Vehicle out-of-garage power-off control method and system

Abstract

The invention provides a vehicle out-of-garage power-off control method and system, and the method comprises the following steps: responding to a key out-of-garage signal, powering on a vehicle, executing the out-of-garage action, and obtaining a state machine signal; if the state machine signal is judged to be out of the garage successfully, acquiring a vehicle state monitoring signal in real time; and if the vehicle state monitoring signal is not changed within the preset first duration threshold value, the vehicle is locked, fortified and powered off. According to the method provided by the invention, the vehicle can be judged to be in the warehouse-out success state through the state machine signal, and the state of the vehicle is monitored under the condition that the vehicle successfully leaves the warehouse. If the vehicle state monitoring signal changes within the first duration threshold value, that is, no manual operation signal is monitored, it can be considered that a driver does not need to drive the vehicle temporarily or has the situation that the driver mistakenly touches a key to go out of the garage, vehicle locking fortification and power-off can be intelligently achieved at the moment, the situation that the vehicle is insufficient in power is avoided, and the driving safety of the vehicle is improved. And the problem of no power-off when a key is mistakenly touched for warehouse-out can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of automatic / assisted driving technology, and in particular to a vehicle exiting a garage and powering off control method and system. Background Art

[0002] The vehicle automatic driving assistance system refers to an intelligent automobile system that realizes unmanned driving through the on-board computer system, also known as an automatic driving system or an unmanned driving system. The system relies on the cooperation of artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to allow computers to automatically and safely operate motor vehicles without any human initiative.

[0003] The key remote control exit function is an auxiliary function in the vehicle's automatic driving assistance system. It is mainly used in scenarios where it is inconvenient to open the door to get in and out of the garage. The vehicle can be remotely controlled to exit the garage, making it convenient for users to get in and use the vehicle. In order to facilitate the use of the vehicle, the existing technology does not power off the vehicle after the vehicle is successfully exited. Therefore, in the actual use of the key remote control exit function, there are often situations where users accidentally trigger the exit function without knowing it after parking, locking the car and turning off the power. After the vehicle is successfully exited, the vehicle remains powered on, causing the vehicle to lose power, which greatly affects the user's car experience. Summary of the invention

[0004] The present invention aims to provide a method and system for controlling power-off of a vehicle when leaving a warehouse, so as to solve the above-mentioned technical problems. By monitoring the vehicle status, power-off control of the vehicle when leaving a warehouse can be realized, so as to solve the problem that the vehicle power-off does not occur when the key is touched by mistake when leaving the warehouse.

[0005] In order to solve the above technical problems, the present invention provides a vehicle power-off control method for leaving a warehouse, comprising the following steps:

[0006] In response to the key exit signal, the vehicle is powered on and an exit action is performed, and a state machine signal is obtained;

[0007] If the state machine signal is determined to be a successful exit from the warehouse, the vehicle status monitoring signal is obtained in real time;

[0008] If the vehicle status monitoring signal does not change within the preset first time threshold, the vehicle is locked and powered off.

[0009] The above scheme can determine that the vehicle is in the state of successful exit through the state machine signal. When the vehicle is successfully exited, if the vehicle state monitoring signal does not change within the first time threshold, that is, no human operation signal is detected, it can be considered that the driver does not need to drive the vehicle temporarily or the key is accidentally touched to exit the warehouse. At this time, the vehicle can be intelligently locked and powered off to avoid the situation of vehicle power loss, which can effectively solve the problem of accidental key touching to exit the warehouse without powering off.

[0010] Furthermore, if the state machine signal is determined to be a successful exit from the warehouse, the vehicle status monitoring signal is obtained in real time, including: within the preset second time threshold, the vehicle performs the exit from the warehouse action until the vehicle has no action request; within the preset third time threshold, the vehicle speed remains at 0, the vehicle gear remains in the parking gear and the electronic handbrake remains in the pulled state, then the state machine signal is determined to be a successful exit from the warehouse, and the vehicle status monitoring signal is obtained in real time.

