Vehicle driving control method, device and four-wheel drive vehicle

Abstract

The invention provides a vehicle driving control method and apparatus, and a four-wheel driving type vehicle. The method comprises: when vehicle driving is in a slippage state, a front axle rotating speed and a rear axle rotating speed of the vehicle are obtained; a front axle acceleration speed and a rear axle acceleration speed are calculated based on the front axle rotating speed and the rear axle rotating speed; the front axle acceleration speed and the rear axle acceleration speed are compared and a minimal value of the two acceleration speeds is used as a most approximate vehicle acceleration speed; on the basis of the vehicle acceleration speed and a preset vehicle target acceleration speed, a target torque of an overall vehicle wheel end is calcualted; and then according to a preset ratio and a preset coefficient, the target torque allocation of the overall vehicle wheel end is carried out, a front axle wheel-end target torque and a rear axle wheel-end target torque are obtained respectively, a front motor and an engine as well as a rear motor torque output are controlled, and thus the whole vehicle acceleration speed is adjusted to be in a preset acceleration range, thereby realizing anti-slip controlling.

Description

technical field [0001] The invention relates to the technical field of vehicle control, in particular to a vehicle driving control method and device and a four-wheel drive vehicle. Background technique [0002] In the prior art, in order to prevent the vehicle from slipping during driving, the four-wheel drive vehicle usually controls the output torque of the engine, so as to achieve anti-skid control on low-adhesion road surfaces. [0003] Specifically, when there is snow, rain, and ice on the road surface to form a low-adhesion road surface, if the front axle slips and the rear axle does not slip, the output torque of the front axle will be transmitted to the rear axle; otherwise, the output torque of the rear axle will Torque transfer front axle. [0004] However, in this control method, in one case, if the rear axle slips after the front axle torque is transmitted to the rear axle, the rear axle torque will be retransmitted to the front axle, resulting in a vicious circ...

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Problems solved by technology

[0004] However, in this control method, in one case, if the rear axle slips after the front axle torque is transmitted to the rear axle, the rear axle torque will be retransmitted to the front axle, resulting in a vicious circle; in another case, if When the front axle and the rear axle slip at the same time, the anti-skid control method based on the relative slip of the front and rear axles is used in the prior art. Therefore, the anti-skid control method in the prior art will mistakenly believe that the vehicle does not slip, and the anti-skid control less effective

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