Vehicle out-of-garage control method and system, storage medium and electronic device

Abstract

The invention discloses a vehicle out-of-garage control method and system, a storage medium and an electronic device, and relates to the technical field of vehicle control, and the method comprises the steps: entering an out-of-garage mode based on an out-of-garage instruction of a target object, and obtaining vehicle environment information detected by a vehicle; the garage leaving direction of the vehicle is determined according to the vehicle environment information, and a turning angle instruction is sent to an electric power steering system, so that the electric power steering system controls a steering wheel of the vehicle to rotate according to the steering wheel turning angle corresponding to the garage leaving direction; a braking instruction is sent to a vehicle braking subsystem based on the motion state of the vehicle, so that the vehicle braking subsystem controls non-driving wheels of the vehicle to be tensioned; and under the condition that the motor torque of the driving wheels of the vehicle is increased from the first torque value to the second torque value, the target wheel speed of the driving wheels of the vehicle is calculated according to the target yaw velocity corresponding to the garage leaving speed, and the vehicle is controlled to rotationally leave the garage at the target yaw velocity according to the target wheel speed.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a control method, system, storage medium and electronic device for vehicle exiting a warehouse. Background Art

[0002] At present, autonomous driving technology has become the mainstream trend of automobile development. Autonomous driving technology includes five levels, L1-L5. Among them, L2, L3 and L4 autonomous driving technologies can realize the automatic driving state of the vehicle through the Advanced Driver Assistance System (ADAS) in realizing basic functions such as automatic parking, automatic parking, automatic following, and automatic obstacle avoidance. However, the application of autonomous driving technology in vehicle exit is not mature enough. The existing vehicle exit methods are mostly manually operated, requiring the driver to have the driving ability to operate the steering wheel and brake pedal to control the vehicle exit. However, when parking and exiting the warehouse in the side position, due to space limitations and the influence of surrounding obstacles, it is difficult for the driver to quickly determine the safe exit direction, and it is easy to collide with surrounding obstacles during the attempt to exit the warehouse, making it difficult for the vehicle to exit the warehouse safely and quickly.

[0003] Therefore, in the related art, there is a technical problem that it is difficult for the vehicle to exit the garage safely and quickly in the case of side parking.

[0004] In the related art, for the technical problem that it is difficult for vehicles to exit the garage safely and quickly in the case of parallel parking, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide a control method, system, storage medium and electronic device for vehicle exiting a parking garage, so as to at least solve the technical problem in the related art that it is difficult for a vehicle to exit the parking garage safely and quickly in the case of side parking.

[0006] According to an embodiment of the present application, a control method for vehicle exiting a warehouse is provided, comprising: entering an exiting mode based on an exiting instruction of a target object, acquiring vehicle environment information detected by the vehicle, wherein the exiting instruction at least includes an exiting speed; determining an exiting direction of the vehicle according to the vehicle environment information, and sending an angle instruction to the electric power steering system, so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the exiting direction; sending a braking instruction to the vehicle braking subsystem based on the motion state of the vehicle, so that the vehicle braking subsystem controls the non-driven wheels of the vehicle to tighten; when the motor torque of the driving wheels of the vehicle increases from a first torque value to a second torque value, calculating a target wheel speed of the driving wheels of the vehicle according to the target yaw angular velocity corresponding to the exiting speed, and controlling the vehicle to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle entering the dynamic friction stage.

[0007] In an exemplary embodiment, determining the exit direction of the vehicle based on the vehicle environment information includes: when it is determined that the vehicle environment information does not contain an obstacle, determining a default exit direction among the vehicle's possible exit directions as the exit direction; or, when it is determined that the vehicle environment information contains an obstacle and the obstacle is located in the possible exit direction, determining a first distance between the obstacle and the vehicle, and determining the exit direction from the possible exit directions based on a comparison result of the first distance and a safety distance.

[0008] In an exemplary embodiment, the exit direction is determined from the possible exit directions based on a comparison result between the first distance and the safety distance, including: when the comparison result indicates that the first distance is greater than the safety distance, the default exit direction is determined as the exit direction or any one of the possible exit directions is determined as the exit direction; when the obstacle is located in a first direction among the possible exit directions of the vehicle and the comparison result indicates that the first distance is less than the safety distance, the first direction is excluded from the possible exit directions to obtain a second direction, and the second direction is determined as the exit direction.

[0009] In an exemplary embodiment, the turning angle instruction includes a turning angle start instruction and a turning angle end instruction, and sending the turning angle instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the out-of-warehouse direction, including: sending the turning angle start instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to start rotating according to the steering wheel angle corresponding to the out-of-warehouse direction; receiving the rotated angle of the steering wheel fed back by the electric power steering system; and when it is determined that the rotated angle is consistent with the steering wheel angle, sending the turning angle end instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to stop rotating.

