CN111731300B

CN111731300B - Vehicle control method and device and vehicle

Info

Publication number: CN111731300B
Application number: CN202010592009.1A
Authority: CN
Inventors: 韦季李
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2023-03-24
Anticipated expiration: 2040-06-24
Also published as: CN111731300A

Abstract

The embodiment of the invention discloses a vehicle control method and device and a vehicle. The method comprises the following steps: acquiring the accelerator position of an accelerator pedal of a target vehicle; when the accelerator position is not located at the initial accelerator position, controlling a clutch pedal of the target vehicle to reach a clutch maximum stroke from the clutch initial position so as to control the target vehicle to shift into a first gear; acquiring the engine speed of the target vehicle; and when the rotating speed of the engine reaches a first preset rotating speed, controlling a clutch pedal of the target vehicle to recover to the clutch initial position, and controlling the parking brake of the target vehicle to be released so as to enable the target vehicle to enter a forward state. The embodiment of the invention realizes the automatic control of the gear shifting of the vehicle.

Description

Vehicle control method and device and vehicle

Technical Field

The embodiment of the invention relates to vehicle technology, in particular to a vehicle control method and device and a vehicle.

Background

With the improvement of living standard of people, the automobile industry is also developing.

The current automobile comprises a manual-gear automobile and an automatic-gear automobile, the gears of the manual-gear automobile are provided with a plurality of forward gears and a reverse gear, the gears of the automatic-gear automobile are only provided with a forward gear and a reverse gear, and the automatic-gear automobile completes the conversion of the forward gears through built-in hardware.

However, the automatic transmission of the automatic transmission is more expensive than the transmission of the manual transmission, and increases oil consumption, and it is very inconvenient for the driver to observe the road condition and control the gear switching in time regardless of the manual transmission or the automatic transmission.

Disclosure of Invention

The embodiment of the invention provides a vehicle control method and device and a vehicle, and aims to realize automatic control of gear shifting of the vehicle.

To achieve the purpose, the embodiment of the invention provides a vehicle control method, a device and a vehicle, wherein the method comprises the following steps:

acquiring the accelerator position of an accelerator pedal of a target vehicle;

when the accelerator position is not located at an initial accelerator position, controlling a clutch pedal of the target vehicle to reach a maximum clutch stroke from the initial clutch position so as to control the target vehicle to shift into a first gear;

acquiring the engine speed of the target vehicle;

and when the rotating speed of the engine reaches a first preset rotating speed, controlling a clutch pedal of the target vehicle to recover to the clutch initial position, and controlling the parking brake of the target vehicle to be released so as to enable the target vehicle to enter a forward state.

Further, the target vehicle, after entering the forward state, includes:

determining a first position proportion of the accelerator position between the initial accelerator position and the maximum accelerator travel according to the accelerator position;

determining a first forward speed of the target vehicle according to the first position proportion.

Further, the throttle position is not automatically returned to the initial throttle position.

Further, the determining the first forward speed of the target vehicle according to the first position proportion comprises:

acquiring the braking position of a brake pedal of the target vehicle;

determining the proportion of the second position of the braking position between the initial braking position and the maximum braking stroke according to the braking position;

and determining a second forward speed of the target vehicle according to the second position proportion.

Further, the determining a first forward speed of the target vehicle according to the first position proportion or the determining a second forward speed of the target vehicle according to the second position proportion comprises:

determining a suitable gear of the target vehicle according to the first forward speed or the second forward speed;

when the rotating speed of the engine reaches a second preset rotating speed, controlling a clutch pedal of the target vehicle to reach a maximum clutch stroke from a clutch initial position so as to control the target vehicle to shift into a proper gear;

and controlling a clutch pedal of the target vehicle to return to the clutch initial position so that the target vehicle reaches a first forward speed or a second forward speed.

and when the rotating speed of the engine reaches a second preset rotating speed, controlling the target vehicle to shift into a proper gear, so that the target vehicle reaches a first forward speed or a second forward speed.

Further, the method further comprises:

and when the first forward speed or the second forward speed is zero, controlling the parking brake of the target vehicle to be effective.

