Method and device for assisting vehicle to tilt, vehicle and computer storage medium

A vehicle, comprising a throttle assembly, a motor controller, and a device for assisting the vehicle to tilt, wherein the device comprises:

• a receiving unit, configured to receive a first torque instruction output by the throttle assembly and generate a second torque instruction, wherein the first torque instruction is determined based on a manipulation degree applied to the throttle assembly, and the second torque instruction is determined based on attitude information of the vehicle;
• a weighted summation unit, configured to perform a weighted summation on the first torque instruction and the second torque instruction based on a first proportional coefficient of the first torque instruction and a second proportional coefficient of the second torque instruction to obtain a third torque instruction;
• and
• a control unit, configured to output the third torque instruction to the motor controller, and control a tilt angle of the vehicle by the motor controller based on the third torque instruction, wherein the tilt angle of the vehicle is less than or equal to a target angle threshold.

A computer-readable storage medium having stored therein a computer program that, when executed by a processor, causes the processor to perform the method for assisting a vehicle to tilt, comprising:

• receiving a first torque instruction output by a throttle assembly, and generating a second torque instruction, wherein the first torque instruction is determined based on a manipulation degree applied to the throttle assembly, and the second torque instruction is determined based on attitude information of the vehicle;
• performing a weighted summation on the first torque instruction and the second torque instruction based on a first proportional coefficient of the first torque instruction and a second proportional coefficient of the second torque instruction to obtain a third torque instruction;
• and
• outputting the third torque instruction to a motor controller, and controlling a tilt angle of the vehicle by the motor controller based on the third torque instruction, wherein the tilt angle of the vehicle is less than or equal to a target angle threshold.