A drive control method, device, equipment and storage medium for four-wheel drive vehicle

Abstract

The present application relates to a driving control method, device, equipment and storage medium for a four-wheel drive vehicle, which includes the following steps: obtaining the throttle opening in the driving state; if the throttle opening is zero, controlling the first motor to adjust from outputting positive torque to outputting negative torque to recover energy, and adjusting the second motor to a preset positive torque to maintain the driving state; wherein the first motor and the second motor are any one of the front motor and the rear motor of the vehicle and the two are different. The tooth side clearance impact caused by the second motor when the throttle opening changes from zero and is combined with the driving side of the transmission system is effectively avoided, and the driving experience is improved. On the other hand, in the gliding state, since the first motor can be in a negative torque output state, the vehicle can still smoothly recover braking energy, and finally ensure that the vehicle has a significantly improved response speed and stability when entering the driving state from the gliding state.

Description

Technical Field

[0001] The present application relates to the field of automobile drive technology, and in particular to a drive control method, device, equipment and storage medium for a four-wheel drive automobile. Background Art

[0002] When the driving mode of a traditional vehicle changes, there will be perceptible abnormal noise due to the existence of tooth side clearance in the transmission system.

[0003] The conventional treatment method is to weaken the impact from coasting to acceleration by weakening the torque build-up time from coasting to driving, and to improve the impact from driving to coasting by reducing the slope of the torque drop.

[0004] Although this solution can mitigate the problem, it brings about the problem of slow throttle response. At the same time, in new energy vehicles, due to the coasting brake energy recovery, when the motor changes from the sliding brake energy recovery state to the driving state, the motor will change from negative torque output to positive torque output, which will make this problem more obvious. Summary of the invention

[0005] The embodiments of the present application provide a drive control method, device, equipment and storage medium for a four-wheel drive vehicle to solve the problem of slow throttle response in a new energy vehicle during the process of sliding to driving in the related art.

[0006] In the first aspect, a driving control method for a four-wheel drive vehicle is provided, which adopts the following technical solution:

[0007] A drive control method for a four-wheel drive vehicle comprises the following steps:

[0008] Get the throttle opening degree under driving status;

[0009] If the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain the driving state; wherein, the first motor and the second motor are any one of the front motor and the rear motor of the car and the two are different.

[0010] Through the above scheme, when the car enters the gliding state and the throttle opening becomes zero, the first motor immediately adjusts the output torque from positive torque to negative torque for energy recovery, and the second motor is finally adjusted to a driving state with a certain positive torque output. At this time, the tooth side of the second motor in the gliding state is always combined with the driving side of the transmission side system. During the deceleration gliding process, the operator can keep the preset positive torque at a relatively small level to ensure the smooth deceleration gliding of the car. At the same time, after the subsequent car changes from the gliding state to the driving state, since the second motor is in a state of combination with the driving side of the transmission system, the second motor can quickly respond to the change of the throttle opening, and then quickly drive the car, and effectively avoid the tooth side clearance impact caused by the combination of the second motor with the driving side of the transmission system, thereby improving the driving experience. On the other hand, in the gliding state, since the first motor can be in a negative torque output state, the car can still smoothly perform brake energy recovery, and finally ensure that the car has a significantly improved response speed and stability when entering the driving state from the gliding state.

[0011] In some embodiments, if the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to perform energy recovery, and the second motor is adjusted to a preset positive torque to maintain a driving state, and further includes:

[0012] If the throttle opening changes from zero to non-zero, the first motor is controlled to adjust from outputting negative torque to outputting positive torque, and the positive torque output by the second motor is adjusted.

[0013] Through the above scheme, when the car steps on the accelerator to enter the driving state in the gliding state, the first motor will gradually exit the braking energy recovery state and subsequently enter the driving state of outputting positive torque. The second motor can adjust and increase the positive torque it outputs at the first time to achieve a quick response to the throttle opening.