Further, when the throttle position is not located at the initial throttle position, controlling the clutch pedal of the target vehicle to reach the maximum clutch stroke from the initial clutch position comprises:

when the throttle position is not located at the initial throttle position, acquiring peripheral obstacle information of the target vehicle;

and controlling a clutch pedal of the target vehicle to reach a maximum clutch stroke from a clutch initial position according to the surrounding obstacle information.

In one aspect, an embodiment of the present invention further provides a vehicle control apparatus, where the apparatus includes:

the accelerator monitoring module is used for acquiring the accelerator position of an accelerator pedal of the target vehicle;

the gear control module is used for controlling a clutch pedal of the target vehicle to reach a clutch maximum stroke from a clutch initial position when the accelerator position is not located at the initial accelerator position so as to control the target vehicle to shift into a first gear;

the rotating speed monitoring module is used for acquiring the rotating speed of the engine of the target vehicle;

and the vehicle control module is used for controlling a clutch pedal of the target vehicle to recover to the clutch initial position and controlling the parking brake of the target vehicle to be released when the rotating speed of the engine reaches a first preset rotating speed so as to enable the target vehicle to enter a forward state.

In another aspect, an embodiment of the present invention further provides a vehicle, where the vehicle includes: one or more processors; a storage device, configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement a method as provided by any embodiment of the invention.

The method comprises the steps of acquiring the accelerator position of an accelerator pedal of a target vehicle; when the accelerator position is not located at an initial accelerator position, controlling a clutch pedal of the target vehicle to reach a maximum clutch stroke from the initial clutch position so as to control the target vehicle to shift into a first gear; acquiring the engine speed of the target vehicle; when the rotating speed of the engine reaches a first preset rotating speed, controlling a clutch pedal of the target vehicle to recover to the clutch initial position, and controlling parking brake of the target vehicle to be released, so that the target vehicle enters a forward state, solving the problem that a vehicle driver is inconvenient to switch gears, and realizing the effect of automatically controlling gear switching of the vehicle.

Drawings

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

fig. 2 is a schematic flow chart of a vehicle control method according to a second embodiment of the present invention;

FIG. 3 is a flow chart illustrating a vehicle control method according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a vehicle control device according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of a computer device of a vehicle according to a fifth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration and not limitation. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Before discussing exemplary embodiments in greater detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently, or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. For example, a first module may be termed a second module, and, similarly, a second module may be termed a first module, without departing from the scope of the present application. The first module and the second module are both modules, but they are not the same module. The terms "first", "second", etc. are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Example one

As shown in fig. 1, a vehicle control method according to a first embodiment of the present invention includes:

and S110, acquiring the accelerator position of an accelerator pedal of the target vehicle.

And S120, when the accelerator position is not located at the initial accelerator position, controlling the clutch pedal of the target vehicle to reach the maximum clutch stroke from the initial clutch position so as to control the target vehicle to shift into the first gear.

In this embodiment, when vehicle control is performed, if a user needs a target vehicle to advance, the user only needs to step on an accelerator pedal of the target vehicle, the target vehicle can monitor the accelerator position of the accelerator pedal in real time, and after the user steps on the accelerator pedal of the target vehicle, the accelerator position is not located at an initial accelerator position, and at this time, a clutch pedal of the target vehicle is controlled to reach a maximum clutch stroke from the initial clutch position, so that the target vehicle is controlled to be shifted into a first gear, which is equivalent to a gear 1 of a manual transmission vehicle and a gear D of an automatic transmission vehicle.

Further, when the accelerator position is not located at the initial accelerator position, the peripheral obstacle information of the target vehicle is firstly acquired, and then the clutch pedal of the target vehicle is controlled to reach the maximum clutch stroke from the initial clutch position according to the peripheral obstacle information so as to control the target vehicle to shift into the first gear. And if the obstacles exist around the target vehicle, prompting the user not to control the target vehicle, and if the obstacles do not exist around the target vehicle, controlling the target vehicle to shift into the first gear.

And S130, obtaining the engine speed of the target vehicle.

And S140, when the rotating speed of the engine reaches a first preset rotating speed, controlling the clutch pedal of the target vehicle to recover to a clutch initial position, and controlling the parking brake of the target vehicle to be released so as to enable the target vehicle to enter a forward state.

