleration is greater than 0, controlling a braking system of the vehicle to apply braking force to the vehicle and gradually increase the braking force;

if the vehicle speed is greater than the preset vehicle speed and the acceleration is 0, controlling a braking system of the vehicle to maintain the current braking force unchanged;

and if the vehicle speed is not greater than the preset vehicle speed, prohibiting a braking system of the vehicle from applying braking force to the vehicle.

Optionally, the detecting whether the vehicle has a potential safety hazard in the parking release state, if so, performing safety control on the vehicle includes:

acquiring the traveling direction of a vehicle, and determining a collision risk area according to the traveling direction;

when an obstacle is detected to enter the collision risk zone, the vehicle is controlled to emit an alarm sound and/or a braking system of the vehicle is controlled to apply braking force to the vehicle so as to stop the vehicle from moving.

Optionally, the collision risk zone is divided into a low risk zone and a high risk zone;

the control of the vehicle to sound an alarm and/or control the braking system of the vehicle to apply a braking force to the vehicle to stop the vehicle from moving when an obstacle is detected to enter the collision risk zone comprises: when an obstacle is detected to enter the low-risk zone, the vehicle is controlled to emit an alarm sound, the frequency of the alarm sound is increased along with the shortening of the distance between the obstacle and the vehicle, and when the obstacle enters the high-risk zone, the vehicle is controlled to sound the alarm sound and a braking system of the vehicle is controlled to apply braking force to the vehicle so as to stop the vehicle from moving.

Optionally, the vehicle control method further includes:

detecting whether the moving distance of the vehicle in the parking releasing state exceeds the preset moving distance, if so, controlling a braking system of the vehicle to apply braking force to the vehicle so as to stop moving the vehicle.

Alternatively, in the case where the vehicle is in the parking-released state and braking force is applied to stop the vehicle from moving, if it is detected that someone intends to push the vehicle in the reverse direction, the vehicle is controlled to release the currently applied braking force.

Optionally, the detecting whether the vehicle has a potential safety hazard in the parking release state, if so, performing safety control on the vehicle includes:

detecting whether the gradient of the ramp of the vehicle in the parking releasing state is larger than a preset gradient, if so, controlling the vehicle to flameout and recovering the parking.

An in-vehicle controller, comprising: a processor and a memory, the processor having stored thereon a computer program which, when executed by the processor, implements any of the vehicle control methods as disclosed above.

According to the technical scheme, the parked vehicle has the functions of remotely releasing the parking state and actively ensuring safety, so that when the parked vehicle blocks traffic, a vehicle owner does not need to arrive at the site to ignite and move the vehicle, and only needs to remotely release the parking state, a person to be blocked can move the vehicle in a manual cart manner, so that the time of both sides is saved, and the rapid vehicle moving is realized; in addition, the active safety function is automatically started in the vehicle moving process, so that the vehicle avoids possible safety accidents and the safety of the vehicle and surrounding personnel is ensured.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of communication between a vehicle controller and a vehicle owner side mobile terminal;

FIG. 3 is a graph of a parked vehicle distribution in a parking lot;

FIG. 4 is a flow chart of a method for speed limit control of a vehicle in accordance with an embodiment of the present application;

fig. 5 is a schematic diagram showing the division of a low risk area and a high risk area in a collision risk area according to an embodiment of the present application.

Detailed Description

For purposes of reference and clarity, technical terms, abbreviations or abbreviations used hereinafter are summarized as follows:

EPB: electrical Park Brake an electronic parking brake system, also known as an electronic handbrake;

n grade: neutral gear, neutral gear;

and (4) P: parking, a Parking gear, also known as a park gear or park gear;

r gear: reverse, reverse gear;

d, gear: drive, forward gear;

ESC: an electronic stability controller and a vehicle body electronic stability control system.

