63 results about "Front-wheel drive" patented technology

The utility model relates to the technical field of wheelchairs, and provides a front wheel driving type stair climbing chair which comprises a chair frame, and a seat plate and a backrest are arranged on the chair frame. Two groups of obliquely arranged track frames are fixedly mounted at the side rear part of the chair frame; a track is mounted on the track frame; the chair frame is further provided with a stair climbing motor used for driving the two crawler belts to rotate synchronously. Two front wheels are mounted at the front end of the chair frame; a rotating shaft is arranged on the chair frame; the two ends of the rotating shaft are fixedly connected with rear wheel legs respectively, and rear wheels are installed on the rear wheel legs. The front wheel is a driving wheel; and the rear wheel is a driven wheel. Therefore, the front wheels are arranged to be the driving wheels, the wheel tread width is small, and then the turning radius is reduced. The structure of the rear wheels is simplified, spacing is reduced, and access to the door frame is facilitated. When the stair climbing chair steers in a narrow space, one front wheel serves as a turning fulcrum, the back and the side faces of the stair climbing chair have enough space, steering operation is convenient and fast, and safety is good. The front wheel is a driving wheel, so that the risk that the stair climbing chair turns backwards during sudden acceleration is also avoided.

The application provides a vehicle pitch angle determination method, device, controller, vehicle and storage medium. The method comprises the following steps: acquiring a front wheel measured wheel speed, a rear wheel measured wheel speed, a front wheel torque, a rear wheel torque and a vehicle displacement of a vehicle; determining a front wheel driving wheel speed and a rear wheel driving wheel speed respectively according to the front wheel torque and the rear wheel torque; determining a front wheel wheel speed difference value according to the front wheel measured wheel speed and the front wheel driving wheel speed; determining a rear wheel wheel speed difference value according to the rear wheel measured wheel speed and the rear wheel driving wheel speed; and determining an estimated pitch angle according to the front wheel wheel speed difference value, the rear wheel wheel speed difference value and the vehicle displacement. According to the method, only the vehicle wheel speed, the torque and the displacement are needed to know, so that the effect of estimating the pitch angle is achieved without using a pitch angle test sensor. Moreover, the influence of the torque, the load fluctuation and the suspension disturbance fluctuation is introduced, so that the estimation accuracy is improved.

The utility model discloses a child engineering vehicle dual-drive front wheel steering mechanism which comprises a machine frame, a steering rod, a steering shaft and a front wheel steering assembly, the steering rod is installed on the machine frame, and the steering rod is connected with the front wheel steering assembly through the steering shaft. The front wheel steering assembly comprises a spindle, the lower end of the spindle is fixedly connected with a connecting plate, and the spindle extends downwards and is transversely and integrally connected with a wheel connecting rod. A supporting plate and a reinforcing plate which are integrally connected are fixedly mounted on the wheel connecting rod, and the reinforcing plate is fixedly connected to the lower side of the connecting plate; the front wheel steering assembly further comprises a driver, the driver is provided with a rotating output end and a driving motor, the rotating output end and the wheel connecting rod are coaxially arranged and used for driving the front wheels, and the outer side of the driving motor is fixedly connected with the supporting plate. The supporting plate and the reinforcing plate which are integrally connected are fixedly mounted on the wheel connecting rod to support and limit the driving motor, so that the connecting strength of the driving motor is improved, the applicability of the baby carriage to a complex environment is enhanced, and the driving safety coefficient of children is improved.

To provide a traveling device capable of transferring from a horizontal surface to a vertical surface without stopping.SOLUTION: A traveling apparatus (1) that travels on a surface of an inspection target for non-destructive inspection of an inspection target (P) including a magnetic body includes a front drive vehicle (11) having front wheels (16), a front drive source (17) that drives the front wheels, and a front magnet, a rear drive vehicle (12) having rear wheels (26), a rear drive source (27) that drives the rear wheels, and a rear magnet, a hinge (13) that rotatably connects the front drive vehicle and the rear drive vehicle, and a hinge wheel (15) rotatably attached to a hinge shaft (14) of the hinge.SELECTED DRAWING: Figure 2