In this embodiment, after the target vehicle shifts into the first gear, the engine speed of the target vehicle is also monitored in real time, and when the engine speed reaches a first preset speed, that is, when the engine of the target vehicle reaches a startable speed, the clutch pedal of the target vehicle is controlled to return to the clutch initial position, and the parking brake of the target vehicle is controlled to be released, so that the target vehicle enters a forward state and starts to move forward.

Example two

As shown in fig. 2, a second embodiment of the present invention provides a vehicle control method, and the second embodiment of the present invention is further explained on the basis of the first embodiment of the present invention, and the method includes:

and S210, determining the ratio of the position of the accelerator to the first position of the initial accelerator position and the maximum stroke of the accelerator according to the position of the accelerator.

And S220, determining a first advancing speed of the target vehicle according to the first position proportion.

In this embodiment, after the target vehicle enters the forward state, the user may step on the accelerator pedal to complete acceleration of the target vehicle, at this time, a first position proportion that the accelerator position is located at an initial accelerator position and a maximum accelerator stroke may be determined according to the accelerator position, and then a first forward speed of the target vehicle may be determined according to the first position proportion, for example, the first proportion is 50%, the target vehicle may be accelerated by an engine of the target vehicle according to 50% of power of a maximum power of the target vehicle, when the second proportion is 100%, that is, the accelerator position is located at the maximum accelerator stroke, the target vehicle may be accelerated by the engine of the target vehicle according to the maximum power of the target vehicle, and when the user stops stepping on the accelerator pedal, the accelerator pedal may automatically return to the initial accelerator position.

And S230, acquiring the brake position of the brake pedal of the target vehicle.

And S240, determining the proportion of the braking position to the second position of the initial braking position and the maximum braking stroke according to the braking position.

And S250, determining a second advancing speed of the target vehicle according to the second position proportion.

In this embodiment, the target vehicle needs to be controlled to decelerate in addition to acceleration, after the target vehicle enters an advancing state, the braking position of a brake pedal of the target vehicle is obtained in real time, a user can press down the accelerator pedal to complete deceleration of the target vehicle, then a second position proportion of the braking position between an initial braking position and a maximum braking stroke is determined according to the braking position, a second advancing speed of the target vehicle is determined according to the second position proportion, and the larger the second position proportion is, the more deceleration is.

And S260, determining a proper gear of the target vehicle according to the first forward speed or the second forward speed.

And S270, when the rotating speed of the engine reaches a second preset rotating speed, controlling a clutch pedal of the target vehicle to reach a maximum clutch stroke from a clutch initial position so as to control the target vehicle to shift into a proper gear.

And S280, controlling the clutch pedal of the target vehicle to return to the clutch initial position to enable the target vehicle to reach the first forward speed or the second forward speed.

In this embodiment, for a manual transmission vehicle, when a target vehicle is accelerated and decelerated, after a target user steps on an accelerator pedal or a brake pedal, a first forward speed or a second forward speed is determined, then a suitable gear of the target vehicle is determined according to the first forward speed or the second forward speed, when the engine speed reaches a second preset speed, a clutch pedal of the target vehicle is controlled to reach a maximum clutch stroke from a clutch initial position to control the target vehicle to shift into the suitable gear, the second preset speed is the speed most suitable for shifting into the gear, and then the clutch pedal of the target vehicle is controlled to return to the clutch initial position to enable the target vehicle to reach the first forward speed or the second forward speed, wherein the shift gear can be switched for multiple times, and when the engine speed reaches a value suitable for shifting the gear, the corresponding gear switching is performed until the first forward speed or the second forward speed is reached, and the first forward speed or the second forward speed is kept to travel at a constant speed.

And S290, when the first forward speed or the second forward speed is zero, enabling the parking brake of the control target vehicle.

In this embodiment, when the first forward speed or the second forward speed is zero, the parking brake of the target vehicle is also controlled to be effective, so that the target vehicle can be parked without any operation after the user brakes the vehicle to stop, and the vehicle slipping phenomenon is prevented.

