Cruise mode exit method, controller and vehicle

The invention relates to the technical field of vehicles, in particular to a cruise mode exit method, a controller and a vehicle. The cruise mode exit method is applied to a controller and comprises the steps that a first slope parameter of a road is calculated according to vehicle wheel end driving force, sliding resistance and vehicle acceleration in the vehicle running process, and the first slope parameter is a calculated parameter representing the road slope condition or ramp resistance; acquiring the cruising speed of the vehicle; according to a preset corresponding relation, a gradient parameter threshold value corresponding to the cruise vehicle speed is determined, and the preset corresponding relation is the corresponding relation between the cruise vehicle speed calibrated according to the real vehicle and the gradient parameter threshold value; and under the condition that the first gradient parameter is larger than the determined gradient parameter threshold value, the vehicle is controlled to exit the cruise mode. According to the technical scheme provided by the invention, the situations that a driver steps on a brake pedal, but the cruise mode cannot be quitted due to loss of a brake signal, the vehicle continuously accelerates and the brake fails are avoided, and the safety performance of the vehicle is improved.