[0014] In some embodiments, if the throttle opening changes from zero to non-zero, controlling the first motor to adjust from outputting negative torque to outputting positive torque, and adjusting the positive torque output by the second motor, comprises:

[0015] If the throttle opening changes from zero to non-zero, obtaining the throttle opening;

[0016] Obtaining a target positive torque according to the throttle opening;

[0017] According to the target positive torque, the torque of the first motor and the second motor are adjusted, the torque of the first motor gradually increases from negative torque to positive torque, and the sum of the torques of the first motor and the second motor is always equal to the target positive torque until the torques of the first motor and the second motor meet the preset torque distribution algorithm.

[0018] Through the above scheme, when the car steps on the accelerator in the gliding state to enter the driving state, the sum of the positive torques output by the first motor and the second motor will continue to correspond to the target positive torque required by the throttle opening. Then, in the process of the first motor changing from outputting negative torque to outputting positive torque, the second motor will fully bear the target positive torque corresponding to the throttle opening to ensure that the car can smoothly obtain the corresponding driving torque. After the first motor changes to the driving state of outputting positive torque, at this time, as the positive torque of the first motor gradually increases, the positive torque of the second motor can be adjusted to gradually decrease until both meet the preset torque distribution algorithm, so that the first motor and the second motor of the car enter a normal driving state. Therefore, in the whole process, the torque output adjustment of the first motor can be carried out in a relatively stable manner, and the second motor is in a relatively stable state when the torque is adjusted quickly because it is in a driving side coupling state from the beginning. Finally, after the first motor is stably adjusted to the driving state of outputting positive torque, the first motor and the second motor are restored to the optimal torque distribution state in the driving state according to the preset torque distribution algorithm.

[0019] In some embodiments, if the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to perform energy recovery, and the second motor is adjusted to a preset positive torque to maintain a driving state, and further includes:

[0020] Obtaining negative torque output time of the first motor;

[0021] If the accumulated negative torque output time of the first motor reaches a preset value, the first motor and the second motor are swapped during the next energy recovery, and the accumulated negative torque output time is reset;

[0022] If the accumulated negative torque output time of the first motor does not reach the preset value, the accumulated negative torque output time is saved and participates in the next time accumulation of the negative torque output time of the first motor.

[0023] Through the above scheme, the time of the first motor for energy recovery is accumulated, and then after it reaches the preset value, it can be exchanged with the second motor after the next time the car enters the coasting state. The two motors alternately perform braking energy recovery, and the first motor and the second motor can alternately bear a larger driving torque in the first time when the car enters the driving state from the coasting state, ultimately ensuring that the operating conditions of the first motor and the second motor are closer, avoiding excessive wear on the tooth side of the first motor or the second motor, extending the overall service life, and facilitating the actual driving of the car.

[0024] In some embodiments, if the throttle opening is zero, the first motor is controlled to output a positive torque to output a negative torque to recover energy, and before the second motor is adjusted to a preset positive torque to maintain a driving state, the method further includes:

[0025] If the throttle has an opening, the target positive torque is obtained according to the throttle opening;

[0026] The torques of the first motor and the second motor are obtained according to the target forward torque and a preset torque distribution algorithm.

[0027] Through the above solution, when the vehicle is in a driving state before entering a coasting state, the first motor and the second motor will simultaneously bear the target positive torque corresponding to the throttle opening of the vehicle.

[0028] In some embodiments, if the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain the driving state, and the change value of the first motor and the second motor within every 100ms is not greater than 100Nm.

[0029] Through the above scheme, when the car enters the gliding state from the driving state, the torque of the first motor and the second motor can be reduced more stably, avoiding the impact on the overall stability and driving experience of the car due to the too fast reduction.

[0030] In some embodiments, if the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain the driving state, and the preset positive torque value is 1 to 2 Nm.

[0031] Through the above scheme, when the car is in the gliding state, the second motor is still connected to the driving side of the transmission system with a relatively low positive torque output, thereby not affecting the deceleration and gliding of the car. At the same time, the second motor can also directly drive the car when the throttle opening changes subsequently.