Vehicle (10), comprising: a chassis (12); a drive train (14) supported by the chassis (12), wherein the drive train (14) includes a drive motor (18) and a transmission (24) which is mechanically connected to the drive motor (18); at least one dynamically adjustable motor mount (40, 42) connecting the drive train (14) to the chassis (12), wherein the at least one dynamically adjustable motor mount (40, 42) includes a selectively adjustable parameter; one or more sensors (54, 55, 61) assigned to the vehicle (10), wherein the one or more sensors (54, 55, 61) are operable to detect one or more vehicle parameters; and a control system (64) that is functionally connected to the at least one dynamically adjustable motor mount (40, 42) and the one or more sensors (54, 55, 61), wherein the control system (64) is functional to change the selectively adjustable parameter of the at least one dynamically adjustable motor mount (40, 42) in order to isolate the chassis (12) from lateral vibrations of the powertrain (14) depending on the one or more vehicle parameters; characterized by the fact that the drive train (14) is a transversely mounted drive train (14) with front-wheel drive, wherein the at least one dynamically adjustable motor mount (40, 42) includes a first dynamically adjustable motor mount (40) that functionally connects the drive motor (18) and the chassis (12), and a second dynamically adjustable motor mount (42) that functionally connects the transmission (24) and the chassis (12); wherein the at least one dynamically adjustable motor mount (40, 42) includes a standard tuning characteristic, wherein the control system (64) is operable to return to the standard tuning characteristic when a predetermined vehicle speed threshold is exceeded.

The invention provides a variable-aperture deep-hole part contour dimension detection robot, and relates to the technical field of deep-hole part measurement. Comprising a front side wheel type driving structure, a hollow rotary table scanning mechanism, a rear side wheel type driving structure and the like. The front side wheel type driving structure is connected with the hollow rotary table scanning mechanism through a front side fixing flange, the rear side wheel type driving structure and the front side wheel type driving structure are completely the same, and only the connection directions of all parts are opposite. When the robot moves in the axial direction of the deep hole part with the variable inner diameter, the front side wheel type driving structure and the rear side wheel type driving structure are matched with each other to achieve radial automatic adjustment and inner wall supporting, and the hollow rotary table scanning mechanism drives a mounting wheel frame through a rotary table driving motor, so that four distance measuring sensors evenly distributed in the circumferential direction obtain contour point information. According to the invention, the problems that the detection precision and efficiency of the inner contour of the existing deep hole part are low, the measured aperture cannot be changed, the hole depth range is small, and the detection requirements of related industries on variable-diameter deep hole parts cannot be met can be solved.

To maintain the traveling performance of a four wheel drive vehicle as good as possible by increasing the degree of freedom in selecting the torque distribution ratio of front and rear wheels.SOLUTION: A front-rear torque distribution control device for a four-wheel drive vehicle in which rotor shafts of front and rear drive motors are rotatably supported by rolling bearings, and a resonance range which is a predetermined bandwidth including a resonance point determined by rigidity of the rolling bearings of a drive system including the rolling bearings changes according to torque of the rotor shafts, the front-rear torque distribution control device comprising: The controller includes a drive torque setting unit (step S5) configured to set a drive torque of the front wheel drive motor and a drive torque of the rear wheel drive motor at a predetermined speed to a torque having a resonance range in a frequency band outside a frequency band at the predetermined speed and satisfying a torque required for the four wheel drive hybrid vehicle to travel.SELECTED DRAWING: Figure 6

The utility model relates to the technical field of mopping vehicles, in particular to a three-wheel mopping vehicle. Comprising a vehicle body, a mopping assembly, a clean water tank and a sewage tank, the vehicle body comprises a vehicle frame, a direction steering assembly, steering front wheels, driving rear wheels and a driving device, the clean water tank and the sewage tank are installed on the vehicle frame, the steering front wheels and the driving rear wheels are sequentially installed below the vehicle frame, the driving device is connected with the driving rear wheels, and the mopping assembly is installed below the vehicle frame. The clean water tank and the sewage tank are both communicated with the mopping assembly, the direction steering assembly is arranged on the vehicle frame and used for controlling the angle of a steering front wheel relative to the vehicle frame, and the mopping direction of the mopping assembly is perpendicular to the advancing direction of the vehicle body. By designing the small integrated mopping assembly, the mopping assembly can be directly installed on the lower rear portion of the vehicle body, the mopping direction of the mopping assembly is perpendicular to the advancing direction of the vehicle body, and dirt which cannot be recycled during mopping can be pushed to one side of the vehicle body and is swept by the mopping assembly or a special sweeper when a lower wheel passes through.