[0010] In an exemplary embodiment, the braking instruction includes an electronic parking brake request and a control request of an electronic stability program, and sending a braking instruction to the vehicle braking subsystem based on the motion state of the vehicle so that the vehicle braking subsystem controls the non-driven wheels of the vehicle to be tightened, including: when it is determined that the motion state of the vehicle is that the vehicle is stationary, sending the electronic parking brake request and the control request of the electronic stability program to the vehicle braking subsystem so that the vehicle braking subsystem activates the brakes of the vehicle based on the electronic parking brake request, controls the non-driven wheels of the vehicle to be tightened using the brakes, and turns off the electronic stability program based on the control request of the electronic stability program.

[0011] In an exemplary embodiment, during the process of controlling the vehicle to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, the method further includes: obtaining a third distance between the obstacle monitored by the vehicle and the vehicle; and when it is determined that the third distance is less than the safety distance, reducing the torque value of the motor torque to a preset value, and controlling the vehicle to stop rotating out of the warehouse.

[0012] In an exemplary embodiment, during the process of controlling the vehicle to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, the method further includes: when it is monitored that the target object triggers a condition for pausing the rotation out of the warehouse, sending an outbound confirmation message to the target object; when receiving a continue outbound instruction sent by the target object based on the outbound confirmation message, controlling the vehicle to rotate out of the warehouse, or controlling the vehicle to rotate out of the warehouse at a default yaw angular velocity, which is less than or equal to the target yaw angular velocity; when receiving a stop outbound instruction sent by the target object based on the outbound confirmation message, reducing the torque value of the motor torque to a preset value, and controlling the vehicle to stop rotating out of the warehouse.

[0013] In an exemplary embodiment, before entering the outbound mode based on the outbound instruction of the target object and acquiring the vehicle environment information detected by the vehicle, the method also includes: determining that the vehicle meets preset outbound conditions, wherein the preset outbound conditions at least include: the current vehicle speed of the vehicle is less than the preset vehicle speed; the lateral acceleration of the vehicle is less than the first preset acceleration value, and the longitudinal acceleration of the vehicle is less than the second preset acceleration value; the current torque value of the motor torque of the vehicle is greater than the preset torque value; the communication channel between the vehicle intelligent driving subsystem and the electric power steering system is normal, and the communication channel between the vehicle intelligent driving subsystem and the vehicle braking subsystem is normal.

[0014] In an exemplary embodiment, the method further includes: when the vehicle rotates out of the garage at the target yaw rate, the vehicle dynamics equation is satisfied, and the vehicle dynamics equation is expressed as follows:

[0015]

[0016] in, represents the horizontal force of the vehicle in the vehicle coordinate system, represents the vertical force of the vehicle in the vehicle coordinate system, represents the left rear wheel braking force of the vehicle, represents the right rear wheel braking force of the vehicle, represents the yaw moment of the vehicle.

[0017] According to another aspect of an embodiment of the present application, a control system for vehicle exiting a warehouse is also provided, comprising: a vehicle intelligent driving subsystem, an electric power steering system and a vehicle braking subsystem; the vehicle intelligent driving subsystem is used to enter an exiting mode based on an exiting instruction of a target object, and obtain vehicle environment information detected by the vehicle, wherein the exiting instruction at least includes an exiting speed; the exiting direction of the vehicle is determined according to the vehicle environment information, and a steering angle instruction is sent to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the exiting direction; a braking instruction is sent to the vehicle braking subsystem based on the motion state of the vehicle so that the vehicle braking subsystem controls the non-driven wheels of the vehicle to tighten; when the motor torque of the driving wheels of the vehicle increases from a first torque value to a second torque value, the target wheel speed of the driving wheels of the vehicle is calculated according to the target yaw angular velocity corresponding to the exiting speed, and the vehicle is controlled to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle entering the dynamic friction stage.

[0018] According to another aspect of the embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned vehicle exit control method when running.

[0019] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-mentioned vehicle exit control method through the computer program.

[0020] According to another aspect of the embodiments of the present application, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the above-mentioned vehicle exit control method is implemented.

[0021] In an embodiment of the present application, an outbound mode is entered based on an outbound instruction of a target object, and vehicle environment information detected by the vehicle is obtained, wherein the outbound instruction at least includes an outbound speed; the outbound direction of the vehicle is determined according to the vehicle environment information, and a steering angle instruction is sent to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the outbound direction; a braking instruction is sent to the vehicle braking subsystem based on the motion state of the vehicle so that the vehicle braking subsystem controls the non-driven wheels of the vehicle to tighten; when the motor torque of the driving wheels of the vehicle increases from a first torque value to a second torque value, according to the target yaw angular velocity corresponding to the outbound speed Calculate the target wheel speed of the driving wheel of the vehicle, and control the vehicle to rotate out of the garage at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle in the dynamic friction stage; adopt the above technical scheme, through the vehicle intelligent driving subsystem intelligently analyzes the vehicle environmental information, automatically determines the direction of exiting the garage, controls the electric power steering system and the vehicle braking subsystem to work together, solves the technical problem that it is difficult for the vehicle to exit the garage safely and quickly in the case of side parking, thereby simplifying the driver's exit operation, reducing the risk of collision, and realizing automatic, safe and efficient exit of the vehicle, providing the driver with a more convenient driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 It is a hardware environment schematic diagram of a method for controlling vehicle exiting a warehouse according to an embodiment of the present application;

