The invention relates to a four-wheel drive control method and device, a vehicle, computer equipment and a storage medium. The method comprises the steps that a four-wheel-drive control instruction is received, and the four-wheel-drive control instruction is used for controlling a vehicle to run on a road of a target scene; receiving vehicle operation data according to the four-wheel drive control instruction, and acquiring participated feedforward parameters and feedback parameters by using the vehicle operation data; extracting a basic distribution value and a corresponding gain value of the rear axle driving force from a corresponding preset map form by using the feedforward parameter and the feedback parameter; and calculating a total distribution value of the rear axle driving force by using the basic distribution value and one or more corresponding gain values based on the activation condition of the anti-rudder working condition, so as to control the torque output of the rear axle motor by using the total distribution value. By adopting the method, the total distribution value of the rear axle driving force can be calculated according to the vehicle operation data, so that the control performance and stability of the vehicle in the target scene are improved, and a driver can master the limit control of the vehicle more safely.

    本申请涉及一种四驱控制方法、装置、车辆、计算机设备和存储介质。其中,方法包括:接收四驱控制指令,四驱控制指令用于控制车辆行驶于目标场景的道路上;根据四驱控制指令接收车辆运行数据,利用车辆运行数据获取参与的前馈参数和反馈参数;利用前馈参数和反馈参数从对应预设map表单中提取后轴驱动力的基础分配值以及对应增益值;基于反舵工况的激活情况,利用基础分配值与一种或多种对应增益值计算后轴驱动力的总分配值,以便利用总分配值控制后轴电机扭矩输出。采用本方法能够根据车辆运行数据计算后轴驱动力的总分配值,以此提高车辆在目标场景下的操控性能和稳定性,让驾驶员更加安全的掌控车辆的极限操控。


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    Title :

    Four-wheel-drive control method and device, vehicle, computer equipment and storage medium


    Additional title:

    一种四驱控制方法、装置、车辆、计算机设备和存储介质


    Contributors:
    XIE QIAO (author) / SONG YUNFENG (author) / WANG MINGJUN (author) / ZHANG KUN (author) / GUO YAN (author)

    Publication date :

    2024-06-14


    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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