[0011] In the above scheme, the vehicle needs to cooperate with the internal actuators of the vehicle's internal system to leave the warehouse, that is, there will be continuous action requests during the process of leaving the warehouse. When within the second time threshold and the state machine signal is not in an internal fault state or an external fault state, the vehicle has no action request, which can represent that the vehicle may be successfully released from the warehouse. To ensure that the vehicle leaves the warehouse successfully, a series of conditions are ensured, including that the vehicle speed remains at 0, the vehicle gear remains in the parking gear, and the electronic handbrake remains in the pulled-up state. By setting the third time threshold so that the above series of conditions are continuously met within the third time threshold, misjudgment can be effectively prevented.

[0012] Furthermore, the vehicle exiting the warehouse and powering off control method also includes the following steps: if the state machine signal is determined to be an internal fault state, an external fault state or an exiting failure state, the vehicle is locked and armed and the power is turned off.

[0013] In the above scheme, if the vehicle accidentally touches the key to exit the garage, there are many situations that may cause the vehicle to fail to exit the garage, including but not limited to internal fault status and external fault status. At this time, by setting multiple exit failure states, it is ensured that when the vehicle accidentally touches the key to exit the garage, the vehicle can be locked and powered off to avoid the situation of vehicle power loss.

[0014] Furthermore, when the state machine signal is determined to be in an internal fault state, an external fault state or an exit failure state, the vehicle is locked and powered off, including: when a hardware or software fault is detected in the vehicle system, the state machine signal is determined to be in an internal fault state; when a fault is detected in an associated system or an associated actuator, the state machine signal is determined to be in an external fault state; wherein: the associated system represents a vehicle system related to the exit function; the associated actuator represents an execution component related to the exit function; within a preset second time threshold, the vehicle performs an exit action and the vehicle continues to have an action request, then the state machine signal is determined to be in an exit failure state.

[0015] Furthermore, in response to the key out-of-warehouse signal, the vehicle is powered on and an out-of-warehouse action is performed, and a state machine signal is obtained, including: in response to the key out-of-warehouse signal, the vehicle is powered on and vehicle status data and external environment data are obtained; if both the vehicle status data and the external environment data meet the out-of-warehouse conditions, the vehicle performs an out-of-warehouse action and obtains a state machine signal.

[0016] The present invention also provides a vehicle power-off control system when leaving a warehouse, comprising:

[0017] The outbound execution module is used to respond to the key outbound signal, power on the vehicle and execute the outbound action, and obtain the state machine signal; the state determination module is used to determine the state of the state machine signal; the state monitoring module is used to obtain the vehicle state monitoring signal in real time; the power-off control module is used to execute the vehicle locking and arming and power off;

[0018] When the state determination module determines that the state machine signal is a successful exit from the warehouse, the state monitoring module obtains the vehicle state monitoring signal in real time; if the vehicle state monitoring signal does not change within the preset first time threshold, the power-off control module executes vehicle locking and defense and powers off.

[0019] The system architecture provided by the above scheme is simple and easy to implement. It can quickly and effectively implement a vehicle out-of-warehouse power-off control method. It can determine that the vehicle is in a successful out-of-warehouse state through the state machine signal. When the vehicle is successfully out of the warehouse, by monitoring the vehicle status. Within the first time threshold, if the vehicle status monitoring signal does not change, that is, no human operation signal is detected, it can be considered that the driver does not need to drive the vehicle temporarily or there is a situation where the key is accidentally touched to leave the warehouse. At this time, the vehicle can be intelligently locked and armed and powered off to avoid the situation where the vehicle is out of power, which can effectively solve the problem of accidentally touching the key to leave the warehouse without powering off.

[0020] Furthermore, when the state determination module determines that the state machine signal is successful in leaving the warehouse, the state monitoring module obtains the vehicle state monitoring signal in real time, including:

[0021] Within the preset second time threshold, the vehicle performs the outbound action until the vehicle has no action request. Within the preset third time threshold, the vehicle speed remains at 0, the vehicle gear remains in the parking gear and the electronic handbrake remains in the pulled state, then the state determination module determines that the state machine signal is a successful outbound, and the state monitoring module obtains the vehicle state monitoring signal in real time.

[0022] Furthermore, the status determination module is also used to determine whether the state machine signal is an internal fault state, an external fault state or a failed outbound vehicle state; wherein: if the status determination module determines that the state machine signal is an internal fault state, an external fault state or a failed outbound vehicle state, the power-off control module executes vehicle locking and arming and power-off.