Further, the target vehicle further comprises a reverse button, and when the target vehicle is stationary, a user presses the reverse button, and the target vehicle is reversed by adopting the same control method.

EXAMPLE III

As shown in fig. 3, a third embodiment of the present invention provides a vehicle control method, and the third embodiment of the present invention is explained further on the basis of the first embodiment of the present invention, and the method includes:

and S310, determining the ratio of the position of the accelerator to the initial position and the first position of the maximum stroke of the accelerator according to the position of the accelerator, wherein the position of the accelerator is not automatically recovered to the initial position of the accelerator.

And S320, determining a first advancing speed of the target vehicle according to the first position proportion.

And S330, acquiring the brake position of the brake pedal of the target vehicle.

And S340, determining the proportion of the braking position to the second position of the initial braking position and the maximum braking travel according to the braking position.

And S350, determining a second advancing speed of the target vehicle according to the braking position.

In this embodiment, different from the second embodiment of the present invention, the accelerator position is not automatically returned to the initial accelerator position, after the target vehicle enters a forward state, the user may depress the accelerator pedal to complete acceleration of the target vehicle, at this time, the accelerator position may be determined to be located at a first position ratio of the initial accelerator position and the maximum accelerator travel according to the accelerator position, and then, the first forward speed of the target vehicle may be determined according to the first position ratio, for example, the first ratio is 50%, the maximum vehicle speed of the target vehicle is 180km/h, the first forward speed of the target vehicle is 90km/h, and the second ratio is 20%, the first forward speed of the target vehicle is 36km/h, the engine of the target vehicle may continue to accelerate until the target vehicle reaches the first forward speed, and preferably, the accelerator pedal may give a vibration feedback to the user whenever the first position ratio increases by 10%, and when the user stops depressing the accelerator pedal, the accelerator pedal may not automatically return to the initial accelerator position, and when the user depresses the brake pedal, the position may also correspondingly return.

And S360, determining a proper gear of the target vehicle according to the first forward speed or the second forward speed.

And S370, when the rotating speed of the engine reaches a second preset rotating speed, controlling the target vehicle to shift into a proper gear, so that the target vehicle reaches the first forward speed or the second forward speed.

And S380, when the first forward speed or the second forward speed is zero, the parking brake of the control target vehicle is effective.

In this embodiment, for the automatic transmission vehicle, there is no clutch pedal, so the shift position is directly determined according to the first forward speed or the second forward speed, and when the engine speed reaches the second preset speed, the target vehicle is controlled to shift into the appropriate shift position, so that the target vehicle reaches the first forward speed or the second forward speed.

In this embodiment, the accelerator pedal obtains the accelerator position of the target vehicle in real time through two detection sheets located on the accelerator pedal, and the clutch pedal and the gear control and the like are realized through a motor, a rotating shaft, a screw rod, a transmission belt and the like.

Example four

As shown in fig. 4, a third embodiment of the present invention provides a vehicle control device 100, and the vehicle control device 100 provided in the third embodiment of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. The vehicle control apparatus 100 includes a throttle monitoring module 200, a gear control module 300, a speed monitoring module 400, and a vehicle control module 500.

Specifically, the accelerator monitoring module 200 is configured to obtain an accelerator position of an accelerator pedal of the target vehicle; the gear control module 300 is configured to control a clutch pedal of the target vehicle to reach a maximum clutch stroke from an initial clutch position when the accelerator position is not located at the initial accelerator position, so as to control the target vehicle to shift into a first gear; the rotation speed monitoring module 400 is used for acquiring the engine rotation speed of the target vehicle; the vehicle control module 500 is configured to control a clutch pedal of the target vehicle to return to a clutch initial position and control a parking brake of the target vehicle to be released when the engine speed reaches a first preset speed, so that the target vehicle enters a forward moving state.

In this embodiment, the vehicle control apparatus 100 further includes a vehicle speed control module 600, where the vehicle speed control module 600 is configured to determine, according to the position of the accelerator, a first position ratio of the accelerator position between the initial accelerator position and the maximum accelerator travel; a first forward speed of the target vehicle is determined based on the first position ratio. Wherein the throttle position does not automatically return to the initial throttle position. The vehicle speed control module 600 is further configured to obtain a braking position of a brake pedal of the target vehicle; determining the proportion of the braking position between the initial braking position and the second position of the maximum braking stroke according to the braking position; and determining a second forward speed of the target vehicle according to the second position proportion.