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1, an embodiment of the application discloses a vehicle control method, which is applied to a vehicle-mounted controller, and comprises the following steps:

step S01: and in response to the parking release request sent by the vehicle owner side mobile terminal, controlling the vehicle to start and then release the parking, and then entering step S02. Wherein, the parking release includes, for example: controlling the vehicle to put into N gear and releasing EPB.

Step S02: detecting whether potential safety hazards exist in the vehicle in a parking releasing state, if so, entering a step S03, otherwise, returning to the step S02 until the vehicle is interfered to finish the method;

step S03: and safety control is carried out on the vehicle.

The embodiment of the application is applied to a vehicle-mounted controller, which controls the state of a vehicle according to a user request sent by a vehicle owner side mobile terminal, and the interaction flow is as shown in fig. 2 (the vehicle-mounted controller is positioned in the vehicle and is not shown in fig. 2): the user (namely the vehicle owner) uploads the user request to the vehicle remote control system through operating the vehicle main side mobile terminal, and the vehicle remote control system issues the user request to the vehicle-mounted controller through the vehicle internet of things to trigger the vehicle-mounted controller to control a braking system, a power system and the like of the vehicle, so that rapid vehicle moving is realized.

The working principle of the embodiment of the present application is described in detail below:

as the amount of the reserved automobiles increases, parking spaces become more and more scarce, and the phenomena of "difficult parking", "messy parking", etc. become more serious, and various disputes caused by the problem of parking the automobiles frequently occur. For example, when a parked vehicle blocks other vehicles to normally pass, the blocked vehicle owner needs to inform the blocked vehicle owner of timely going to the ignition of the vehicle for moving the vehicle, but many times the blocked vehicle owner cannot arrive at the scene immediately, so that disputes are caused. In order to meet the requirement of a vehicle owner on quick vehicle moving, the embodiment of the application requires that the vehicle has the functions of remotely releasing the parking state and actively safety.

The basic structure of the vehicle determines that when the vehicle is hung into a P gear and the EPB is pulled up, namely, the vehicle is in a parking state, the vehicle cannot be moved by means of a manual pushing mode; after the vehicle is put into N gear and EPB is released, namely, parking is released, the vehicle can be pushed by manpower. It should be noted that, after the vehicle owner parks the vehicle and unlocks the vehicle, the vehicle is generally in a parking state, the brake regulation requires that the EPB can only be released in the vehicle power-on state, and the EPB can maintain the release state but not allow the release action to be executed after the vehicle is powered down, so after the vehicle is powered down, if the vehicle is required to be released, the vehicle is required to be controlled to be powered up and started before the parking is released.

Based on this, to the vehicle that possesses the function of long-range canceling parking state, after the car owner stopped, the electric lock car was left, if its parked vehicle (hereinafter referred to as the A car for short) blocked other vehicles's normal traffic, then the car owner of being blocked is informed to A car owner's vehicle moving through dialing the car owner phone or other modes that reserve on the A car, and A car owner need not to go to A car ignition after receiving the notice and moves the car, only need to remove parking state through car owner side mobile terminal remote control A car, by the mode of the car owner of being blocked just can move A car through the manual cart, drive traffic again smoothly to the quick vehicle moving demand of car owner has been satisfied. The mobile terminal of the vehicle owner can be a portable terminal such as a smart phone, a tablet personal computer or a wearable smart device (e.g. a smart watch or a smart bracelet) of the vehicle owner.

Taking the scene shown in fig. 3 as an example, four A, B, C, D vehicles are parked in a certain area of the parking lot, the B vehicle is blocked by the front A vehicle, the rear enclosing wall, the left C vehicle and the right D vehicle, and cannot be driven out, at the moment, the B vehicle owner can dial the reserved vehicle owner telephone on the A vehicle to inform the A vehicle owner of moving the vehicle, the A vehicle owner only needs to remotely control the A vehicle to release the parking state through a smart phone after receiving the telephone, and the B vehicle owner can move the A vehicle forwards by a distance in a manual cart mode and then smoothly drive the B vehicle out of the parking space, so that the time for the A vehicle owner to start and move the A vehicle after receiving the telephone is saved, the waiting time of the B vehicle owner is also saved, and the burst conflict between the B vehicle owner and the A vehicle owner due to overlong waiting time is avoided.

