Control method and system of four-wheel drive vehicle and four-wheel drive vehicle

Abstract

The invention discloses a control method and system for a four-wheel-drive vehicle and the four-wheel-drive vehicle. The method comprises steps as follows: the steering wheel angle and the current steering mode are detected, the target angle of each wheel in the current steering mode is determined according to the steering wheel angle and vehicle parameters, the corresponding wheel is driven to steer according to the target angle of each wheel, the current vehicle speed is detected, the torque distribution coefficient of each wheel in the current steering mode is determined according to the vehicle speed and the target angle of the wheel, and the corresponding driving force is exerted on the corresponding wheel according to the torque distribution coefficient of each wheel. With the method, wheel steering in different steering modes can be completed accurately and quickly, the torque can be distributed reasonably, torque interference among the driving wheels can be reduced, then tire abrasions can be reduced, the energy consumption can be reduced, and the operating performance of the vehicle can be improved.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to a control method and system for a four-wheel-drive vehicle and the four-wheel-drive vehicle. Background technique [0002] Such as figure 1 As shown, the steering state of a four-wheel drive vehicle usually includes: steering initialization state 1, front wheel steering 2, rear wheel steering 3, crab steering 4, four-wheel steering 5, four-wheel steering at the same turning angle 6, and four-wheel steering at 90 ° turn 7, four-wheel turn 8 in situ. Such as figure 2 As shown, the mechanical structure commonly used in the steering of four-wheel drive vehicles in the related art includes: a vehicle controller, four steering motor controllers, four steering motors, four driving motor controllers, and four driving motors. In the related art, although various states of the four-wheel steering can be realized through the above-mentioned mechanical structure, the torque of the fo...

AI Technical Summary

Problems solved by technology

In the related art, although various states of the four-wheel steering can be realized through the above-mentioned mechanical structure, the torque of the four driving wheels cannot be reasonably distributed, and from the detection of the turning angle of each wheel to the completion of the turn of each wheel corner time is longer

As a result, when the vehicle is turning, the energy loss is large, the tires are severely worn, and it takes a long time, which affects the vehicle handling performance

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