[0025] Figure 2 is a flow chart of a method for controlling vehicle exit according to an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of force analysis of a vehicle exiting a warehouse according to an embodiment of the present application;

[0027] Figure 4 is a schematic diagram of a state machine of a vehicle intelligent driving subsystem according to an embodiment of the present application;

[0028] Figure 5 It is a structural block diagram of a control system for vehicle exit according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] According to one aspect of an embodiment of the present application, a method for controlling a vehicle leaving a warehouse is provided. The method for controlling a vehicle leaving a warehouse is widely used in vehicle equipment control application scenarios such as automated control vehicles and semi-automated control vehicles. Optionally, in this embodiment, the vehicle lateral movement control method can be applied to Figure 1 In the hardware environment composed of the vehicle-side device 102 and the server 104 shown in FIG. Figure 1 As shown, the server 104 is connected to the vehicle-side device 102 via a network, and can be used to provide services (such as application services, etc.) for the terminal or a client installed on the terminal. A database can be set on the server or independently of the server to provide data storage services for the server 104. Cloud computing and / or edge computing services can be configured on the server or independently of the server to provide data computing services for the server 104.

[0032] The above network may include but is not limited to at least one of the following: wired network, wireless network. The above wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above wireless network may include but is not limited to at least one of the following: WIFI (Wireless Fidelity), Bluetooth.

[0033] In this application, the EPB (Electronic Parking Brake) system, EPS (Electric Power Steering) system and IBS (Intelligent Braking System) need to communicate and confirm the status in order to work together and ensure the safe execution of the outbound action.

[0034] Among them, EPB is a system that realizes parking brake by electronic control. During the outbound process of this application, EPB is required to clamp the two rear wheels to prevent the vehicle from moving forward or backward uncontrollably due to the drive of the front wheels during outbound, and to ensure that the vehicle can stably rotate in a predetermined direction when starting the outbound action. In this way, during the outbound process, EPB needs to keep the two rear wheels locked until the outbound action is completed.

[0035] EPS is a system that provides steering assistance to the driver, using an electric motor instead of a traditional hydraulic system to provide steering force. During the outbound process of the present application, the EPS receives the steering wheel angle target signal sent by the system, and adjusts the steering angle of the front wheels according to this signal to enable the vehicle to rotate stably out of the warehouse in the predetermined direction. The "handshake" between EPS and the vehicle's intelligent driving subsystem (such as ADAS) ensures that the steering system is ready and can execute control instructions. "Handshake" means that two or more systems confirm each other's status and readiness through signal exchange so as to safely perform collaborative operations. Among them, the electric power steering system of the present application is, for example, EPS.

[0036] IBS is an integrated braking system that can intelligently manage the vehicle's braking process, including the control of EPB. During the outbound process, IBS receives EPB clamping requests from the vehicle's intelligent driving subsystem and temporary shutdown requests from ESP (Electronic Stability Program) to ensure that the braking system works as required, and at the same time, it feeds back the actual status of the braking system to the vehicle's intelligent driving subsystem to confirm whether EPB and ESP have entered the correct mode as instructed. For example, the vehicle braking subsystem of the present application may be composed of an electronic parking brake system EPB and an intelligent braking system IBS.

[0037] Among them, ESP is responsible for vehicle stability control, and prevents the vehicle from losing control during driving by adjusting the braking force of the wheels and the torque of the engine. In the vehicle exit control method of the present application, ESP will be temporarily turned off so that the vehicle can rotate out of the warehouse at a certain yaw angular velocity, etc. After the exit is completed, ESP will return to normal working mode and resume stability control of the vehicle.

[0038] In this application, the vehicle intelligent driving subsystem is the central system of the vehicle exit control method, which collects and analyzes various information from inside and outside the vehicle, such as obstacle location, vehicle speed, acceleration, and driver's instructions. Based on this information, the vehicle intelligent driving subsystem determines the exit direction and exit speed, and then sends control commands to other systems such as EPB, EPS, and IBS. For example, when the one-key exit function is activated, the vehicle intelligent driving subsystem will send a request to EPS and IBS, asking them to enter the exit control mode. After receiving the request, EPS and IBS will feedback a confirmation message that they are ready, indicating that they can receive control instructions. After receiving the confirmation information from these two systems, the vehicle intelligent driving subsystem will continue to execute subsequent steps such as controlling the front-wheel drive torque.

[0039] In summary, the vehicle's intelligent driving subsystem, EPB, EPS and IBS work together through complex signal exchanges and status monitoring to form a tightly coordinated control system, reducing potential risks caused by incoordination between systems and enabling vehicles to leave the warehouse safely and quickly.