[0023] Furthermore, if the status determination module determines that the state machine signal is in an internal fault state, an external fault state or an outbound failure state, the power-off control module executes vehicle locking and power-off, including: when a hardware or software failure is detected in the vehicle system, the status determination module determines that the state machine signal is in an internal fault state; when a failure is detected in the associated system or associated actuator, the status determination module determines that the state machine signal is in an external fault state; wherein: the associated system represents a vehicle system related to the outbound function; the associated actuator represents an execution component related to the outbound function; within a preset second time threshold, the vehicle performs an outbound action and the vehicle continues to have an action request, then the status determination module determines that the state machine signal is in an outbound failure state.

[0024] Furthermore, the outbound execution module is used to respond to the key outbound signal, power on the vehicle and execute the outbound action, and obtain the state machine signal, including: the outbound execution module responds to the key outbound signal, powers on the vehicle and obtains vehicle status data and external environment data; if the vehicle status data and external environment data both meet the outbound conditions, the outbound execution module controls the vehicle to execute the outbound action and obtain the state machine signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic flow chart of a method for controlling vehicle power-off when leaving a warehouse according to an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the architecture of a vehicle power-off control system provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1 This embodiment provides a method for controlling the power-off of a vehicle when it leaves a warehouse, comprising the following steps:

[0029] S1: In response to the key exit signal, the vehicle is powered on and the exit action is performed, and the state machine signal is obtained;

[0030] S2: If the state machine signal is judged as successful departure, the vehicle status monitoring signal is obtained in real time;

[0031] S3: If the vehicle status monitoring signal does not change within the preset first time threshold, the vehicle is locked and powered off.

[0032] This embodiment can determine that the vehicle is in a successful exit state through the state machine signal. When the vehicle is successfully exited, if the vehicle state monitoring signal does not change within the first time threshold, that is, no human operation signal is detected, it can be considered that the driver does not need to drive the vehicle temporarily or the key is accidentally touched to exit the warehouse. At this time, the vehicle can be intelligently locked and powered off to avoid the situation of vehicle power loss, which can effectively solve the problem of accidental key touching to exit the warehouse without powering off.

[0033] It should be noted that the first time threshold can be set to 30 seconds. If no human operation signal is detected within 30 seconds, if the door is opened, the vehicle controller will request the vehicle to be locked and armed and powered off.

[0034] In one embodiment, the vehicle power-on mode may include a local mode and a remote control power-on mode. The local mode is a mode in which the driver steps on the brakes in the vehicle to put the vehicle into a ready state. Generally, the vehicle is powered on in this mode by default. The remote control power-on mode is a power-on mode in which the driver uses a key or a mobile phone APP to use smart parking or smart exit. Among them, the power-on mode in response to the key exit signal is the remote control power-on mode.

[0035] Furthermore, if the state machine signal is determined to be a successful exit from the warehouse, the vehicle status monitoring signal is obtained in real time, including: within the preset second time threshold, the vehicle performs the exit from the warehouse action until the vehicle has no action request; within the preset third time threshold, the vehicle speed remains at 0, the vehicle gear remains in the parking gear and the electronic handbrake remains in the pulled state, then the state machine signal is determined to be a successful exit from the warehouse, and the vehicle status monitoring signal is obtained in real time.

[0036] In this embodiment, the vehicle needs to cooperate with the internal actuators of the vehicle's internal system to leave the warehouse, that is, there will be continuous action requests during the process of leaving the warehouse. When within the second time threshold, and the state machine signal is not in an internal fault state or an external fault state, the vehicle's lack of action request can represent that the vehicle may be successfully leaving the warehouse. To ensure that the vehicle leaves the warehouse successfully, a series of conditions are ensured, including that the vehicle speed remains at 0, the vehicle gear remains in the parking gear, and the electronic handbrake remains in the pulled-up state. By setting the third time threshold, so that the above series of conditions are continuously met within the third time threshold, misjudgment can be effectively prevented.

[0037] In one embodiment, the third time threshold may be set to 1 second. In the specific implementation process, if the above series of conditions are met within 1 second, the vehicle may be delayed or not correctly identified due to factors such as signal interference and sensor failure, so a time interval may be added to ensure the accuracy of the state judgment, that is, when collecting the vehicle speed, vehicle gear status and electronic handbrake status, each collection time interval may be set to 200ms.

