Vehicle auxiliary driving device and heavy-load vehicle

The utility model provides a vehicle auxiliary driving device and a heavy-duty vehicle, and relates to the technical field of heavy-duty vehicles. The auxiliary driving device for the vehicle comprises a hub assembly and a supporting frame capable of being fixedly installed on a frame of the vehicle, a telescopic driving part and a swing support are vertically hinged to the hub assembly, the telescopic end of the telescopic driving part is located and installed on the supporting frame, the swing support is vertically hinged to the supporting frame, a connecting rod is vertically hinged to the telescopic driving part, and the telescopic end of the swing support is located and installed on the supporting frame. The connecting rod is further vertically hinged to the swing support, a roller is installed on the hub assembly, the hub assembly can drive the roller to rotate, the telescopic driving piece can drive the hub assembly to ascend and descend so that the roller can make contact with wheels of the vehicle, a