In addition, considering that potential safety hazards exist in the process of being pushed by the A vehicle, such as too fast speed, obstacles exist in the running direction of the vehicle and the like, in order to avoid the potential safety accidents in the process of being pushed by the vehicle, the embodiment of the application further adds an active safety function for the A vehicle, and the A vehicle automatically starts the active safety function after being released from parking, so that whether the potential safety hazards exist in the state of being released from parking can be detected in real time, and if the potential safety hazards exist, the vehicle is immediately controlled to prevent the potential safety hazards from happening.

In addition to the N range being engaged and the EPB being released, the parking release may be: d gear or R gear is hung, and EPB is released, so that the vehicle can provide power-removing force for the manual cart, and the problem that smaller people are difficult to independently push the vehicle is solved. Specifically, when a person intends to push the vehicle forward, the vehicle is controlled to start, D gear is engaged and EPB is released, at the moment, the parking state is released, then the actual output torque F2 of the vehicle is controlled to be smaller than the required torque F1 for the vehicle to drive away, at the moment, a cart operator positioned at the rear of the vehicle only needs to provide thrust not lower than F1-F2, and the vehicle can be pushed to move forward; when someone intends to push the vehicle to back, the vehicle is controlled to start, the R gear is engaged, the EPB is released, the parking state is released, the actual output torque F2 of the vehicle is controlled to be smaller than the torque F1 required by the vehicle to drive away, and at the moment, a pusher in front of the vehicle only needs to provide thrust not lower than F1-F2, and the vehicle can be pushed to move backwards.

In summary, the embodiment of the application designs that the parked vehicle has the functions of remotely releasing the parking state and actively safety, so that when the parked vehicle blocks traffic, a vehicle owner does not need to arrive at the site to ignite and move the vehicle, and only needs to remotely release the parking state, a person to be blocked can move the vehicle in a manual cart manner, thereby saving the time of both sides and realizing quick vehicle moving; in addition, the active safety function is automatically started in the vehicle moving process, so that the vehicle avoids possible safety accidents and the safety of the vehicle and surrounding personnel is ensured. The vehicle-mounted controller applied to the embodiment of the application can be developed on the basis of ESCs, but is not limited to the ESCs.

Optionally, based on any embodiment disclosed above, the active security function includes: whether the vehicle speed in the parking released state exceeds a preset vehicle speed (for example, 3 kph) is detected, and if so, the vehicle is speed-limited by controlling the braking system of the vehicle to apply a braking force to the vehicle.

Wherein, the braking system is used for applying braking force to the vehicle, namely, the braking system is used for applying braking force to the wheels, so that the wheels are decelerated or stopped to rotate, and the vehicle is decelerated or stopped. The brake system is typically a hydraulic brake system that draws in brake fluid by a hydraulic pump and pushes the brake fluid into a brake cylinder, thereby applying a braking force and gradually increasing the braking force; the brake force applied at present can be maintained unchanged by maintaining the brake liquid amount in the brake wheel cylinder unchanged; and opening the brake cylinder liquid return valve to release the braking force.

Alternatively, a method of speed limit control of a vehicle by controlling the manner in which a braking system of the vehicle applies a braking force to the vehicle, such as shown in fig. 4, includes:

step S11: the vehicle speed v and the acceleration a of the vehicle in the parking released state are detected, wherein v is in the same direction as a.

