The invention is suitable for the technical field of vehicle control, and provides a vehicle control method and device, terminal equipment and a computer readable storage medium. The control method comprises the steps that when a vehicle is in a braking state and is switched to a four-wheel-drive mode from a rear-wheel-drive mode, the rear-wheel-drive mode is switched to the four-wheel-drive mode; according to the output torque of the rear wheel drive motor, whether the vehicle meets the energy recovery condition in the rear drive mode or not is determined; when it is determined that the energy recovery condition in the rear-wheel drive mode is met, in the four-wheel drive mode, a rear-wheel drive motor is controlled to carry out energy recovery; torque distribution is conducted on a front wheel driving motor and a rear wheel driving motor based on the request recovery torque; and when the output torque of the front wheel drive motor and the output torque of the rear wheel drive motor meet the energy recovery condition in the four-wheel drive mode, the front wheel drive motor and the rear wheel drive motor are controlled to carry out energy recovery. According to the vehicle control method provided by the invention, the energy recovery capability of the vehicle is still kept when the vehicle is switched from the rear-drive mode to the four-drive mode in the braking state.

    本申请适用于车辆控制技术领域,提供了一种车辆控制方法、装置、终端设备及计算机可读存储介质,该控制方法包括:车辆在制动状态下,由后驱模式切换为四驱模式时,根据后轮驱动电机的输出扭矩确定车辆是否满足后驱模式下的能量回收条件;当确定满足后驱模式下的能量回收条件时,在四驱模式下,控制后轮驱动电机进行能量回收;基于请求回收扭矩为前轮驱动电机和后轮驱动电机进行扭矩分配;当前轮驱动电机的输出扭矩和后轮驱动电机的输出扭矩满足四驱模式下的能量回收条件时,控制前轮驱动电机和所述后轮驱动电机进行能量回收。本申请提供的车辆控制方法使得车辆在制动状态下,由后驱模式切换为四驱模式时依然保持车辆的能量回收能力。


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    Title :

    Vehicle control method and device, terminal equipment and readable storage medium


    Additional title:

    车辆控制方法、装置、终端设备及可读存储介质


    Contributors:
    MA ZHIKUN (author) / XI ZHIGANG (author) / ZHANG LEI (author) / WANG JIRONG (author) / JIANG SU (author)

    Publication date :

    2024-04-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen





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