Vehicle control method, system and device and storage medium

The invention discloses a vehicle control method, system and device and a storage medium, and the method comprises the steps: determining a road adhesion coefficient corresponding to each wheel in a current escape mode, and the escape mode comprises a self-adaptive escape mode or a user-defined escape mode; determining a torque distribution coefficient corresponding to each motor; determining the request torque of each motor according to the road adhesion coefficient corresponding to each wheel, the torque distribution coefficient corresponding to each motor and the driver request torque; and controlling the actuators corresponding to the motors to execute the corresponding request torques. The limitation of target longitudinal escape control and transverse escape control can be overcome, and the escape ability of the vehicle is improved. 本申请公开了车辆控制方法、系统、装置及存储介质，该方法包括：确定当前脱困模式下各个车轮对应的路面附着系数，所述脱困模式包括自适应脱困模式或自定义脱困模式；确定各个电机对应的扭矩分配系数；根据所述各个车轮对应的路面附着系数、所述各个电机对应的扭矩分配系数和驾驶员请求扭矩确定各个电机的请求扭矩；控制各个所述电机对应的执行器执行对应的请求扭矩。能够克