Wherein the vehicle speed v may be determined based on the wheel speed sensor information or the vehicle speed sensor information. The wheel speed sensor and the vehicle speed sensor are both devices for monitoring the speed of the vehicle, but the working principles of the devices are different, specifically, the wheel speed sensor is used for determining the current speed of the vehicle by monitoring the speed of rotation of wheels, and the vehicle speed sensor is used for determining the current speed of the vehicle by monitoring the rotation speed of a transmission shaft or a transmission system of the vehicle.

Step S12: the speed v is compared with the preset speed v ₀ Compared to the size and willAcceleration a and preset acceleration a ₀ Comparing the sizes; if v>v ₀ And a>0, proceeding to step S13; if v>v ₀ And a=0, proceed to step S14; if v is less than or equal to v ₀ Step S15 is entered;

step S13: the brake system of the vehicle is controlled to apply a braking force to the vehicle and gradually increase the braking force to continuously cancel a, and then returns to step S11.

Step S14: the brake system of the control vehicle maintains the current braking force magnitude unchanged to maintain a to be zero, and then returns to step S11.

Step S15: the braking system of the vehicle is prohibited from applying braking force to the vehicle to avoid excessive vehicle pushing resistance, difficult pushing, and then returns to step S11.

Optionally, based on any embodiment disclosed above, the active security function includes: acquiring the traveling direction of a vehicle, and determining a collision risk area according to the traveling direction; when an obstacle (such as a pedestrian, tree, fence, or other vehicle, etc.) is detected to enter the collision risk zone, the control vehicle sounds an alarm and/or controls a braking system of the vehicle to apply a braking force to the vehicle to stop the vehicle from moving, thereby avoiding a collision accident. The obstacle may be detected by an in-vehicle radar system and/or an in-vehicle camera system.

Alternatively, to achieve more refined anti-collision management, the collision risk area may be divided into a low risk area and a high risk area; the low risk zone is located within the high risk zone and closer to the vehicle;

the control of the vehicle to sound an alarm and/or control the braking system of the vehicle to apply a braking force to the vehicle to stop the vehicle from moving when an obstacle is detected to enter the collision risk zone comprises: when an obstacle is detected to enter the low-risk zone, the vehicle is controlled to emit an alarm sound, the frequency of the alarm sound is increased along with the shortening of the distance between the obstacle and the vehicle, and when the obstacle enters the high-risk zone, the vehicle is controlled to sound the alarm sound and a braking system of the vehicle is controlled to apply braking force to the vehicle so as to stop the vehicle from moving.

For example, the low risk zone may be set to: an area within a first predetermined distance (e.g., 30 cm) from the vehicle head, a second predetermined distance (e.g., 50 cm) from the vehicle's driving side (typically the left side of the vehicle), and a first predetermined distance from the vehicle's non-driving side, such as shown in fig. 5; the high risk area is: an area within a second predetermined distance from the vehicle head, a third predetermined distance (e.g., 80 cm) from the driving side of the vehicle, and a second predetermined distance from the non-driving side of the vehicle, such as shown in fig. 5.

Correspondingly, when the vehicle travels backward, the low risk zone may be set to: a region within a first predetermined distance (e.g., 30 centimeters) from the rear of the vehicle, within a second predetermined distance (e.g., 50 centimeters) from the driving side of the vehicle, and within the first predetermined distance from the non-driving side of the vehicle; the high risk area is: an area within a second predetermined distance from the rear of the vehicle, within a third predetermined distance (e.g., 80 cm) from the driving side of the vehicle, and within a second predetermined distance from the non-driving side of the vehicle.

Optionally, based on any one of the embodiments disclosed above, the vehicle control method further includes: detecting whether the moving distance of the vehicle in the parking released state exceeds a preset moving distance (for example, 10 meters), and if so, controlling a braking system of the vehicle to apply braking force to the vehicle so as to stop moving the vehicle. Therefore, the vehicle is ensured to be still in the range of 10 meters in radius after being pushed, and the vehicle searching difficulty of a vehicle owner is reduced.

