Vehicle driving adaptive control method, device, equipment and medium

Abstract

The invention provides a vehicle running self-adaptive control method, device and equipment and a medium, and the method comprises the steps that the current running state of a vehicle is determined, and the running state comprises the stable running state and the slipping state; according to the output data of a driving motor on the vehicle and the adhesive force limit value which can be provided by the current road surface, the current theoretical maximum output torque of the vehicle in the stable driving state is determined; the difference value between the current theoretical maximum output torque and the current output torque in the output data is determined; if the running state is a slipping state and the difference value is larger than a preset value, the current output torque of the driving motor is reduced, and suspension damping is increased until the running state is switched from the slipping state to the stable running state; and if the driving state is the slipping state, and the difference value is smaller than or equal to the preset value, the brake pressure of the brake pedal is increased until the driving state is switched from the slipping state to the stable driving state. According to the scheme, the driving stability and safety of the vehicle can be effectively improved.

Description

Technical Field

[0001] The present invention belongs to the field of automobile control, and in particular relates to a vehicle driving adaptive control method, device, equipment and medium. Background Art

[0002] During the driving process, the vehicle often skids due to reasons such as slippery road surface, tire wear, insufficient power, etc. When the vehicle skids, the friction between the wheels and the ground is small, making it difficult to control the vehicle, and the vehicle's driving stability and safety are poor. It is easy to lose control, increasing the risk of collision with other vehicles or obstacles, and in serious cases endangering the personal safety of the driver and passengers in the car. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a vehicle driving adaptive control method, device, equipment and medium to improve the stability and safety of vehicle driving.

[0004] The vehicle driving adaptive control method provided by the present invention comprises:

[0005] Determining a current driving state of the vehicle, wherein the driving state includes a stable driving state and a slipping state;

[0006] According to the output data of the driving motor on the vehicle and the adhesion limit value that the current road surface can provide, the current theoretical maximum output torque of the vehicle under the condition of maintaining a stable driving state is determined;

[0007] determining a difference between the current theoretical maximum output torque and the current output torque in the output data;

[0008] If the driving state is a slipping state and the difference is greater than a preset value, reducing the current output torque of the drive motor and increasing the suspension damping until the driving state switches from the slipping state to the stable driving state;

[0009] If the driving state is a slipping state and the difference is less than or equal to the preset value, the braking pressure of the brake pedal is increased until the driving state is switched from the slipping state to the stable driving state.

[0010] In one embodiment of the present invention, determining the current driving state of the vehicle includes:

[0011] Determining the slip rate and the slip ratio of the wheel according to the driving parameters of the vehicle, wherein the driving parameters include the wheel angular velocity, the vehicle speed and the wheel radius;

[0012] When the slip ratio and the slip rate are respectively greater than the first standard value, the driving state switches to the slipping state, and when the slip ratio and the slip rate are respectively less than the second standard value, the driving state switches to the stable driving state, and the first standard value is greater than the second standard value.

[0013] In one embodiment of the present invention, the current theoretical maximum output torque of the vehicle in a stable driving state is determined according to the output data of the driving motor on the vehicle and the adhesion limit value that can be provided by the current road surface, including:

[0014] Determining the adhesion limit value according to the current road adhesion coefficient and the normal load of the ground acting on the wheel;

[0015] Determining a current driving force of the wheel according to the current output torque and the wheel radius;

[0016] determining a driving force limit value based on the current driving force and the adhesion limit value; wherein the driving force limit value is less than the adhesion limit value;

[0017] The current theoretical maximum output torque is determined according to the adhesion limit value and the wheel radius.

[0018] In one embodiment of the present invention, if the driving state is a slipping state, the method further includes:

[0019] Identify the slipping and non-slipping wheels on the vehicle;

[0020] Based on the vehicle speed, the suspension height of the wheels experiencing slip is reduced, and the suspension height of the wheels not experiencing slip is increased.

