The invention relates to a vehicle escape method, device and equipment and a medium. The method comprises the steps that the suspension height and the first slip rate of each wheel are determined; judging the escape working condition of the vehicle according to the suspension height and the first slip rate; wherein the detrapping working conditions comprise a wheel slipping working condition and a working condition that wheels sink into the ground; when the disengagement working condition is the wheel slipping working condition, a first disengagement strategy is executed, and the first disengagement strategy comprises the steps that the slip rate of slipping wheels is increased, and torque transfer is controlled between a front axle and a rear axle; and when the detrapping working condition is that the wheels are trapped in the ground, a second detrapping strategy is executed, and the second detrapping strategy comprises the step of controlling the height of the suspension. The method can adapt to various different escape working conditions, the suspension, the slip rate, the torque of the front shaft and the torque of the rear shaft and the like can be comprehensively controlled in the escape strategy, and the escape capacity of the vehicle is effectively improved.

    本公开涉及一种车辆脱困方法、装置、设备及介质,该方法包括:确定各车轮的悬架高度和第一滑移率;根据悬架高度和第一滑移率判断车辆的脱困工况;其中,脱困工况包括:车轮打滑工况和车轮陷入地面工况;当脱困工况为车轮打滑工况时,执行第一脱困策略,第一脱困策略包括:对发生打滑的车轮进行滑移率的增强,在前轴和后轴之间控制扭矩转移;当脱困工况为车轮陷入地面工况时,执行第二脱困策略,第二脱困策略包括:对悬架高度进行控制。本公开能够适应多种不同的脱困工况,且在脱困策略中能对悬架、滑移率、前后轴扭矩等进行综合控制,有效提高了车辆的脱困能力。


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    Title :

    Vehicle escape method, device, equipment and medium


    Additional title:

    车辆脱困方法、装置、设备及介质


    Contributors:
    JIN CHANGMING (author) / LI SHUNBO (author) / WANG ZHENLONG (author) / LIANG HAIBO (author) / LIU YITAO (author) / MENG XIANGKE (author)

    Publication date :

    2025-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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