[0032] In the second aspect, a drive control device for a four-wheel drive vehicle is provided, which adopts the following technical solution:

[0033] A drive control device for a four-wheel drive vehicle, comprising:

[0034] A throttle opening acquisition module, which is used to obtain the throttle opening under driving conditions;

[0035] A control module is used to control the first motor to adjust from outputting positive torque to outputting negative torque to recover energy when the throttle opening is zero, and to adjust the second motor to a preset positive torque to maintain a driving state; wherein the first motor and the second motor are any one of the front motor and the rear motor of the vehicle and the two are different.

[0036] In a third aspect, a drive control device for a four-wheel drive vehicle is provided, which adopts the following technical solution:

[0037] A drive control device for a four-wheel-drive vehicle comprises: a memory, a processor, and a drive control program for the four-wheel-drive vehicle stored in the memory and executable on the processor, wherein the drive control program for the four-wheel-drive vehicle is configured to implement the steps of the drive control method for the four-wheel-drive vehicle as described above.

[0038] In a fourth aspect, a storage medium is provided, which adopts the following technical solution:

[0039] A storage medium non-temporarily stores computer-readable instructions, which, when executed by a computer, can implement the driving control method of a four-wheel-drive vehicle as described above.

[0040] The beneficial effects of the technical solution provided by this application include:

[0041] The embodiments of the present application provide a drive control method, device, equipment and storage medium for a four-wheel drive vehicle. After the vehicle changes from a gliding state to a driving state, since the second motor is already in a state of coupling with the driving side of the transmission system, the second motor can quickly respond to changes in the throttle opening, thereby quickly driving the vehicle, and effectively avoiding the impact of the tooth side clearance caused by the coupling of the second motor with the driving side of the transmission system, thereby improving the driving experience. On the other hand, in the gliding state, since the first motor can be in a negative torque output state, the vehicle can still smoothly perform brake energy recovery, ultimately ensuring that the vehicle has significantly improved response speed and stability when entering the driving state from the gliding state. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 The figure is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0044] Figure 2 This is a schematic diagram of the process of the first embodiment of the present application;

[0045] Figure 3 This is a flow chart of the second embodiment of the present application;

[0046] Figure 4 This is a specific flow chart of step S300 of this application;

[0047] Figure 5 This is a flow chart of the third embodiment of the present application;

[0048] Figure 6 This is a schematic diagram of the process of this application when the car is in driving state;

[0049] Figure 7 This is a schematic diagram of functional modules of an embodiment of a drive control device for a four-wheel drive vehicle of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0051] When the driving mode of a traditional vehicle changes, there will be perceptible abnormal noise due to the existence of tooth side clearance in the transmission system.

[0052] The conventional treatment method is to weaken the impact from coasting to acceleration by weakening the torque build-up time from coasting to driving, and to improve the impact from driving to coasting by reducing the slope of the torque drop.

[0053] Although this solution can mitigate the problem, it brings about the problem of slow throttle response. At the same time, in new energy vehicles, due to the coasting brake energy recovery, when the motor changes from the sliding brake energy recovery state to the driving state, the motor will change from negative torque output to positive torque output, which will make this problem more obvious.

[0054] Based on the above problems, the embodiments of the present application provide a drive control method, device, equipment and storage medium for a four-wheel drive vehicle.

[0055] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0056] like Figure 1As shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory, or it may be a stable storage (Non-Volatile Memory), such as a disk storage. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The device structure shown in the figure does not constitute a limitation of the device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0058] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a driving control program for a four-wheel drive vehicle. The device of the present invention may call the driving control program for a four-wheel drive vehicle stored in the memory 1005 through the processor 1001, and execute the driving control method for a four-wheel drive vehicle provided in the embodiment of the present application.

[0059] In the second aspect, a driving control method for a four-wheel drive vehicle is provided, which adopts the following technical solution:

[0060] Reference Figure 2 , a driving control method for a four-wheel drive vehicle, comprising the following steps:

[0061] S100, obtaining the throttle opening in a driving state;

[0062] S200. If the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain a driving state; wherein the first motor and the second motor are any one of the front motor and the rear motor of the vehicle and the two are different.