[0021] In one embodiment of the present invention, based on the vehicle speed, increasing the height of the slipping wheel and reducing the height of the non-slipping wheel comprises:

[0022] If the vehicle speed is greater than a preset speed, increasing the suspension height of the non-slipping wheel to a medium height;

[0023] If the vehicle speed is less than a preset speed, increasing the suspension height of the non-slipping wheel to a high height;

[0024] The suspension height is evenly divided into three regional levels of low height, medium height and high height from the minimum stroke to the maximum stroke.

[0025] In one embodiment of the present invention, the slip ratio λ is calculated as follows:

[0026] λ=ωR(1-v×100%),

[0027] Among them, ω is the wheel angular velocity, v is the vehicle speed, and R is the wheel radius.

[0028] In one embodiment of the present invention, the slip ratio is calculated as follows:

[0029] S=[(v-ωR) / v]×100%,

[0030] Among them, ω is the wheel angular velocity, v is the vehicle speed, and R is the wheel radius.

[0031] The vehicle driving adaptive control device provided by the present invention comprises:

[0032] A vehicle state determination module, used to determine the current driving state of the vehicle, wherein the driving state includes a stable driving state and a slipping state;

[0033] A maximum torque determination module is used to determine the current theoretical maximum output torque of the vehicle under a stable driving state according to the output data of the driving motor on the vehicle and the adhesion limit value that can be provided by the current road surface;

[0034] a processing module, configured to determine a difference between the current theoretical maximum output torque and the current output torque in the output data;

[0035] An execution module is used to reduce the current output torque of the drive motor and increase the suspension damping until the driving state switches from the slipping state to the stable driving state if the driving state is a slipping state and the difference is greater than a preset value; if the driving state is a slipping state and the difference is less than or equal to the preset value, increase the braking pressure of the brake pedal until the driving state switches from the slipping state to the stable driving state.

[0036] The electronic device provided by the present invention comprises:

[0037] one or more processors;

[0038] A storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the electronic device implements the vehicle driving adaptive control method.

[0039] The computer-readable storage medium provided by the present invention stores a computer program thereon, and when the computer program is executed by a processor of a computer, the computer is enabled to execute the vehicle driving adaptive control method.

[0040] Beneficial effects of the present invention: In the present invention, if the vehicle is in a slipping state, the current output torque of the drive motor is adjusted in real time according to the driving state. Since the current output torque and the suspension damping need to be adjusted accordingly to increase the vehicle stability, the adjustment of the suspension damping will be constrained by the current output torque of the drive motor. The current output torque of the drive motor is constrained by the current maximum output torque. When the difference between the current theoretical maximum output torque and the current output torque is less than or equal to the preset value, the required braking torque is generated by increasing the braking pressure of the brake pedal, reducing the vehicle speed, improving the vehicle slipping situation, and increasing the vehicle driving stability.

[0041] This solution monitors the vehicle's driving status in real time to facilitate real-time adjustment of the drive motor, suspension and brake pedal action, thereby adjusting the vehicle's driving status, increasing the vehicle's driving stability, safety and comfort, and reducing the possibility of the vehicle skidding.

[0042] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0044] Figure 1 It is a schematic diagram of an implementation environment of a vehicle driving adaptive control according to an exemplary embodiment of the present application.

[0045] Figure 2 It is a flow chart of a vehicle driving adaptive control method shown in an exemplary embodiment of the present application.

[0046] Figure 3 is a flow chart showing driving state determination according to an exemplary embodiment of the present application.

[0047] Figure 4 is a flow chart showing the determination of the current theoretical maximum output torque according to an exemplary embodiment of the present application.

[0048] Figure 5 It is a flow chart of suspension height adjustment of a slipping wheel and a non-slipping vehicle shown in an exemplary embodiment of the present application.

[0049] Figure 6 It is another flow chart of adjusting the suspension height of a slipping wheel and a non-slipping vehicle shown in an exemplary embodiment of the present application.