[0038] It should be noted that the vehicle's speed, gear status, and electronic handbrake status signals can be obtained by the vehicle's built-in systems or sensors. For example, the vehicle's GPS positioning system, wheel speed sensor, and acceleration sensor can provide the vehicle's position and motion status, which are used to determine whether the vehicle is in a moving state, vehicle speed, acceleration, and other information; the vehicle's transmission control system or gear sensor can provide gear status information, which is used to confirm whether the vehicle is in the parking gear; the electronic brake system and brake request module can provide electronic handbrake status information, which is used to confirm whether the vehicle has stopped and the electronic handbrake has been pulled; the EPS system can provide steering request information, which can indirectly reflect that the vehicle has stopped moving when there is no steering request.

[0039] In one embodiment, the vehicle no action request may be that the intelligent driving controller does not issue an operation instruction to an actuator such as an electric power steering module (EPS) and an acceleration request module, that is, the vehicle is not required to perform operations such as steering and acceleration.

[0040] Furthermore, the vehicle exiting the warehouse and powering off control method also includes the following steps: if the state machine signal is determined to be an internal fault state, an external fault state or an exiting failure state, the vehicle is locked and armed and the power is turned off.

[0041] In this embodiment, if the vehicle accidentally touches the key to exit the warehouse, there are many situations that may cause the vehicle to fail to exit the warehouse, including but not limited to internal fault state and external fault state. At this time, by setting multiple exit failure states, it is ensured that when the key is accidentally touched to exit the warehouse, the vehicle can be locked and powered off to avoid the situation of vehicle power loss.

[0042] Furthermore, when the state machine signal is determined to be in an internal fault state, an external fault state or an exit failure state, the vehicle is locked and powered off, including: when a hardware or software fault is detected in the vehicle system, the state machine signal is determined to be in an internal fault state; when a fault is detected in an associated system or an associated actuator, the state machine signal is determined to be in an external fault state; wherein: the associated system represents a vehicle system related to the exit function; the associated actuator represents an execution component related to the exit function; within a preset second time threshold, the vehicle performs an exit action and the vehicle continues to have an action request, then the state machine signal is determined to be in an exit failure state.

[0043] In this embodiment, the actuator may include an electric power steering module EPS, a brake request module EBS, an electronic brake system EPB, a powertrain control system VCU and an integrated body control module IBC, which can work together to complete the vehicle exit operation. Among them: EPS is responsible for vehicle steering control; EBS is responsible for vehicle braking control; EPB is responsible for electronic handbrake control; VCU is responsible for vehicle acceleration, deceleration and other power control; IBC is responsible for realizing functions such as lighting, wiper, window control, unlocking, locking, locking and arming control, power mode jump control, local mode door opening power suppression control, etc.

[0044] Furthermore, in response to the key out-of-warehouse signal, the vehicle is powered on and an out-of-warehouse action is performed, and a state machine signal is obtained, including: in response to the key out-of-warehouse signal, the vehicle is powered on and vehicle status data and external environment data are obtained; if both the vehicle status data and the external environment data meet the out-of-warehouse conditions, the vehicle performs an out-of-warehouse action and obtains a state machine signal.

[0045] In this embodiment, the vehicle status data may include vehicle power status data, gear status data, electronic handbrake status data, and brake system status data, etc., which are detected by the vehicle's electronic control unit (ECU) or related sensors. External environment data may include surrounding obstacle detection data, road condition data, etc. to ensure the safety of the outbound process. Among them, the surrounding obstacle detection data can be obtained through sensors such as radar and cameras, and the road condition data can be obtained through the vehicle navigation system or an external data source.

[0046] In one embodiment, the state machine signal also includes a not-ready state, a ready state, and an activated state. The not-ready state means that the key remote control exit function does not meet the operating conditions and is in a state that cannot be activated; the ready state means that the key remote control exit function meets all operating conditions and is in an activated state. When the key remote control exit function meets the operating conditions, it should automatically jump from the not-ready state to the ready state; the activated state refers to the state when the key remote control exit function is activated.