Alternatively, based on any of the embodiments disclosed above, in a case where the vehicle is in a parking-released state and a braking force is applied to stop the vehicle from moving, if it is detected that an intention is to push the vehicle in the reverse direction, the vehicle is controlled to release the currently applied braking force.

Considering that when a blocked vehicle owner wants to push a vehicle to advance, the blocked vehicle owner can move to the rear of the vehicle and approach the vehicle, and meanwhile, no person is ensured to be in a certain distance in front of the vehicle; when the blocked vehicle owner wants to push the vehicle to back, the blocked vehicle owner can move to the front of the vehicle and approach the vehicle, and meanwhile, no person is guaranteed in a certain distance behind the vehicle, based on the detection, whether the person wants to push the vehicle reversely or not can be detected, and the method can comprise the following steps:

when the vehicle is in a forward travel state before braking, detecting whether someone intends to push the vehicle in the reverse direction includes: detecting whether the third condition is met and the fourth condition is not met, if so, judging that the vehicle is intentionally pushed reversely;

when the vehicle is in a backward traveling state before braking, detecting whether an intention is to push the vehicle in the reverse direction includes: and detecting whether the fourth condition is met and the third condition is not met, and if so, judging that the intention is to push the vehicle reversely.

The third condition is that a person is within a first preset distance (for example, 30 cm) from the tail of the vehicle, and the fourth condition is that a person is within the first preset distance from the head of the vehicle.

Optionally, based on any embodiment disclosed above, the active security function includes: and detecting whether the gradient of the ramp of the vehicle in the parking release state is larger than a preset gradient (the preset gradient is 2 percent for example), and if so, controlling the vehicle to extinguish and resume parking so as to prevent the vehicle from being pushed into the dangerous zone. The restoring parking includes: the P gear is engaged and the EPB is pulled up. The gradient of the ramp can be obtained by using a longitudinal acceleration sensor, a wheel speed sensor or a rotational-change sensor (the rotational-change sensor is arranged in a new energy vehicle type using a motor). The pushers have no ability to push the vehicle back on the ramp back into the safety zone, so parking is resumed directly at this time.

Optionally, based on any one of the embodiments disclosed above, the controlling the vehicle to start before the vehicle is released, further includes: and judging whether the vehicle meets the safety requirement of releasing the parking, if so, executing the step of controlling the vehicle to start and then release the parking, otherwise, not executing the step. For example, when a vehicle is parked on a steep slope, if parking is released, a dangerous behavior of sliding occurs, so that the embodiment of the present application uses "the vehicle is parked on the slope with a slope smaller than a preset slope (the preset slope is 2%, for example)" as one of the safety requirements to be satisfied when parking is released. In addition, since the self-checking of the vehicle is a basic condition for ensuring the safety of the vehicle, it is recommended that the vehicle is self-checked and the self-checking is free from faults (for example, the network state, the electric quantity state and the oil quantity state of the vehicle are all normal) as one of the safety requirements to be satisfied for releasing the parking before the vehicle is controlled to start and then release the parking.

Optionally, based on any embodiment of the disclosure above, the control method further includes: when the time that the vehicle is continuously in the parking releasing state reaches the preset time (at the moment, the vehicle moving is considered to be completed) or the exit request sent by the mobile terminal on the main side of the vehicle is received, the vehicle is controlled to be extinguished and the parking is restored.

In addition, the embodiment of the application also discloses a vehicle-mounted controller, which comprises the following components: a processor and a memory, the processor having stored thereon a computer program which, when executed by the processor, implements any of the vehicle control methods as disclosed above.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the vehicle-mounted controller disclosed in the embodiment, since the vehicle-mounted controller corresponds to the method disclosed in the embodiment, the description is simpler, and the relevant parts are only needed to be referred to in the description of the method section.