[0063] When the car enters the gliding state from the driving state and the throttle opening becomes zero, the first motor immediately adjusts the output torque from positive torque to negative torque for energy recovery, and the second motor is finally adjusted to a driving state with a certain positive torque output. At this time, the tooth side of the second motor in the gliding state is always combined with the driving side of the transmission side system. During the deceleration and gliding process, the operator can maintain the preset positive torque at a smaller level to ensure the smooth deceleration and gliding of the car. At the same time, after the car is subsequently changed from the gliding state to the driving state, since the second motor is already in a state of combination with the driving side of the transmission system, the second motor can quickly respond to changes in the throttle opening, thereby quickly driving the car.

[0064] This arrangement effectively avoids the tooth side clearance impact caused by the second motor combining with the drive side of the transmission system when the throttle opening changes from zero, thereby improving the driving experience. On the other hand, in the gliding state, since the first motor can be in a negative torque output state, the car can still smoothly perform brake energy recovery, ultimately ensuring that the car has a significantly improved response speed and stability when entering the driving state from the gliding state.

[0065] Reference Figure 3 Further, in step S200, if the throttle opening is zero, the first motor is controlled to output a positive torque to output a negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain a driving state, and further includes:

[0066] S300: If the throttle opening changes from zero to non-zero, control the first motor to adjust from outputting negative torque to outputting positive torque, and adjust the positive torque output by the second motor.

[0067] With this arrangement, when the car enters the driving state by stepping on the accelerator in the gliding state, the first motor will gradually exit the braking energy recovery state and subsequently enter the driving state of outputting positive torque. The second motor can adjust and increase the positive torque it outputs at the first time to achieve a quick response to the throttle opening.

[0068] Reference Figure 4 Further, in step S300, if the throttle opening changes from zero to non-zero, controlling the first motor to adjust from outputting negative torque to outputting positive torque, and adjusting the positive torque outputted by the second motor, including:

[0069] S310, if the throttle opening changes from zero to non-zero, obtaining the throttle opening;

[0070] S320, obtaining a target forward torque according to the throttle opening;

[0071] S330. According to the target positive torque, adjust the torque of the first motor and the second motor, the torque of the first motor gradually increases from negative torque to positive torque, and the sum of the torques of the first motor and the second motor is always equal to the target positive torque, until the torques of the first motor and the second motor meet the preset torque distribution algorithm.

[0072] With such an arrangement, when the car steps on the accelerator in the gliding state to enter the driving state, the sum of the positive torques output by the first motor and the second motor will continue to correspond to the target positive torque required by the throttle opening. Furthermore, in the process of the first motor changing from outputting negative torque to outputting positive torque, the first motor will fully bear the target positive torque corresponding to the throttle opening to ensure that the car can smoothly obtain the corresponding driving torque. After the first motor changes to the driving state of outputting positive torque, at this time, as the positive torque of the first motor gradually increases, the positive torque of the second motor can be adjusted to gradually decrease until both meet the preset torque distribution algorithm, so that the first motor and the second motor of the car enter a normal driving state. Therefore, in the whole process, the torque output adjustment of the first motor can be carried out in a relatively stable manner, and the second motor is in a relatively stable state when the torque is adjusted quickly because it is in a driving side coupling state from the beginning. Finally, after the first motor is stably adjusted to the driving state of outputting positive torque, the first motor and the second motor are restored to the optimal torque distribution state in the driving state according to the preset torque distribution algorithm.

[0073] Reference Figure 5 In some preferred embodiments, in step S200, if the throttle opening is zero, the first motor is controlled to output a positive torque to output a negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain a driving state, and further includes:

[0074] S410, obtaining the negative torque output time of the first motor;

[0075] S420: If the accumulated negative torque output time of the first motor reaches a preset value, the first motor and the second motor are swapped during the next energy recovery, and the accumulated negative torque output time is reset;

[0076] S430: If the accumulated negative torque output time of the first motor does not reach a preset value, the accumulated negative torque output time is saved and participates in the next time accumulation of the negative torque output time of the first motor.