The present disclosure relates to a dual battery system (1) comprising a first battery (B1) and a second battery (B2), for balancing charge level of the first battery and the second battery, the dual battery system being adapted for powering propulsion of an electric vehicle (3) comprising a first electric motor (E1) coupled in driving relationship with one or more rear wheels of the electric vehicle and a second electric motor (E2) coupled in driving relationship with one or more front wheels of the electric vehicle. The first battery is adapted to provide electric power for driving the first electric motor and the second battery is adapted to provide electric power for driving the second electric motor. The dual battery system obtains (100) at least one of data or information of a predetermined and / or imminent charging event of the electric vehicle. The dual battery system furthermore obtains (200) at least one of data or information of charge level of the first battery and second battery respectively. Moreover the dual battery system selects (300), when the charge level of the first battery and the second battery are unbalanced, a driving scenario which comprises charging and / or discharging of at least one of the first battery and the second battery, the driving scenario balancing the charge level of the first battery and the second battery prior to arriving at the predetermined and / or imminent charging event. The disclosure also relates to a dual battery system in accordance with the foregoing, and an electric vehicle comprising such a dual battery system.

The utility model relates to the technical field of vertical double-layer parking devices, in particular to a vehicle horizontal moving mechanism for a double-layer parking space system, which comprises translation rails symmetrically arranged on two sides of a ground parking space and a parking frame capable of horizontally moving relative to the translation rails. The parking frame comprises a vehicle inlet and a vehicle outlet which are formed in the two ends, and a vehicle moving space is formed between the vehicle inlet and the vehicle outlet. Translation front wheels adjacent to the vehicle inlet and translation rear wheels adjacent to the vehicle outlet are symmetrically arranged at the bottom of the parking frame, and the translation front wheels and the translation rear wheels are matched with the translation rails. The two translation front wheels are driven by a frame translation driving assembly arranged on the parking frame. The horizontal moving mechanism not only is simple in structure and convenient to operate, but also can effectively solve the technical problem that an existing parking device adopting vehicle lateral moving occupies large vehicle lateral space.

The utility model relates to the technical field of hybrid power gearboxes, in particular to a front wheel driving system hybrid power gearbox with a longitudinally arranged engine and a vehicle, which are the front wheel driving system hybrid power gearbox constructed for the vehicle with the longitudinally arranged engine and provided with a rear wheel pure electric driving system. The system comprises three power sources, namely a generator, an engine and a driving motor, and further comprises a gear clutch transmission system for transmitting the power of the three power sources, the clutch system comprises two clutches which are respectively connected with a high-speed engine driving gear and a low-speed engine driving gear; the front-drive differential mechanism and the spiral bevel gear driving and driven gears are transversely arranged, and the front wheel driving function of the longitudinal transmission box is achieved. Meanwhile, a low-speed-gear driving gear and a clutch of the engine are canceled respectively, or a high-speed-gear driving gear, a low-speed-gear driving gear, a clutch and an output shaft of the engine are canceled, so that two hybrid power transmissions with different functions of engine single-gear driving or range extending driving can be evolved to be involved on the same platform, and collinear production is achieved.

This utility model relates to the field of hybrid power transmission technology, and in particular to a front-wheel drive single-motor single-speed hybrid power transmission. It is a front-wheel drive single-motor single-speed hybrid power transmission built upon a vehicle already equipped with a rear-wheel pure electric drive system. It includes two power sources: an engine and a generator. It also includes a gear-clutch transmission system that performs power transmission. The gear-clutch transmission system contains two clutches: a first clutch connects to the engine and determines whether the engine participates in operation; the second clutch connects to the vehicle's output end and determines whether the engine and generator participate in vehicle driving. This utility model allows the generator to both generate electricity to provide power to the vehicle and provide driving torque. Furthermore, the engine can drive the generator to generate electricity and also participate in vehicle driving. Combined with the rear-wheel pure electric drive system, it enables single-speed four-wheel pure electric drive, range-extended drive, and single-speed four-wheel hybrid drive.

The invention relates to a method for operating a two-wheeled vehicle, wherein, when cornering through a bend using a front-wheel drive (202) of the two-wheeled vehicle, a banking-position-increasing propulsion torque (100) is provided on the front wheel (200) of the two-wheeled vehicle when it is detected that the two-wheeled vehicle is driving out of the bend.