[0047] See also Figure 2 This embodiment provides a vehicle power-off control system, including:

[0048] The outbound execution module is used to respond to the key outbound signal, power on the vehicle and execute the outbound action, and obtain the state machine signal; the state determination module is used to determine the state of the state machine signal; the state monitoring module is used to obtain the vehicle state monitoring signal in real time; the power-off control module is used to execute the vehicle locking and arming and power off;

[0049] When the state determination module determines that the state machine signal is a successful exit from the warehouse, the state monitoring module obtains the vehicle state monitoring signal in real time; if the vehicle state monitoring signal does not change within the preset first time threshold, the power-off control module executes vehicle locking and defense and powers off.

[0050] The system architecture provided by this embodiment is simple and easy to implement. It can quickly and effectively implement a vehicle out-of-warehouse power-off control method. It can determine that the vehicle is in a successful out-of-warehouse state through a state machine signal. When the vehicle is successfully out of the warehouse, by monitoring the vehicle state. Within the first time threshold, if the vehicle state monitoring signal does not change, that is, no human operation signal is detected, it can be considered that the driver does not need to drive the vehicle temporarily or there is a situation where the key is accidentally touched to leave the warehouse. At this time, the vehicle can be intelligently locked and armed and powered off to avoid the situation where the vehicle is out of power, which can effectively solve the problem of accidentally touching the key to leave the warehouse without powering off.

[0051] In one embodiment, the vehicle power-on mode may include a local mode and a remote control power-on mode. The local mode is a mode in which the driver steps on the brakes in the vehicle to put the vehicle into a ready state. Generally, the vehicle is powered on in this mode by default. The remote control power-on mode is a power-on mode in which the driver uses a key or a mobile phone APP to use smart parking or smart exit. Among them, the power-on mode in response to the key exit signal is the remote control power-on mode.

[0052] Furthermore, when the state determination module determines that the state machine signal is successful in leaving the warehouse, the state monitoring module obtains the vehicle state monitoring signal in real time, including:

[0053] Within the preset second time threshold, the vehicle performs the outbound action until the vehicle has no action request. Within the preset third time threshold, the vehicle speed remains at 0, the vehicle gear remains in the parking gear and the electronic handbrake remains in the pulled state, then the state determination module determines that the state machine signal is a successful outbound, and the state monitoring module obtains the vehicle state monitoring signal in real time.

[0054] Furthermore, the status determination module is also used to determine whether the state machine signal is an internal fault state, an external fault state or a failed outbound vehicle state; wherein: if the status determination module determines that the state machine signal is an internal fault state, an external fault state or a failed outbound vehicle state, the power-off control module executes vehicle locking and arming and power-off.

[0055] Furthermore, if the status determination module determines that the state machine signal is in an internal fault state, an external fault state or an outbound failure state, the power-off control module executes vehicle locking and power-off, including: when a hardware or software failure is detected in the vehicle system, the status determination module determines that the state machine signal is in an internal fault state; when a failure is detected in the associated system or associated actuator, the status determination module determines that the state machine signal is in an external fault state; wherein: the associated system represents a vehicle system related to the outbound function; the associated actuator represents an execution component related to the outbound function; within a preset second time threshold, the vehicle performs an outbound action and the vehicle continues to have an action request, then the status determination module determines that the state machine signal is in an outbound failure state.

[0056] Furthermore, the outbound execution module is used to respond to the key outbound signal, power on the vehicle and execute the outbound action, and obtain the state machine signal, including: the outbound execution module responds to the key outbound signal, powers on the vehicle and obtains vehicle status data and external environment data; if the vehicle status data and external environment data both meet the outbound conditions, the outbound execution module controls the vehicle to execute the outbound action and obtain the state machine signal.

[0057] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for controlling the power-off of a vehicle when leaving a warehouse, characterized in that: The following steps are involved: In response to the key exit signal, the vehicle is powered on and an exit action is performed, and a state machine signal is obtained; If the state machine signal is determined to be a successful exit from the warehouse, a vehicle state monitoring signal is acquired in real time; If the vehicle status monitoring signal does not change within the preset first time threshold, the vehicle is locked and powered off.

2. A vehicle power-off control method according to claim 1, characterized in that: If the state machine signal is determined to be a successful exit from the warehouse, then a vehicle state monitoring signal is acquired in real time, including: Within the preset second time threshold, the vehicle executes the outbound action until the vehicle has no action request; within the preset third time threshold, the vehicle speed remains at 0, the vehicle gear remains in the parking gear and the electronic handbrake remains in the pulled state, then the state machine signal is determined to be a successful outbound, and the vehicle status monitoring signal is obtained in real time.

