Vehicle control method and apparatus, vehicle, and storage medium

A vehicle control apparatus comprising:

• at least one processor;
• and
• a memory configured to store instructions that, when executed by the at least one processor, cause the vehicle control apparatus to:
• periodically obtain a torque of a vehicle in an automatic driving mode and vehicle environment information;
• determine, based on the periodically obtained torque of the vehicle, a first torque change rate and a second torque change rate, wherein the second torque change rate is less than the first torque change rate;
• determine, based on the vehicle environment information, a minimum distance between the vehicle and an obstacle;
• determine a torque change rate of the vehicle between two adjacent sampling periods of the periodically obtained torque based on the periodically obtained torque of the vehicle;
• determine, based on the torque change rate of the vehicle between the two adjacent sampling periods, that the vehicle enters an unstable state when the second torque change rate is greater than a torque change rate threshold during a first duration and when the minimum distance is greater than a distance threshold;
• periodically calculate, in response to the vehicle entering the unstable state and based on the first torque change rate and the second torque change rate, a calculated torque value;
• control the vehicle using the calculated torque value until the vehicle exits the automatic driving mode;
• control the vehicle to exit the automatic driving mode;
• obtain, in response to the vehicle exiting the automatic driving mode, a final calculated torque value;
• and
• control the vehicle based on the final calculated torque value.

A computer program product comprising instructions that are stored on a non-transitory medium and that, when executed by one or more processors, cause a vehicle control apparatus to:

• periodically obtain a vehicle speed of a vehicle in an automatic driving mode, a wheel speed of the vehicle, an average vehicle speed of the vehicle, an average wheel speed of the vehicle, and vehicle environment information;
• obtain a first torque change rate and a second torque change rate, wherein the second torque change rate is less than the first torque change rate;
• determine, based on a difference between the average vehicle speed and the average wheel speed, a wheel slip rate;
• determine, based on the vehicle environment information, a minimum distance between the vehicle and an obstacle;
• determine, based on the wheel slip rate of the vehicle in each period, that the vehicle enters an unstable state when the wheel slip rate is greater than a wheel slip rate threshold during a second duration and when the minimum distance is greater than a distance threshold;
• periodically calculate, in response to the vehicle entering the unstable state and based on the first torque change rate and the second torque change rate, a calculated torque value;
• execute, in response to the calculated torque value, control of the vehicle until the vehicle exits the automatic driving mode;
• exit, in response to the unstable state, the automatic driving mode;
• obtain, in response to the vehicle exiting the automatic driving mode, a final calculated torque value;
• and
• execute, based on the final calculated torque value, control of the vehicle.