Vehicle control method and apparatus, vehicle, and storage medium

A vehicle control device, wherein the vehicle control device comprises a processor and a memory, the memory is configured to store a software program, and the processor runs or executes the software program stored in the memory to:

• obtain wheel speeds of two wheels on a first drive shaft of a vehicle, wherein the first drive shaft is any drive shaft of the vehicle, and output torque of a first motor corresponding to the first drive shaft is first torque;
• and
• when a first difference between the two wheels on the first drive shaft is greater than a first safety threshold, control the output torque of the first motor to change from the first torque to second torque based on slip rates of the two wheels on the first drive shaft, so that the first difference between the two wheels on the first drive shaft is not greater than a second safety threshold, wherein the first difference is a wheel speed difference or a slip rate difference, the first safety threshold is a safety threshold corresponding to a case in which the output torque of the first motor is the first torque, and the second safety threshold is a safety threshold corresponding to a case in which the output torque of the first motor is the second torque.

A computer-readable storage medium, wherein the computer-readable storage medium is configured to store program code to be executed by a processor, and the program code comprises instructions used to implement the method comprising:

• obtaining wheel speeds of two wheels on a first drive shaft of a vehicle, wherein the first drive shaft is any drive shaft of the vehicle, and output torque of a first motor corresponding to the first drive shaft is first torque;
• and
• when a first difference between the two wheels on the first drive shaft is greater than a first safety threshold, controlling, based on slip rates of the two wheels on the first drive shaft, the output torque of the first motor to change from the first torque to second torque, so that the first difference between the two wheels on the first drive shaft is not greater than a second safety threshold, wherein the first difference is a wheel speed difference or a slip rate difference, the first safety threshold is a safety threshold corresponding to a case in which the output torque of the first motor is the first torque, and the second safety threshold is a safety threshold corresponding to a case in which the output torque of the first motor is the second torque.