[0040] In this embodiment, a method for controlling vehicle exit is provided, which is applied to the above terminal device. Figure 2 : is a flow chart of a method for controlling vehicle exit according to an embodiment of the present application, and the process includes the following steps:

[0041] Step S202, entering the outbound mode based on the outbound instruction of the target object, and acquiring vehicle environment information detected by the vehicle, wherein the outbound instruction at least includes an outbound speed;

[0042] Optionally, in this step, the driver (i.e., the target object) can operate the one-key exit switch on the vehicle operation screen to activate the vehicle's one-key exit function, and the driver can select the exit speed or the vehicle intelligent driving subsystem can provide a default exit speed. The exit speed corresponds to the vehicle's yaw rate. The vehicle operation screen displays the exit speeds including slow, medium, and fast. If the driver selects medium, the vehicle is controlled to rotate at a yaw rate of 7 deg / s.

[0043] Step S204, determining the exit direction of the vehicle according to the vehicle environment information, and sending a steering angle instruction to the electric power steering system, so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the exit direction;

[0044] Step S206, sending a braking instruction to the vehicle braking subsystem based on the motion state of the vehicle, so that the vehicle braking subsystem controls the non-driving wheels of the vehicle to tighten;

[0045] Step S208, when the motor torque of the driving wheels of the vehicle increases from a first torque value to a second torque value, the target wheel speed of the driving wheels of the vehicle is calculated according to the target yaw angular velocity corresponding to the out-of-warehouse speed, and the vehicle is controlled to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle entering the dynamic friction stage.

[0046] For this step, the situation that the motor torque of the driving wheel of the vehicle increases from the first torque value (for example, greater than 0) to the second torque value can indicate that during the static friction process in which the wheel of the vehicle does not slip, the control torque value continues to increase until the wheel begins to slip and enters the dynamic friction stage. Then in the dynamic friction stage, the target wheel speed of the front wheel (representing the driving wheel) is calculated according to the target yaw rate, and then the PID closed-loop control is performed through the front axle speed, so as to control the vehicle to rotate stably at a certain yaw rate. Among them, the target yaw rate corresponds to the outbound speed selected by the driver, for example, the target yaw rate corresponding to the slow speed is 5 deg / s, the target yaw rate corresponding to the medium speed is 7 deg / s, and the target yaw rate corresponding to the high speed is 10 deg / s. This step accurately controls the rotation of the vehicle out of the warehouse according to the vehicle's motion state and the target yaw rate, which greatly improves the automation level and safety of the outbound operation.

[0047] Through the above steps, an outbound mode is entered based on an outbound instruction of a target object, and vehicle environment information detected by the vehicle is obtained, wherein the outbound instruction at least includes an outbound speed; an outbound direction of the vehicle is determined according to the vehicle environment information, and a steering angle instruction is sent to the electric power steering system, so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the outbound direction; a braking instruction is sent to the vehicle braking subsystem based on the motion state of the vehicle, so that the vehicle braking subsystem controls the non-driven wheels of the vehicle to be tightened; when the motor torque of the driving wheels of the vehicle increases from a first torque value to a second torque value, a yaw rate meter is used according to a target yaw rate meter corresponding to the outbound speed. The target wheel speed of the driving wheel of the vehicle is calculated, and the vehicle is controlled to rotate out of the garage at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle in the dynamic friction stage; adopting the above technical scheme, the vehicle intelligent driving subsystem intelligently analyzes the vehicle environmental information, automatically determines the direction of exiting the garage, controls the electric power steering system and the vehicle braking subsystem to work together, solves the technical problem that it is difficult for the vehicle to exit the garage safely and quickly in the case of side parking and exiting the garage, thereby simplifying the driver's exit operation, reducing the risk of collision, and realizing automatic, safe and efficient exit of the vehicle, providing the driver with a more convenient driving experience.

[0048] In an exemplary embodiment, the implementation process of determining the vehicle's exit direction based on the vehicle environment information may include: when it is determined that the vehicle environment information does not contain an obstacle, determining the default exit direction in the vehicle's exit direction as the exit direction; or, when it is determined that the vehicle environment information contains an obstacle and the obstacle is located in the exit direction, determining a first distance between the obstacle and the vehicle, and determining the exit direction from the exit direction based on a comparison result between the first distance and a safety distance. This embodiment controls the vehicle to intelligently avoid obstacles when the vehicle exits the warehouse, reduces potential collision risks, and improves the safety of exiting the warehouse.

[0049] The safety distance is, for example, the minimum distance that a vehicle can travel without colliding with an obstacle when leaving a garage.

[0050] Optionally, the vehicle environment information may be obtained, for example, through detection by a camera or radar of the vehicle.

[0051] In an exemplary embodiment, in the technical solution for determining the outbound direction from the possible outbound directions according to the comparison result of the first distance and the safety distance, the steps include: when the comparison result indicates that the first distance is greater than the safety distance, determining the default outbound direction as the outbound direction or determining any one of the possible outbound directions as the outbound direction; when the obstacle is located in the first direction of the possible outbound direction of the vehicle, and the comparison result indicates that the first distance is less than the safety distance, excluding the first direction from the possible outbound directions to obtain a second direction, and determining the second direction as the outbound direction. The mechanism for dynamically adjusting the outbound direction proposed in this embodiment can ensure that the vehicle can find a safe outbound path when facing different obstacles.