[0050] Figure 7 It is a block diagram of a vehicle driving adaptive control device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0052] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0053] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0054] Figure 1 FIG. 1 is a schematic diagram of an implementation environment for performing vehicle driving adaptive control during navigation according to an exemplary embodiment of the present application. Figure 1As shown, the vehicle comprises a rotary sensor 120, a drive motor 110, a controller 150, a brake pedal 130 and an active suspension 140 (or an electromagnetic suspension), etc. The rotary sensor 120 is mounted on the rotating shaft of the drive motor 110, and is used to detect the rotation angle and speed of the drive motor 110 in real time. The use of the rotary sensor 120 increases the accuracy of the detection data. The controller 150 receives the signal of the rotary sensor 120, and obtains the output data of the drive motor 110 through algorithm processing, wherein the output data includes the current output torque and speed, etc. The controller 150 uses the signal of the rotary sensor 120, combined with the driving parameters such as the vehicle speed, to accurately identify the current road adhesion through the algorithm model, and adjusts the torque output of the drive motor 110 according to the current road adhesion to achieve torque adaptive control. At the same time, the controller 150 also cooperates with the brake pedal 130, the active suspension 140 and / or the linear motor to adjust the braking pressure, suspension stiffness and damping and the output of the active suspension 140 with the linear motor according to changes in road adhesion to maintain the driving stability and safety of the vehicle.

[0055] like Figure 2 As shown, in an exemplary embodiment, the vehicle driving adaptive control method includes at least steps S210 to S250, which are described in detail as follows:

[0056] Step S210, determining the current driving state of the vehicle, where the driving state includes a stable driving state and a slipping state.

[0057] In this embodiment, the driving state of the vehicle is taken into consideration so as to subsequently control the driving stability and safety of the vehicle according to the driving state.

[0058] Step S220, determining the current theoretical maximum output torque of the vehicle under a stable driving state according to the output data of the driving motor on the vehicle and the adhesion limit value that can be provided by the current road surface.

[0059] It should be noted that the greater the driving force of the drive motor, the greater the output torque of the drive motor, and the two are proportional. When the driving force of the drive motor is greater than the adhesion limit value, the vehicle is prone to slip. Therefore, the current theoretical maximum output torque can be inferred from the limit value of the driving force.

[0060] Exemplarily, K=M×R, where K is the current output torque of the drive motor, M is the driving force of the drive motor, and R is the wheel radius.

[0061] Exemplarily, the output data of the drive motor includes current output torque, rotation angle, rotation speed, etc.

[0062] Step S230, determining the difference between the current theoretical maximum output torque and the current output torque in the output data.

[0063] It is worth mentioning that when the driving force of the drive motor is greater than the adhesion limit value, the vehicle is prone to slip. Since the driving force is proportional to the output torque, when the current output torque is greater than the current theoretical maximum output torque, the vehicle is also prone to slip. Therefore, it is necessary to determine the difference between the current theoretical maximum output torque and the current output torque.

[0064] Step S240, if the driving state is a slipping state and the difference is greater than the preset value, the current output torque of the drive motor is reduced and the suspension damping is increased until the driving state switches from the slipping state to the stable driving state; if the driving state is a slipping state and the difference is less than or equal to the preset value, the braking pressure of the brake pedal is increased until the driving state switches from the slipping state to the stable driving state.

[0065] It should be noted that when the wheels slip, if the current output torque of the drive motor is still large, the wheels may slip further due to excessive driving force, causing the vehicle to lose control. Reducing the current output torque of the drive motor can reduce the driving force on the wheels, which helps the wheels regain adhesion to the ground, thereby reducing the degree of slippage and improving the vehicle's handling stability. When the wheels slip, the direction of the vehicle may deviate from the driver's expectations. Reducing the current output torque of the drive motor can reduce the driving torque of the wheels, making it easier for the vehicle to drive according to the driver's intention and keeping the vehicle's driving direction stable.

[0066] It is also worth noting that when the output torque of the drive motor decreases, the vehicle's dynamic performance will be weakened accordingly, which may make the vehicle more susceptible to external factors (such as side winds and uneven road surfaces) during driving, resulting in changes in attitude such as roll and pitch. Increasing the suspension damping can increase the stiffness of the suspension system, allowing the vehicle to maintain a more stable attitude when facing these external factors, reducing unnecessary shaking, and thus ensuring the vehicle's driving stability and safety.