The invention relates to the field of vehicle power systems, in particular to a hybrid power system and a vehicle with the hybrid power system, and the hybrid power system comprises a front drive unit, a rear drive unit and a battery unit; the front driving unit is used for driving front wheels; the rear drive unit is used for driving a rear wheel; the front driving unit comprises an engine, a first motor and a second motor; the rear drive unit comprises a third motor; the first motor, the second motor and the third motor are all connected with the battery unit; the engine is connected with the first motor through the first clutch; the four power units of the engine, the first motor, the second motor and the third motor are ingeniously mechanically and electrically coupled, intelligent switching of working modes is achieved, the purpose of'full-working-condition optimization 'is finally achieved, the system can automatically select the mode with the highest energy efficiency or the strongest power at any vehicle speed and load, and the energy efficiency of the system is greatly improved. Therefore, the energy consumption is comprehensively reduced.

The drive unit is positioned close to the steering gear unit. [Solution] The electric vehicle comprises a vehicle body, a plurality of wheels including a pair of front wheels, a drive unit, a steering gear unit positioned in front of the vehicle relative to the drive unit and extending along the vehicle width direction, which steers the pair of front wheels, a steering shaft extending from the steering gear unit toward the rear of the vehicle, which transmits steering operations by the user to the steering gear unit, and a plurality of mounts that support the drive unit on the vehicle body. The plurality of mounts include a first mount attached to one side of the housing in the vehicle width direction. A portion of the steering shaft is positioned above the first mount.

A transmission system for a vehicle, in particular a front wheel drive vehicle, having an input arranged for connection to a drive source, and an output arranged for connection to a load. The transmission system comprises a transmission which in turn comprises an output shaft connected to the output, a first input shaft and a first speed change transmission coupling the first input shaft to the output shaft, and a second input shaft and a second speed change transmission coupling the second input shaft to the output shaft.

The invention provides a power system and a vehicle with the same. The power system comprises a drive axle assembly, the drive axle assembly comprises a differential mechanism and a differential lock, a first half shaft of the differential mechanism is selectively connected with a left front wheel drive shaft, and a second half shaft of the differential mechanism is connected with a right front wheel; an output shaft of the first driving motor is connected with the left front wheel driving shaft through a first gear pair; an output shaft of the second driving motor is connected with an input shaft of the differential mechanism through a second gear pair; and an output shaft of the engine is connected with an output shaft of the second driving motor through a third gear pair. According to the scheme, the first driving motor independently drives the left front wheel, the second driving motor independently drives the right front wheel, the first driving motor and the second driving motor can be independently controlled to output torques in different directions and different sizes, the torques of the left front wheel and the right front wheel are actively distributed, and insufficient steering is effectively restrained; the technical problem that in the prior art, the vehicle turning performance is insufficient is solved.

This utility model relates to an underground insulated food delivery vehicle, including a frame, a front-wheel drive system connected to the bottom of the frame via a front suspension, a rear wheel connected to the bottom of the frame via a rear suspension, a diesel engine providing power to the front-wheel drive system, a cab mounted on the frame, and a food container located behind the cab. The food container has a door on its front, and multiple layers of heat-conducting plates are provided inside the food container. Each heat-conducting plate has an inner cavity, and an inlet and an outlet communicating with the inner cavity are provided on the heat-conducting plate. The diesel engine has a coolant inlet and a coolant outlet. The coolant outlet is connected to the inlet via a pipeline and a water pump, and the outlet is connected to the water inlet of a radiator via a pipeline. The water outlet of the radiator is connected to the coolant inlet via a pipeline. This application recovers heat during diesel engine operation, eliminating the need for an additional heating device, thus being more energy-efficient and environmentally friendly.

The present application provides a vehicle parameter determination method. The method includes: determining, based on a torque range of an electric drive assembly at a first voltage and a torque control accuracy threshold of the electric drive assembly, front-wheel drive torque distribution coefficient ranges corresponding to a plurality of test points; determining, based on efficiency data of the electric drive assembly at the first voltage, an optimal torque distribution coefficient corresponding to the test point within the front-wheel drive torque distribution coefficient ranges corresponding to the test points, and obtaining an optimal torque distribution coefficient map at the first voltage; acquiring optimal torque distribution coefficient maps at a plurality of other voltages; and obtaining, based on the optimal torque distribution coefficient maps at the first voltage and at the plurality of other voltages, an optimal torque distribution coefficient map of the electric drive assembly.