[0052] Alternatively, when the obstacle is located in all directions of the vehicle's exit direction and the comparison result indicates that the first distance is less than the safety distance, a prompt message is generated to prompt the target object that the exit direction does not exist.

[0053] Optionally, in one embodiment, after receiving the exit instruction, the vehicle intelligent driving subsystem provides the driver with the exit direction based on the perceived obstacle information. The obstacle information may include whether an obstacle is detected, and the distance between the obstacle and the vehicle position (corresponding to the first distance) to determine whether the exit requirements are met.

[0054] Specifically: If the distance between the obstacle on the left side of the vehicle and the vehicle is greater than the safe distance, the exit direction is the left side. If there is an obstacle on the right side or the distance between the obstacle and the vehicle is less than the safe distance, the exit direction is the left side.

[0055] If there are obstacles on both sides, the side where the distance between the obstacle and the vehicle is greater than the safe distance is the direction in which the vehicle can exit the warehouse. If there are obstacles on both sides and the distance between the obstacle and the vehicle is less than the safe distance, the driver is prompted that there is no direction in which the vehicle can exit the warehouse.

[0056] If there is no obstacle on the left side of the vehicle, the exit direction is the left side. If there is no obstacle on both sides, the default exit direction is the left side.

[0057] In an exemplary embodiment, the turning angle instruction includes a turning angle start instruction and a turning angle end instruction, and the specific implementation steps of sending the turning angle instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the outbound direction include: sending the turning angle start instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to start rotating according to the steering wheel angle corresponding to the outbound direction; receiving the steering wheel rotation angle fed back by the electric power steering system; and when it is determined that the rotation angle is consistent with the steering wheel angle, sending the turning angle end instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to stop rotating. This embodiment ensures that the vehicle is outbound according to the predetermined path by controlling the rotation angle of the steering wheel, thereby improving the accuracy of outbound.

[0058] The steering wheel angle is, for example, a maximum steering wheel angle, and the influence of factors such as the parking position of the vehicle and the distance of surrounding obstacles on the steering wheel angle is not considered.

[0059] In this embodiment, based on the handshake mechanism between the vehicle intelligent driving subsystem and EPS, after the outbound function is activated, the EPS can be requested to enter the outbound control mode and send a turning angle instruction. The EPS responds to the outbound control request and feeds back the actual turning angle. After the vehicle completes the outbound journey, the vehicle intelligent driving subsystem sends a turning angle end instruction to the EPS.

[0060] In an exemplary embodiment, the braking instruction includes an electronic parking brake request and an electronic stability program control request. The following steps can be used to implement a solution of sending a braking instruction to the vehicle braking subsystem based on the motion state of the vehicle so that the vehicle braking subsystem controls the non-driving wheels of the vehicle to be tightened: when it is determined that the motion state of the vehicle is stationary, sending the electronic parking brake request and the electronic stability program control request to the vehicle braking subsystem so that the vehicle braking subsystem activates the brake of the vehicle based on the electronic parking brake request, controls the non-driving wheels of the vehicle to be tightened using the brake, and turns off the electronic stability program based on the electronic stability program control request. This embodiment provides a braking control method, which provides necessary braking force during the process of leaving the warehouse to improve the stability of the vehicle before leaving the warehouse, thereby improving the safety of the vehicle leaving the warehouse.

[0061] Based on the above, in an optional embodiment, when the vehicle is stationary, the EPB is requested to tighten and the automatic control request of ESP is temporarily turned off to remind the driver to release the brake pedal. At this time, the EPB clamping force is controlled according to the maximum clamping force to ensure that the two rear wheels do not roll. Among them, the vehicle intelligent driving subsystem sends EPBAppdReq (corresponding to the electronic parking brake request) to EPB, and the vehicle intelligent driving subsystem receives the EPB status (Unknown, BrkApplied, BrkReleased) from EPB; the vehicle intelligent driving subsystem receives the ESPMode status (OFF, Normal) from EPS, etc. When "EPBAppd== BrkApplied and ESPMode==OFF", the next step can be performed.

[0062] Among them, EPBAppdReq, EPB status and ESPMode status are used to monitor and control the vehicle's braking and stability systems. The following is a brief explanation of these signals and states:

[0063] EPBAppdReq (EPB Application Request) is a request signal used to instruct the intelligent braking system (IBS) to control the EPB, that is, to request the EPB to clamp or increase the braking force. During the vehicle's exit from the warehouse, when the vehicle's intelligent driving subsystem determines that the rear wheels of the vehicle need to be fixed to prevent unnecessary sliding, the EPBAppdReq signal will be sent to the IBS. This ensures that when the front-wheel drive torque increases, the rear of the vehicle will not move uncontrollably, thereby keeping the vehicle stable and rotating in the predetermined direction.

[0064] Unknown indicates that the current status of the EPB system is unknown. For example, the status cannot be read due to system initialization or communication interruption.

[0065] BrkApplied means the EPB brakes have been activated and the rear wheels are clamped or braking force is applied.

[0066] BrkReleased means that the EPB brake has been released, the clamping state of the rear wheel is no longer there, and it can roll freely.