[0067] In this embodiment, if the vehicle is in a slipping state, the current output torque of the drive motor is adjusted in real time according to the driving state. Since the current output torque and the suspension damping need to be adjusted accordingly to increase the vehicle stability, the adjustment of the suspension damping will be constrained by the current output torque of the drive motor. The current output torque of the drive motor is constrained by the current maximum output torque. When the difference between the current theoretical maximum output torque and the current output torque is less than or equal to the preset value, the required braking torque is generated by increasing the braking pressure of the brake pedal to improve the vehicle slipping and increase the vehicle driving stability and safety.

[0068] like Figure 3As shown, in an exemplary embodiment, the process of determining the current driving state of the vehicle at least includes:

[0069] Step S310, determining the slip rate and the slip ratio of the wheel according to the driving parameters of the vehicle, where the driving parameters include the wheel angular velocity, the vehicle speed and the wheel radius.

[0070] Exemplarily, the driving parameters include wheel angular velocity, vehicle speed, wheel radius, etc. Based on the driving parameters, it is determined in real time whether the vehicle is in a slipping state.

[0071] Exemplarily, the slip ratio λ is calculated as follows:

[0072] λ=ωR(1-v×100%),

[0073] Among them, ω is the wheel angular velocity, v is the vehicle speed, and R is the wheel radius.

[0074] Exemplarily, the slip ratio is calculated as follows:

[0075] S=[(v-ωR) / v]×100%,

[0076] Among them, ω is the wheel angular velocity, v is the vehicle speed, and R is the wheel radius.

[0077] Step S320, when the slip ratio and the slip rate are respectively greater than the first standard value, the driving state is switched to the slipping state, and when the slip ratio and the slip rate are respectively less than the second standard value, the driving state is switched to the stable driving state, wherein the first standard value is greater than the second standard value.

[0078] For example, the slip ratio and the first standard value of the slip ratio can be set to the same value, or they can be set to different values. The slip ratio and the second standard value of the slip ratio can be set to the same value, or they can be set to different values.

[0079] Exemplarily, when the slip ratio and the slip rate are respectively greater than 15%, the driving state is switched to the slipping state, and when the slip ratio and the slip rate are respectively less than 6%, the driving state is switched to the stable driving state.

[0080] like Figure 4 As shown, in an exemplary embodiment, according to the output data of the driving motor on the vehicle and the adhesion limit value that can be provided by the current road surface, the current theoretical maximum output torque of the vehicle in a stable driving state is determined, including:

[0081] Step S410: determining the adhesion limit value according to the current road adhesion coefficient and the normal load of the ground acting on the wheel.

[0082] Exemplarily, Fxmax = μFz, where Fxmax is the adhesion limit value, μ is the current road surface adhesion coefficient (adhesion coefficient = vehicle weight * current output torque), and Fz is the normal load exerted by the ground on the tire.

[0083] Step S420: Determine the current driving force of the wheel according to the current output torque and the wheel radius.

[0084] Exemplarily, the current driving force M can be calculated from the current output torque K and the wheel radius R, specifically M = K / R.

[0085] Step S430: Determine the driving force limit value based on the current driving force and the adhesion limit value; the driving force limit value is less than the adhesion limit value.

[0086] It should be noted that when the driving force is greater than the adhesion limit value, the vehicle is prone to skidding, so the driving force cannot be greater than the adhesion limit value.

[0087] Step S440: Determine the current theoretical maximum output torque according to the adhesion limit value and the wheel radius.

[0088] Exemplarily, if the adhesion limit value is denoted as W, the driving force M must be less than the adhesion limit value M, expressed as M < W. If the preset difference between the driving force M and the adhesion limit value W must be greater than N, then M + N < W. And since M = K / R, then K / R + N < W, from which the current theoretical maximum output torque of the drive motor can be deduced.

[0089] It should also be noted that the adhesion limit value of the vehicle is related to the change of the vehicle's driving road surface, the change of the vehicle's weight distribution, and the vehicle speed. As the vehicle driving situation changes, the adhesion limit value will change accordingly. Therefore, the current theoretical maximum output torque is a dynamically changing value.