The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar different objects and not necessarily for describing a particular sequential or chronological order. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the embodiments of the application. Thus, the present embodiments are not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A vehicle control method, characterized by being applied to an in-vehicle controller, comprising:

responding to a parking releasing request sent by a vehicle owner side mobile terminal, and controlling the vehicle to start and then release parking;

and detecting whether the vehicle has potential safety hazards in a parking releasing state, and if so, performing safety control on the vehicle.

2. The vehicle control method according to claim 1, characterized in that the releasing of parking includes: and controlling the vehicle to enter a neutral gear and releasing the electronic hand brake.

3. The vehicle control method according to claim 1, wherein detecting whether or not there is a potential safety hazard in the vehicle in the parking released state, and if so, performing safety control on the vehicle, includes:

and detecting whether the vehicle speed of the vehicle in the parking release state exceeds a preset vehicle speed, and if so, controlling the braking system of the vehicle to apply braking force to the vehicle to limit the speed of the vehicle.

4. The vehicle control method according to claim 3, characterized in that the detecting whether the vehicle speed of the vehicle in the parking released state exceeds a preset vehicle speed, and if so, the speed limit control of the vehicle by controlling the braking system of the vehicle to apply the braking force to the vehicle, includes:

detecting the speed and the acceleration of the vehicle in a parking release state, wherein the acceleration and the speed are in the same direction;

if the vehicle speed is greater than the preset vehicle speed and the acceleration is greater than 0, controlling a braking system of the vehicle to apply braking force to the vehicle and gradually increase the braking force;

if the vehicle speed is greater than the preset vehicle speed and the acceleration is 0, controlling a braking system of the vehicle to maintain the current braking force unchanged;

and if the vehicle speed is not greater than the preset vehicle speed, prohibiting a braking system of the vehicle from applying braking force to the vehicle.

5. The vehicle control method according to claim 1, wherein detecting whether or not there is a potential safety hazard in the vehicle in the parking released state, and if so, performing safety control on the vehicle, includes:

acquiring the traveling direction of a vehicle, and determining a collision risk area according to the traveling direction;

when an obstacle is detected to enter the collision risk zone, the vehicle is controlled to emit an alarm sound and/or a braking system of the vehicle is controlled to apply braking force to the vehicle so as to stop the vehicle from moving.

6. The vehicle control method according to claim 5, characterized in that the collision risk zone is divided into a low risk zone and a high risk zone;

the control of the vehicle to sound an alarm and/or control the braking system of the vehicle to apply a braking force to the vehicle to stop the vehicle from moving when an obstacle is detected to enter the collision risk zone comprises: when an obstacle is detected to enter the low-risk zone, the vehicle is controlled to emit an alarm sound, the frequency of the alarm sound is increased along with the shortening of the distance between the obstacle and the vehicle, and when the obstacle enters the high-risk zone, the vehicle is controlled to sound the alarm sound and a braking system of the vehicle is controlled to apply braking force to the vehicle so as to stop the vehicle from moving.

7. The vehicle control method according to claim 1, characterized in that the vehicle control method further comprises:

detecting whether the moving distance of the vehicle in the parking releasing state exceeds the preset moving distance, if so, controlling a braking system of the vehicle to apply braking force to the vehicle so as to stop moving the vehicle.

8. The vehicle control method according to any one of claims 5 to 7, characterized in that, in a case where the vehicle is in a parking-released state and braking force is applied to stop the vehicle from moving, if it is detected that an intention is made to push the vehicle in the reverse direction, the vehicle is controlled to release the braking force that is currently applied.

9. The vehicle control method according to claim 1 or 2, characterized in that the detecting whether the vehicle has a potential safety hazard in the parking released state, if so, performing safety control on the vehicle, includes:

detecting whether the gradient of the ramp of the vehicle in the parking releasing state is larger than a preset gradient, if so, controlling the vehicle to flameout and recovering the parking.

10. A vehicle-mounted controller, characterized by comprising: a processor and a memory, the processor having stored thereon a computer program which, when executed by the processor, implements the vehicle control method according to any one of claims 1 to 9.