Patent ID: 8200386

Claim:
A method of controlling a four-wheel drive electric vehicle, comprising the following steps: controlling a power output of the vehicle based on a sum of an output torque of a main drive motor and an output torque of an auxiliary drive motor with the output torque of the main drive motor being determined based on a position of an accelerator pedal, wherein the output torque T 0 of the auxiliary drive motor is determined by: obtaining a torque calculation factor GainAccSum that is a cumulative value of an acceleration GainAcc of the accelerator pedal, wherein the torque calculation factor GainAccSum is an accumulation of values of the acceleration GainAcc from a plurality of consecutive time periods; determining a maximum output torque T of the auxiliary drive motor at a current speed of the vehicle; and calculating the output torque T 0 of the auxiliary drive motor varying between 0 and T based on the torque calculation factor GainAccSum and the maximum output torque T of the auxiliary drive motor at the current speed of the vehicle with the output torque T 0 of the auxiliary drive motor being increased as the torque calculation factor GainAccSum increases.