The utility model provides a double-drive bicycle. The bicycle comprises a frame, a front wheel, a rear wheel, a first crankset and a second crankset, the first crankset and the second crankset are coaxially arranged, the double cranksets are driven by a pedal mechanism to rotate synchronously, the first crankset drives the rear wheel through chain transmission, and the second crankset drives the front wheel through a transmission device. The transmission device comprises a first direction conversion mechanism, a second direction conversion mechanism and a telescopic mechanism connecting the first direction conversion mechanism and the second direction conversion mechanism, the first direction conversion mechanism converts the power direction, the telescopic mechanism transmits power to the second direction conversion mechanism through a telescopic rod with a universal joint, and the second direction conversion mechanism converts the power direction and drives the front wheel. The problems that in the prior art, when a dual-drive bicycle steers, a front wheel driving mechanism easily generates motion interference, steering is difficult, and the dual-drive bicycle cannot be applied to practice are solved. The double-wheel tractor has the advantages of double-wheel traction enhancement, flexible steering and efficient transmission, and is particularly suitable for complex road surfaces such as mud fields and snowfields.

The invention discloses a vehicle control method and device, a vehicle, a storage medium and a program product.The control method comprises the steps that according to the target vehicle speed, the first target rotating speed of a first motor and the second target vehicle speed of a second motor are obtained through calculation, one of the first motor and the second motor is used for front wheel driving, and the other one is used for front wheel driving; the other one is used for rear wheel driving; and controlling the first motor output torque according to the first target rotating speed, and controlling the second motor output torque according to the second target rotating speed. Dynamic power distribution of the front and rear wheels is achieved by independently controlling the target rotating speed and torque of the front and rear motors, different road conditions (such as wet and slippery ground) and steering requirements are met, and vehicle traction force and control stability are improved.

The application provides a new energy electric vehicle pure electric power system mode conversion system, and belongs to the technical field of electric vehicle power systems. A self-starting permanent magnet synchronous motor is used as a front wheel driving main drive motor, an auxiliary drive motor is used as a rear drive motor, an inverter connected with the main drive motor and the auxiliary drive motor, a DC-AC inverter connected with the stator winding of a double-stator disc type flywheel energy storage mechanism, a DC-DC inverter connected with a storage battery, and a clutch for connecting the main drive motor and the auxiliary drive motor. The double-stator disc type flywheel energy storage structure combines the flywheel and the motor structure, improves the power density of the flywheel energy storage, fully utilizes the characteristics of the flywheel energy storage fast charging and discharging, can effectively reduce the influence of the power system impact current on the battery health state, can reduce the electric energy dissipation caused by the instantaneous high-power electromechanical energy conversion, improves the efficiency of the power system, can provide the flywheel energy storage as the standby energy of the power system, and improves the automobile driving mileage.

A front-end structure for a motor vehicle with electric front-wheel drive. The front-end structure includes at least two longitudinal members, at least one support unit, and at least one electric traction motor. The longitudinal members extending in a vehicle longitudinal direction and arranged at a lateral distance from each other. The support unit is fastened to the longitudinal members. The electric traction motor is fastened to a front-side crossmember that extends in a vehicle transverse direction and is fastened to the longitudinal members. The electric traction motor has at least one rear-side fastening section, which the electric traction motor is fastened to the support unit at the rear. The support unit has at least one section arranged to be offset relative to the rear-side fastening section.

A decrease in work efficiency is suppressed. A work machine includes a front wheel, a front wheel drive device that rotationally drives the front wheel, a rear wheel, a rear wheel drive device that rotationally drives the rear wheel, and a controller that controls a speed ratio that is a ratio of a speed of the front wheel to a speed of the rear wheel. The controller determines whether a predetermined variation occurs in a driving force applied to the front wheel, and when it is determined that the predetermined variation occurs, the controller reduces the speed ratio and thus eliminates the predetermined variation, and when the predetermined variation is eliminated, the controller increases the speed ratio.

The present invention relates to a method for operating a two-wheeler, wherein, during cornering through a curve using a front-wheel drive (202) of the two-wheeler, a lean-angle-increasing propulsive torque (100) is provided at a front wheel (200) of the two-wheeler when drifting out of the curve is detected.