[0067] OFF means that the Electronic Stability Program (ESP) is in the off state, that is, the vehicle's intelligent driving subsystem will not actively intervene in the vehicle's stability control, allowing the driver or vehicle control strategy to have greater control freedom. For example, when leaving the warehouse with one button, in order to achieve specific vehicle dynamics, it is necessary to turn off the ESP automatic control request, that is, temporarily stop the ESP's active stability control function.

[0068] Normal means that ESP is in normal working condition. The vehicle intelligent driving subsystem will actively intervene according to vehicle dynamics (such as oversteer or understeer) and adjust the braking torque and engine torque to keep the vehicle stable and avoid loss of control.

[0069] The above signals or states are crucial in vehicle exit control, ensuring the stability and safety of the vehicle during one-click exit. For example, the vehicle intelligent driving subsystem will check the EPB status before exiting the warehouse to ensure that the rear wheels are effectively locked, and check the ESP Mode status. If necessary, it will request to temporarily shut down ESP to allow the vehicle to perform specific dynamic operations. Throughout the process, the vehicle intelligent driving subsystem will continue to monitor these states and adjust or suspend the exit action when necessary to deal with emergencies.

[0070] For "EPBAppd== BrkApplied", it means that the electronic parking brake system (EPB) has received and executed the request to apply the braking force, that is, the EPB is currently in the state of clamping the rear wheels. This step is necessary during the process of exiting the parking garage, because fixing the rear wheels can prevent the vehicle from sliding unnecessarily due to the increase of the front wheel drive torque during the process of exiting the parking garage, thereby ensuring that the vehicle can rotate out of the parking garage according to the predetermined yaw rate and direction.

[0071] For "ESPMode==OFF", it means that the Electronic Stability Program (ESP) is currently in off mode. The ESP system works during vehicle dynamic driving, adjusting the braking torque and engine torque to keep the vehicle stable and prevent slipping or loss of control. However, during the outbound control process, in order to achieve vehicle rotation, it is also necessary to temporarily turn off ESP so that the vehicle intelligent driving subsystem can more directly control the torque of the wheels without intervention from ESP. Turning off ESP allows precise adjustment of the front-wheel drive torque and rear-wheel braking force to achieve stable vehicle rotation.

[0072] Therefore, "EPBAppd== BrkApplied and ESPMode==OFF" is an important step in the process of leaving the warehouse, ensuring that the vehicle is in a stable and controllable state before any operation that may cause dynamic changes in the vehicle. For example, if the vehicle's intelligent driving subsystem determines that the rear wheels are fixed, ESP will not interfere with the vehicle's dynamic control, and it can safely continue to control the front axle motor torque to increase according to the preset slope, so that the vehicle rotates according to the target yaw rate.

[0073] In an exemplary embodiment, in the process of controlling the vehicle to rotate out of the garage at the target yaw angular velocity according to the target wheel speed, further, a third distance between the obstacle monitored by the vehicle and the vehicle can be obtained; when it is determined that the third distance is less than the safe distance, the torque value of the motor torque is reduced to a preset value, and the vehicle is controlled to stop rotating out of the garage. This embodiment can decelerate or stop the vehicle in time when it approaches an obstacle, thereby improving the safety of the vehicle's exit process.

[0074] In an optional embodiment, during the process of the vehicle rotating out of the warehouse, if the vehicle intelligent driving subsystem determines that the distance between the obstacle and the vehicle position is less than the safe distance, the vehicle will pause to exit the warehouse and control the motor torque value to drop to 0 (corresponding to the preset value) to stop the vehicle from rotating and remain stationary.

[0075] In an exemplary embodiment, in the process of controlling the vehicle to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, when the target object is monitored to trigger the condition of pausing the rotation out of the warehouse, a warehouse confirmation message is sent to the target object; when the target object receives a continue warehouse instruction sent based on the warehouse confirmation message, the vehicle is controlled to rotate out of the warehouse, or the vehicle is controlled to rotate out of the warehouse at a default yaw angular velocity, which is less than or equal to the target yaw angular velocity; when the target object receives a stop warehouse instruction sent based on the warehouse confirmation message, the torque value of the motor torque is reduced to a preset value, and the vehicle is controlled to stop rotating out of the warehouse. This embodiment is based on the interaction mechanism with the target object, making the warehouse out process more flexible and controllable, and can promptly respond to emergency situations that require pause or stop during the warehouse out process, thereby improving the controllability and safety of the warehouse out process.

[0076] Based on the above embodiments, the present application can determine the suspension, continuation or termination of the outbound function according to the driver's operation or the relative position between the obstacle and the vehicle during the outbound process. For example, during the outbound process, the relative position between the obstacle and the vehicle is monitored in real time, and whether to suspend the outbound is determined in advance according to whether a collision will occur at the relative position, thereby improving the safety of outbound.

