A 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 characterized in that it comprises the steps: 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; determining a proportional coefficient smaller than a target coefficient threshold as the first proportional coefficient when the tilt angle of the vehicle is greater than or equal to the target angle threshold; and determining a proportional coefficient greater than the target coefficient threshold as the first proportional coefficient when the tilt angle of the vehicle is less than the target angle threshold. 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 characterized in that it comprises the steps: 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; determining a proportional coefficient smaller than a target coefficient threshold as the first proportional coefficient when the tilt angle of the vehicle is greater than or equal to the target angle threshold; and determining a proportional coefficient greater than the target coefficient threshold as the first proportional coefficient when the tilt angle of the vehicle is less than the target angle threshold. 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; determining a proportional coefficient smaller than a target coefficient threshold as the first proportional coefficient when the tilt angle of the vehicle is greater than or equal to the target angle threshold; and determining a proportional coefficient greater than the target coefficient threshold as the first proportional coefficient when the tilt angle of the vehicle is less than the target angle threshold. <EOS>