[0077] In some embodiments, steps S410 to S420 are provided after step S300, and the next time the vehicle enters the gliding state from the driving state after step S300, the first motor and the second motor can be interchanged according to steps S410 to S420.

[0078] With this arrangement, the time of the first motor performing energy recovery is accumulated, and after it reaches a preset value, it can be exchanged with the second motor after the next time the car enters a coasting state. The two motors alternately perform brake energy recovery, and the first motor and the second motor can alternately assume a larger driving torque in the first time when the car enters a driving state from a coasting state. Ultimately, the operating conditions of the first motor and the second motor are closer, avoiding excessive wear on the tooth side of the first motor or the second motor, extending the overall service life, and facilitating actual driving of the car.

[0079] Reference Figure 6 In some preferred embodiments, in step S200, if the throttle opening is zero, the first motor is controlled to output a positive torque to output a negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain a driving state, before the second motor is adjusted to a preset positive torque to maintain a driving state, the method further includes:

[0080] S110, if the throttle has an opening, obtaining a target positive torque according to the throttle opening;

[0081] S120. Obtain the torque of the first motor and the second motor according to the target forward torque and a preset torque distribution algorithm.

[0082] With this arrangement, when the vehicle is in a driving state before entering a coasting state, the first motor and the second motor will simultaneously bear the target positive torque corresponding to the throttle opening of the vehicle.

[0083] In some preferred embodiments, in step S200, if the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain a driving state, and the change value of the first motor and the second motor within every 100ms is not greater than 100Nm.

[0084] With this arrangement, when the car enters a gliding state from a driving state, the torque of the first motor and the second motor can be reduced more stably, avoiding the impact on the overall stability and driving experience of the car due to a too fast reduction.

[0085] In some preferred embodiments, in step S200, if the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain the driving state, and the preset positive torque value is 1 to 2 Nm. In this embodiment, the preset positive torque value is preferably 2 Nm.

[0086] This arrangement ensures that when the car is in a gliding state, the second motor is still coupled to the drive side of the transmission system with a relatively low positive torque output, thereby not affecting the car's deceleration and gliding. At the same time, the second motor can also directly drive the car when the throttle opening changes subsequently.

[0087] Thirdly, refer to Figure 7 , provides a driving control device for a four-wheel drive vehicle, which adopts the following technical solution:

[0088] A drive control device for a four-wheel drive vehicle, comprising:

[0089] A throttle opening acquisition module, which is used to obtain the throttle opening under driving conditions;

[0090] A control module is used to control the first motor to adjust from outputting positive torque to outputting negative torque to recover energy when the throttle opening is zero, and to adjust the second motor to a preset positive torque to maintain a driving state; wherein the first motor and the second motor are any one of the front motor and the rear motor of the vehicle and the two are different.

[0091] In a fourth aspect, a storage medium is provided.

[0092] The readable storage medium of the present invention stores a precision air conditioning control program, wherein when the drive control program of the four-wheel drive vehicle is executed by the processor, the steps of the drive control method of the four-wheel drive vehicle as described above are implemented. The method implemented when the drive control program of the four-wheel drive vehicle is executed can refer to the various embodiments of the drive control method of the four-wheel drive vehicle provided in this application, and will not be repeated here.

[0093] The beneficial effects of the technical solution provided by this application include:

[0094] The embodiments of the present application provide a drive control method, device, equipment and storage medium for a four-wheel drive vehicle. After the vehicle changes from a gliding state to a driving state, since the second motor is already in a state of coupling with the driving side of the transmission system, the second motor can quickly respond to changes in the throttle opening, thereby quickly driving the vehicle, and effectively avoiding the impact of the tooth side clearance caused by the coupling of the second motor with the driving side of the transmission system, thereby improving the driving experience. On the other hand, in the gliding state, since the first motor can be in a negative torque output state, the vehicle can still smoothly perform brake energy recovery, ultimately ensuring that the vehicle has significantly improved response speed and stability when entering the driving state from the gliding state.