3. A vehicle power-off control method for exiting a warehouse according to claim 2, characterized in that: The following steps are also included: If the state machine signal is determined to be an internal fault state, an external fault state or a failed exit state, the vehicle is locked and armed and powered off.

4. A vehicle power-off control method for exiting a warehouse according to claim 3, characterized in that: The determining that the state machine signal is in an internal fault state, an external fault state or a failed exit state, then locking and arming the vehicle and powering off the vehicle, includes: When a fault is detected in the internal hardware or software of the vehicle system, the state machine signal is determined to be in an internal fault state; When a fault is detected in the associated system or the associated actuator, the state machine signal is determined to be in an external fault state; wherein: the associated system represents a vehicle system associated with the outbound function; the associated actuator represents an execution component associated with the outbound function; Within the preset second time threshold, if the vehicle performs the outbound action and the vehicle continues to have action requests, the state machine signal is determined to be in the outbound failure state.

5. A vehicle power-off control method according to any one of claims 1 to 4, characterized in that: The step of responding to the key exit signal, powering on the vehicle and executing the exit action, and obtaining the state machine signal includes: In response to a key-out signal, powering on the vehicle and acquiring vehicle status data and external environment data; If the vehicle status data and external environment data both meet the conditions for leaving the warehouse, the vehicle will execute the leaving warehouse action and obtain the state machine signal.

6. A vehicle power-off control system, characterized in that: include: The outbound execution module is used to power on the vehicle and execute the outbound action in response to the key outbound signal, and obtain the state machine signal; A state determination module, used for determining the state of the state machine signal; Status monitoring module, used to obtain vehicle status monitoring signals in real time; A power-off control module, used to lock and arm the vehicle and power off; When the state determination module determines that the state machine signal is successful in leaving the warehouse, the state monitoring module acquires the vehicle state monitoring signal in real time; If the vehicle status monitoring signal does not change within the preset first time threshold, the power-off control module will execute the vehicle locking and power-off.

7. A vehicle power-off control system according to claim 6, characterized in that: When the state determination module determines that the state machine signal is successful in leaving the warehouse, the state monitoring module acquires the vehicle state monitoring signal in real time, including: Within the preset second time threshold, the vehicle performs the out-of-warehouse action until the vehicle has no action request; within the preset third time threshold, the vehicle speed remains at 0, the vehicle gear remains in the parking gear and the electronic handbrake remains in the pulled-up state, then the state determination module determines that the state machine signal is a successful out-of-warehouse, and the state monitoring module obtains the vehicle state monitoring signal in real time.

8. A vehicle power-off control system according to claim 7, characterized in that: The state determination module is also used to determine whether the state machine signal is an internal fault state, an external fault state or a storage failure state; wherein: If the state determination module determines that the state machine signal is in an internal fault state, an external fault state or a failed exit state, the power-off control module locks and fortifies the vehicle and powers off the vehicle.

9. A vehicle power-off control system according to claim 8, characterized in that: If the state determination module determines that the state machine signal is in an internal fault state, an external fault state, or a failed exit state, the power-off control module executes vehicle locking and arming and power-off, including: When a fault is detected in the internal hardware or software of the vehicle system, the state determination module determines that the state machine signal is in an internal fault state; When a failure is detected in the associated system or the associated actuator, the state determination module determines that the state machine signal is in an external failure state; wherein: the associated system represents a vehicle system related to the outbound function; the associated actuator represents an execution component related to the outbound function; Within the preset second time threshold, if the vehicle performs the outbound action and the vehicle continues to have action requests, the state determination module determines that the state machine signal is in the outbound failure state.

10. A vehicle power-off control system according to any one of claims 6 to 9, characterized in that: The outbound execution module is used to power on the vehicle and execute the outbound action in response to the key outbound signal, and obtain the state machine signal, including: The outbound execution module powers on the vehicle and acquires vehicle status data and external environment data in response to the key outbound signal; If the vehicle status data and the external environment data both meet the conditions for leaving the warehouse, the leaving warehouse execution module controls the vehicle to execute the leaving warehouse action and obtains the state machine signal.

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