[0090] As Figure 5 shown, in an exemplary embodiment, if the driving state is a skidding state, the method further includes:

[0091] Step S510: Determine the skidding wheels and non-skidding wheels on the vehicle.

[0092] Exemplarily, calculate the slip ratio and spin ratio of each wheel respectively to determine whether the corresponding vehicle is skidding.

[0093] Step S520: Based on the vehicle speed, lower the suspension height of the skidding wheels and increase the suspension height of the non-skidding wheels.

[0094] In this embodiment, lower the suspension height of the skidding wheels and increase the suspension height of the non-skidding wheels to cause weight transfer and increase the driving stability of the vehicle.

[0095] For example, when the vehicle is bumpy, the suspension is raised and the suspension damping is increased. At the same time, when the current output torque decreases, the suspension is raised to increase the balance and comfort of the vehicle.

[0096] like Figure 6 As shown, in an exemplary embodiment, based on the vehicle speed, increasing the height of the slipping wheels and reducing the height of the non-slipping wheels includes:

[0097] Step S610: if the vehicle speed is greater than a preset speed, the suspension height of the non-slipping wheels is increased to a medium height.

[0098] Exemplarily, when the vehicle speed is greater than 60 km / h, the suspension height of the non-slipping wheels is increased to a medium height.

[0099] Step S620: if the vehicle speed is less than the preset speed, the suspension height of the non-slipping wheel is increased to a high height. The suspension height is evenly divided into three regional levels of low height, medium height and high height from the minimum stroke to the maximum stroke.

[0100] Exemplarily, if the vehicle speed is less than or equal to 60 km / h, the suspension height of the non-skidding vehicle is increased to a high height.

[0101] In this embodiment, the suspension travel is divided into three levels from small to large, namely, low height, medium height and high height. The suspension height is adjusted by comprehensively considering factors such as vehicle speed to ensure the driving stability and balance of the vehicle.

[0102] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0103] Figure 7 is a block diagram of a vehicle driving adaptive control device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 The device may also be applicable to other exemplary implementation environments, and this embodiment does not limit the implementation environment to which the device is applicable.

[0104] like Figure 7 As shown, the exemplary vehicle driving adaptive control device includes:

[0105] The vehicle state determination module 710 is used to determine the current driving state of the vehicle, where the driving state includes a stable driving state and a slipping state;

[0106] The maximum torque determination module 720 is used to determine the current theoretical maximum output torque of the vehicle under the stable driving state according to the output data of the driving motor on the vehicle and the adhesion limit value that can be provided by the current road surface;

[0107] A processing module 730 is used to determine the difference between the current theoretical maximum output torque and the current output torque in the output data;

[0108] The execution module 740 is used to reduce the current output torque of the drive motor and increase the suspension damping until the driving state switches from the slipping state to the stable driving state if the driving state is a slipping state and the difference is greater than a preset value; if the driving state is a slipping state and the difference is less than or equal to a preset value, increase the braking pressure of the brake pedal until the driving state switches from the slipping state to the stable driving state.

[0109] In this exemplary vehicle driving adaptive control device, the vehicle's driving state is monitored in real time to facilitate real-time adjustment of the drive motor, suspension and brake pedal action, thereby adjusting the vehicle's driving state, increasing the vehicle's driving stability, safety and comfort, and reducing the possibility of vehicle skidding.

[0110] It should be noted that the vehicle driving adaptive control device provided in the above embodiment and the vehicle driving adaptive control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the vehicle driving adaptive control device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0111] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle driving adaptive control method provided in the above-mentioned embodiments.

[0112] Another aspect of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the vehicle driving adaptive control method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0113] Another aspect of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the vehicle driving adaptive control method provided in each of the above embodiments.

