Control method for re-stabilizing out-of-control vehicle

The invention relates to a control method for re-stabilizing an out-of-control vehicle, which comprises the following steps of: modeling a road surface by using sensor information, and representing a relative angle relationship between a current vehicle body and the road surface by using an angle theta and an angle alpha; judging whether the vehicle is in an out-of-control state; if yes, a drifting kinetic model of the vehicle is established by considering the gravity component, the current vehicle state is taken as an initial condition, the environment boundary is considered, the drifting steady state is optimized and solved, and the vehicle is controlled to maintain the drifting steady state; calculating the relative attitude of the vehicle and the road, and judging whether the condition of driving out of the drifting steady state is met or not; if yes, the vehicle is controlled to be out of the drifting state and enter the normal driving state; and when the vehicle control right transferring condition is m