[0077] Optionally, during the process of rotating out of the vehicle, according to the conditions that the driver cancels the out-of-stock or steps on the accelerator pedal or brake pedal to trigger the suspension of the rotating out-of-stock, the embodiment can send a confirmation message to the driver whether to continue the out-of-stock. If the driver terminates the out-of-stock, the control torque value will be reduced to 0. If the driver continues to go out of the warehouse, the rotating out-of-stock will continue. Alternatively, the one-key out-of-stock can be terminated after the vehicle turns a certain angle (corresponding to the default yaw angular velocity, not greater than the target yaw angular velocity).

[0078] In an exemplary embodiment, before entering the outbound mode based on the outbound instruction of the target object and obtaining the vehicle environment information detected by the vehicle, the following technical solution is further proposed: determine that the vehicle meets the preset outbound conditions, wherein the preset outbound conditions at least include: the current speed of the vehicle is less than the preset speed; the lateral acceleration of the vehicle is less than the first preset acceleration value, and the longitudinal acceleration of the vehicle is less than the second preset acceleration value; the current torque value of the motor torque of the vehicle is greater than the preset torque value; the communication channel between the vehicle intelligent driving subsystem and the electric power steering system is normal, and the communication channel between the vehicle intelligent driving subsystem and the vehicle braking subsystem is normal. This embodiment reduces the outbound failure or safety risk caused by poor vehicle status by setting the condition check before outbound.

[0079] Optionally, the preset torque value is, for example, 0.

[0080] Optionally, the exit conditions may include controller communication failure, non-stationary vehicle speed, door not closed, etc. If any of the following conditions exists, the preset exit conditions are not met: the vehicle speed is too high (the current vehicle speed is greater than the preset vehicle speed); the vehicle is on a longitudinal or transverse slope (the lateral acceleration of the vehicle is greater than the first preset acceleration value or the longitudinal acceleration of the vehicle is greater than the second preset acceleration value); the drive motor torque is limited (the current torque value is less than the preset torque value); there is a communication failure with the IBS controller and other braking systems resulting in invalid wheel speed signals, etc.).

[0081] In an exemplary embodiment, when the vehicle rotates out of the garage at the target yaw rate, the vehicle dynamics equation is satisfied, and the vehicle dynamics equation is expressed as follows:

[0082]

[0083] in, represents the horizontal force of the vehicle in the vehicle coordinate system, represents the vertical force of the vehicle in the vehicle coordinate system, represents the left rear wheel braking force of the vehicle, represents the right rear wheel braking force of the vehicle, represents the yaw moment of the vehicle.

[0084] In order to better understand the process of the above-mentioned vehicle exit control method, the implementation method process of the above-mentioned vehicle exit control is described below in combination with an optional embodiment, but it is not used to limit the technical solution of the embodiment of the present application.

[0085] In this embodiment, a method for controlling vehicle exiting a warehouse is provided. Figure 3 is a schematic diagram of force analysis of a vehicle exiting a warehouse according to an embodiment of the present application, such as Figure 3 As shown, the vehicle satisfies the vehicle dynamics equation during the process of rotating out of the warehouse, that is, the force in the longitudinal direction of the vehicle is less than the static friction force, ensuring that the vehicle does not move forward, the force in the lateral direction is greater than 0, the vehicle has lateral movement, the yaw of the whole vehicle is greater than 0, and the vehicle can rotate around the center of the rear axle. Among them, the expression "the yaw of the whole vehicle is greater than 0" means that the yaw moment of the vehicle around its vertical axis (Z axis) is greater than zero. During the execution of the one-key vehicle out-of-warehouse control method, when the vehicle is subjected to the combined action of the front wheel drive torque and the rear wheel braking force, if the yaw moment M generated around the vertical axis of the vehicle Z Greater than zero, this means the vehicle is experiencing a lateral rotation in either a clockwise or counterclockwise direction, depending on the steering of the vehicle's front wheels and the braking force distribution of the rear wheels.

[0086] .

[0087] .

[0088] .

[0089] Where δ represents the front wheel turning angle, F FLDrv Indicates the left front wheel driving force, F FLLat Indicates the lateral resistance of the left front wheel, F FRDrv Indicates the right front wheel driving force, F FLRat Indicates the lateral resistance of the right front wheel, F RLBrk Indicates the left rear wheel braking force, F RRBrk represents the braking force of the right rear wheel, L represents the wheelbase of the vehicle, and B represents the track width of the vehicle.

[0090] Combination Figure 4 The state changes of the vehicle out of the warehouse are described. The specific steps include:

[0091] 1. If the driver is not detected to have turned on the exit switch, the vehicle intelligent driving subsystem will always be in the Off mode;

[0092] 2. If the driver turns on the exit switch, the vehicle intelligent driving subsystem enters the StandBy mode (corresponding to the exit mode) according to the wake-up command and starts exiting the warehouse according to the exit direction. When exiting the warehouse, the vehicle intelligent driving subsystem completes the handshake with EPS\IBS in the StandBy mode and then enters the Active state;

[0093] 3. In the Active state, control the associated components to the target state, that is, control the front wheel drive torque to control the vehicle's stable yaw;

[0094] 4. In the Active state, if the driver triggers the pause action or detects an obstacle, the system will enter the Pause state and start the temporary pause function. The driver needs to confirm safety and click the Continue button to continue the departure.