The embodiment of the utility model discloses a transportation device which comprises a carrier, a front wheel assembly, a rear wheel assembly, a first swing arm assembly and a second swing arm assembly. In the front wheel assembly, front connecting rods are connected to the carrier, front wheels are rotationally arranged on the front connecting rods, and front wheel motors are arranged on the front connecting rods and are in driving connection with the front wheels. In the rear wheel assembly, a rear connecting rod is connected to the carrier, rear wheels are rotationally arranged on the rear connecting rod, and a rear wheel motor is arranged on the rear connecting rod and is in driving connection with the rear wheels; in the first swing arm assembly, the two ends of a first swing arm are rotationally connected with a front connecting rod and a first swing arm wheel correspondingly, and a first swing arm motor is in driving connection with the first swing arm. In the second swing arm assembly, the two ends of a second swing arm are rotationally connected with the rear connecting rod and a second swing arm wheel correspondingly, and a second swing arm motor is in driving connection with the second swing arm. By means of the mode, the front wheel assembly, the rear wheel assembly, the first swing arm assembly and the second swing arm assembly are matched in a cooperative mode, so that the transportation device can climb steps, and the transportation efficiency is improved.

An optimized energy distribution method, system, and electric vehicle for electric vehicles, based on the battery supplying power or recovering energy for the front-wheel drive and / or rear-wheel drive, includes a first supercapacitor and a second supercapacitor. The first supercapacitor supplies power or recovers energy for the rear-wheel drive, and the second supercapacitor supplies power or recovers energy for the front-wheel drive. The specific method includes: 1) determining whether the remaining charge of the first and second supercapacitors exceeds a preset threshold; if so, proceeding to 2); 2) acquiring a road topographic map ahead using an electronic horizon system to predict whether there is a continuous slope ahead; if so, proceeding to 3); 3) predicting the braking force distribution ratio during braking based on the continuous slope value ahead, and pre-allocating the current power output of the first and second supercapacitors according to this braking distribution ratio, returning to step 1). This invention expands the total capacity of the supercapacitors and improves the recovery of braking or coasting energy.

Drive force control device for a vehicle, comprising: a front-wheel drive (140), designed to generate a driving force for one front wheel of the vehicle; a rear-wheel drive (150) designed to generate a driving force for a rear wheel of the vehicle independently of the front-wheel drive (140); a wheel speed detector (110) arranged on each wheel of the vehicle, designed to generate a signal related to the wheel speed of each wheel; a wheel vibration calculator (132) designed to calculate a vibration value of each wheel using a value detected by the wheel speed detector (110); a computer (131) for the estimated speed, designed to calculate an estimated vehicle speed of the vehicle using the signal and the vibration value generated by the wheel speed detector (110) and the wheel vibration computer (132); a slip rate calculator (133) designed to calculate a slip rate for each wheel based on the estimated vehicle speed and the wheel speed of each wheel; and a drive control (134) designed to reduce the drive force of the front wheel drive (140) or the rear wheel drive (150) when the slip rate of each wheel is greater than a preset slip rate value, wherein the calculator (131) for the estimated speed determines that the estimated vehicle speed is greater than an actual speed of the vehicle if the vibration value calculated by the wheel vibration calculator (132) is greater than a preset vibration value.

The invention relates to a vehicle dynamics control method for motor vehicles with individual drive (front or rear drive) which serves to shorten the braking distance and to improve driving stability in asymmetric friction coefficient conditions (µ-split). The method is based on software-controlled, alternately side-directed steering impulses, which cause a targeted variation of the wheel normal forces through kinematic lateral displacement as a result of steering angle deflection. The steering impulses are executed in sequential pulse sequences, between which neutral phases with a steering angle of zero are provided. During these phases, an algorithmic evaluation of vehicle dynamics data (yaw rate, deceleration, wheel speed profile) is performed, based on which a decision is made whether the pulse sequence is terminated, repeated or continued in a graded escalation logic. The process works independently of ABS or brake interventions, requires no additional hardware and can be fully integrated into existing electronic control units using software. It enables adaptive, driving-condition-dependent brake force distribution, increases directional stability and shortens the braking distance, especially on smooth or asymmetrically gripping road surfaces.

A method is implemented in a vehicle comprising a powertrain providing torque to two front drive wheels of a front-wheel drive axle and / or two rear drive wheels of a rear-wheel drive axle, each wheel having a travel speed, and a driving assistance function using a reference vehicle speed. This method includes a step (10-40) in which: - for each drive axle, a first value is determined equal to half the sum of the available travel speeds of its drive wheels, each unavailable travel speed being replaced by a zero value, then a second value is determined equal to the product of a percentage of the torque supplied to the drive axle in question and a maximum value between the first value determined for the latter and an auxiliary vehicle speed, and - the reference speed is determined by summing the second set of values. Figure 3