Further, the gear control module 300 is further configured to determine a suitable gear of the target vehicle according to the first forward speed or the second forward speed; when the rotating speed of the engine reaches a second preset rotating speed, controlling a clutch pedal of the target vehicle to reach a clutch maximum stroke from a clutch initial position so as to control the target vehicle to shift into a proper gear; and controlling the clutch pedal of the target vehicle to return to the clutch initial position so that the target vehicle reaches the first forward speed or the second forward speed. The gear control module 300 is further configured to determine a suitable gear of the target vehicle based on the first forward speed or the second forward speed; and when the rotating speed of the engine reaches a second preset rotating speed, controlling the target vehicle to shift into a proper gear so that the target vehicle reaches the first forward speed or the second forward speed. The vehicle control module 500 is further configured to control the parking brake of the target vehicle to be effective when the first forward speed or the second forward speed is zero.

In this embodiment, the vehicle control apparatus 100 further includes an obstacle monitoring module 700, where the obstacle monitoring module 700 is configured to obtain information of obstacles around a target vehicle when an accelerator position is not located at an initial accelerator position; and controlling a clutch pedal of the target vehicle to reach a clutch maximum stroke from a clutch initial position according to the surrounding obstacle information.

Practice five

Fig. 5 is a schematic structural diagram of a computer device 12 included in a vehicle according to a fifth embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 5 is only an example and should not impose any limitations on the functionality or scope of use of embodiments of the present invention.

As shown in FIG. 5, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, to name a few.

The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, implementing the methods provided by the embodiments of the present invention:

acquiring the accelerator position of an accelerator pedal of a target vehicle;

when the accelerator position is not located at the initial accelerator position, controlling a clutch pedal of the target vehicle to reach a maximum clutch stroke from the initial clutch position so as to control the target vehicle to shift into a first gear;

acquiring the engine speed of a target vehicle;

and when the rotating speed of the engine reaches a first preset rotating speed, the clutch pedal of the target vehicle is controlled to be recovered to the clutch initial position, and the parking brake of the target vehicle is controlled to be released, so that the target vehicle enters a forward state.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle control method characterized by comprising:

acquiring the accelerator position of an accelerator pedal of a target vehicle;

acquiring the engine speed of the target vehicle;

2. The method of claim 1, wherein the target vehicle comprises, after entering a forward state:

3. The method of claim 2, wherein the throttle position is not automatically returned to the initial throttle position.

4. The method of claim 2, wherein the determining a first forward speed of the target vehicle as a function of the first position fraction comprises:

acquiring a brake position of a brake pedal of the target vehicle;

5. The method of claim 4, wherein the determining a first forward speed of the target vehicle as a function of the first position fraction or the determining a second forward speed of the target vehicle as a function of the second position fraction comprises, after:

6. The method of claim 4, wherein the determining a first forward speed of the target vehicle as a function of the first position fraction or the determining a second forward speed of the target vehicle as a function of the second position fraction comprises, after:

7. The method of claim 5 or 6, further comprising:

8. The method of claim 1, wherein controlling the clutch pedal of the target vehicle to reach a clutch maximum travel from a clutch initial position when the throttle position is not at the initial throttle position comprises:

and controlling a clutch pedal of the target vehicle to reach a clutch maximum stroke from a clutch initial position according to the surrounding obstacle information.

9. A vehicle control apparatus characterized by comprising:

the gear control module is used for controlling a clutch pedal of the target vehicle to reach a maximum clutch stroke from a clutch initial position when the accelerator position is not located at the initial accelerator position so as to control the target vehicle to shift into a first gear;

and the vehicle control module is used for controlling a clutch pedal of the target vehicle to recover to the clutch initial position and controlling parking brake release of the target vehicle when the rotating speed of the engine reaches a first preset rotating speed so as to enable the target vehicle to enter a forward state.

10. A vehicle, characterized by comprising:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-8.