[0095] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

[0096] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0097] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0098] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A driving control method for a four-wheel drive vehicle, characterized in that: It includes the following steps: Get the throttle opening degree under driving status; If the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain a driving state; wherein the first motor and the second motor are any one of the front motor and the rear motor of the vehicle and are different; If the throttle opening is zero, the first motor is controlled to output a positive torque to a negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain a driving state, and the method further includes: If the throttle opening changes from zero to non-zero, controlling the first motor to adjust from outputting negative torque to outputting positive torque, and adjusting the positive torque outputted by the second motor; If the throttle opening changes from zero to non-zero, controlling the first motor to adjust from outputting negative torque to outputting positive torque, and adjusting the positive torque output by the second motor, comprises: If the throttle opening changes from zero to non-zero, obtaining the throttle opening; Obtaining a target positive torque according to the throttle opening; According to the target positive torque, adjusting the torque of the first motor and the second motor, the torque of the first motor gradually increases from negative torque to positive torque, and the sum of the torques of the first motor and the second motor is always equal to the target positive torque, until the torques of the first motor and the second motor meet the preset torque distribution algorithm; When the first motor changes from outputting negative torque to outputting positive torque, the second motor will bear all the target positive torque corresponding to the throttle opening to ensure that the vehicle can smoothly obtain the corresponding driving torque.

2. The driving control method of a four-wheel drive vehicle according to claim 1, characterized in that: If the throttle opening is zero, the first motor is controlled to output a positive torque to a negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain a driving state, and the method further includes: Obtaining negative torque output time of the first motor; If the accumulated negative torque output time of the first motor reaches a preset value, the first motor and the second motor are swapped during the next energy recovery, and the accumulated negative torque output time is reset; If the accumulated negative torque output time of the first motor does not reach the preset value, the accumulated negative torque output time is saved and participates in the next time accumulation of the negative torque output time of the first motor.

3. The driving control method of a four-wheel drive vehicle according to claim 1, characterized in that: If the throttle opening is zero, the first motor is controlled to output a positive torque to a negative torque to recover energy, and before the second motor is adjusted to a preset positive torque to maintain a driving state, the method further includes: If the throttle has an opening, the target positive torque is obtained according to the throttle opening; The torques of the first motor and the second motor are obtained according to the target forward torque and a preset torque distribution algorithm.

4. The driving control method of a four-wheel drive vehicle according to claim 1, characterized in that: If the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain the driving state. The change value of the first motor and the second motor within every 100ms is not greater than 100Nm.

5. The driving control method of a four-wheel drive vehicle according to claim 1, characterized in that: If the throttle opening is zero, the first motor is controlled to adjust from outputting positive torque to outputting negative torque to recover energy, and the second motor is adjusted to a preset positive torque to maintain the driving state, and the preset positive torque value is 1~2Nm.

6. A drive control device for a four-wheel-drive vehicle, comprising the drive control method for a four-wheel-drive vehicle according to any one of claims 1 to 5, characterized in that: It includes: A throttle opening acquisition module, which is used to obtain the throttle opening under driving conditions; A control module is used to control the first motor to adjust from outputting positive torque to outputting negative torque to recover energy when the throttle opening is zero, and to adjust the second motor to a preset positive torque to maintain a driving state; wherein the first motor and the second motor are any one of the front motor and the rear motor of the vehicle and the two are different.

7. A drive control device, method, apparatus and storage medium for a four-wheel drive vehicle, characterized in that: It includes: A memory, a processor, and a driving control program for a four-wheel drive vehicle stored in the memory and executable on the processor, wherein the driving control program for the four-wheel drive vehicle is configured to implement the steps of the driving control method for a four-wheel drive vehicle as described in any one of claims 1 to 5.

8. A storage medium, characterized in that: Computer-readable instructions are stored non-temporarily, and when the computer-readable instructions are executed by a computer, the driving control method for a four-wheel drive vehicle according to any one of claims 1 to 5 can be implemented.

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