[0114] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A vehicle driving adaptive control method, characterized in that: include: Determining a current driving state of the vehicle, wherein the driving state includes a stable driving state and a slipping state; According to the output data of the driving motor on the vehicle and the adhesion limit value that the current road surface can provide, the current theoretical maximum output torque of the vehicle under the condition of maintaining a stable driving state is determined; determining a difference between the current theoretical maximum output torque and the current output torque in the output data; If the driving state is a slipping state and the difference is greater than a preset value, reducing the current output torque of the drive motor and increasing the suspension damping until the driving state switches from the slipping state to the stable driving state; If the driving state is a slipping state and the difference is less than or equal to the preset value, the braking pressure of the brake pedal is increased until the driving state is switched from the slipping state to the stable driving state.

2. The vehicle driving adaptive control method according to claim 1, characterized in that: Determine the vehicle's current driving status, including: Determining the slip rate and the slip ratio of the wheel according to the driving parameters of the vehicle, wherein the driving parameters include the wheel angular velocity, the vehicle speed and the wheel radius; When the slip ratio and the slip rate are respectively greater than the first standard value, the driving state switches to the slipping state, and when the slip ratio and the slip rate are respectively less than the second standard value, the driving state switches to the stable driving state, and the first standard value is greater than the second standard value.

3. The vehicle driving adaptive control method according to claim 1, characterized in that: Based on the output data of the vehicle's drive motor and the adhesion limit value that the current road surface can provide, the current theoretical maximum output torque of the vehicle under a stable driving state is determined, including: Determining the adhesion limit value according to the current road adhesion coefficient and the normal load of the ground acting on the wheel; Determining a current driving force of the wheel according to the current output torque and the wheel radius; determining a driving force limit value based on the current driving force and the adhesion limit value; wherein the driving force limit value is less than the adhesion limit value; The current theoretical maximum output torque is determined according to the adhesion limit value and the wheel radius.

4. The vehicle driving adaptive control method according to claim 2, characterized in that: If the driving state is a slipping state, the method further includes: Identify the slipping and non-slipping wheels on the vehicle; Based on the vehicle speed, the suspension height of the wheels experiencing slip is reduced, and the suspension height of the wheels not experiencing slip is increased.

5. The vehicle driving adaptive control method according to claim 4, characterized in that: Based on the vehicle speed, increasing the height of the wheels that are slipping and decreasing the height of the wheels that are not slipping include: If the vehicle speed is greater than a preset speed, increasing the suspension height of the non-slipping wheel to a medium height; If the vehicle speed is less than a preset speed, increasing the suspension height of the non-slipping wheel to a high height; The suspension height is evenly divided into three regional levels of low height, medium height and high height from the minimum stroke to the maximum stroke.

6. The vehicle driving adaptive control method according to claim 2, characterized in that: The calculation formula of slip rate λ is: λ=ωR(1-v×100%), Among them, ω is the wheel angular velocity, v is the vehicle speed, and R is the wheel radius.

7. The vehicle driving adaptive control method according to claim 2, characterized in that: The slip rate is calculated as: S=[(v-ωR) / v]×100%, Among them, ω is the wheel angular velocity, v is the vehicle speed, and R is the wheel radius.

8. A vehicle driving adaptive control device, characterized in that: include: A vehicle state determination module, used to determine the current driving state of the vehicle, wherein the driving state includes a stable driving state and a slipping state; A maximum torque determination module is used to determine the current theoretical maximum output torque of the vehicle under a stable driving state according to the output data of the driving motor on the vehicle and the adhesion limit value that can be provided by the current road surface; a processing module, configured to determine a difference between the current theoretical maximum output torque and the current output torque in the output data; an execution module, configured to reduce the current output torque of the drive motor and increase the suspension damping if the driving state is a slipping state and the difference is greater than a preset value, until the driving state switches from the slipping state to the stable driving state; If the driving state is a slipping state and the difference is less than or equal to the preset value, the braking pressure of the brake pedal is increased until the driving state is switched from the slipping state to the stable driving state.

9. A device, characterized in that: include: one or more processors and memory, A computer program is stored in the memory, and when the one or more processors execute the computer program, the device is caused to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, which, when executed by one or more processors, causes the device to perform the method according to any one of claims 1 to 7.

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