[0095] 5. After the vehicle is out of the warehouse, it will automatically enter the Finished state, send a request to the driver to take over the vehicle, and exit the StandBy mode;

[0096] 6. If it is detected that the driver turns on the exit switch, but the vehicle status does not meet the exit conditions such as controller communication failure, vehicle speed is not stationary, and door is not closed, the system enters Disable mode, changes the display color of the exit button to gray, prevents the exit operation from starting, and prompts the driver that the one-key exit function is not available.

[0097] Based on the above steps, the present application can respond to the driver's exit instructions to enable the vehicle to exit the warehouse automatically, safely and efficiently, determine the exit direction based on the obstacle information around the vehicle, and automatically control the vehicle to rotate out of the warehouse after the driver confirms the exit direction.

[0098] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0099] Figure 5 is a structural block diagram of a control system for vehicle exit according to an embodiment of the present application; Figure 5 As shown, it includes: a vehicle intelligent driving subsystem 52, an electric power steering system 54 and a vehicle braking subsystem 56;

[0100] The vehicle intelligent driving subsystem is used to enter an outbound mode based on an outbound instruction of a target object, obtain vehicle environment information detected by the vehicle, wherein the outbound instruction at least includes an outbound speed; determine the outbound direction of the vehicle according to the vehicle environment information, and send an angle instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the outbound direction; send a braking instruction to the vehicle braking subsystem based on the motion state of the vehicle so that the vehicle braking subsystem controls the non-driven wheels of the vehicle to tighten; when the motor torque of the driving wheels of the vehicle increases from a first torque value to a second torque value, calculate the target wheel speed of the driving wheels of the vehicle according to the target yaw angular velocity corresponding to the outbound speed, and control the vehicle to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle entering the dynamic friction stage.

[0101] Through the above system, an outbound mode is entered based on an outbound instruction of a target object, and vehicle environment information detected by the vehicle is obtained, wherein the outbound instruction at least includes an outbound speed; the outbound direction of the vehicle is determined according to the vehicle environment information, and a steering angle instruction is sent to the electric power steering system, so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the outbound direction; a braking instruction is sent to the vehicle braking subsystem based on the motion state of the vehicle, so that the vehicle braking subsystem controls the non-driven wheels of the vehicle to tighten; when the motor torque of the driving wheels of the vehicle increases from a first torque value to a second torque value, the vehicle is calculated according to the target yaw angular velocity corresponding to the outbound speed. The target wheel speed of the driving wheel is determined, and the vehicle is controlled to rotate out of the garage at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle in the dynamic friction stage; adopting the above technical scheme, the control method for vehicle exiting the garage automatically determines the exiting direction by intelligently analyzing the vehicle environmental information through the vehicle intelligent driving subsystem, and controls the electric power steering system and the vehicle braking subsystem to work in coordination, thereby solving the technical problem that the vehicle is difficult to exit the garage safely and quickly in the case of side parking and exiting the garage, thereby simplifying the driver's exiting operation, reducing the risk of collision, realizing automatic, safe and efficient exiting of the vehicle, and providing the driver with a more convenient driving experience.

[0102] Optionally, communication may also be performed between the electric power steering system 54 and the vehicle braking subsystem 56 , which will not be described in detail in this application.

[0103] In an exemplary embodiment, the vehicle intelligent driving subsystem is also used to: when it is determined that the vehicle environment information does not contain an obstacle, determine the default exit direction among the vehicle's exitable directions as the exit direction; or, when it is determined that the vehicle environment information contains an obstacle and the obstacle is located in the exitable direction, determine a first distance between the obstacle and the vehicle, and determine the exit direction from the exitable directions based on a comparison result of the first distance and the safety distance.

[0104] In an exemplary embodiment, the vehicle intelligent driving subsystem is also used to: when the comparison result indicates that the first distance is greater than the safety distance, determine the default exit direction as the exit direction or determine any one of the possible exit directions as the exit direction; when the obstacle is located in a first direction among the possible exit directions of the vehicle and the comparison result indicates that the first distance is less than the safety distance, exclude the first direction from the possible exit directions to obtain a second direction, and determine the second direction as the exit direction.

[0105] In an exemplary embodiment, the vehicle intelligent driving subsystem is also used to: send the turning angle start instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to start rotating according to the steering wheel angle corresponding to the outbound direction; receive the rotation angle of the steering wheel fed back by the electric power steering system; and when it is determined that the rotation angle is consistent with the steering wheel angle, send the turning angle end instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to stop rotating.

[0106] In an exemplary embodiment, the vehicle intelligent driving subsystem is also used to: when it is determined that the motion state of the vehicle is stationary, send the electronic parking brake request and the control request of the electronic stability program to the vehicle braking subsystem, so that the vehicle braking subsystem activates the brakes of the vehicle based on the electronic parking brake request, uses the brakes to control the tension of the non-driven wheels of the vehicle, and shuts down the electronic stability program based on the control request of the electronic stability program.

[0107] In an exemplary embodiment, the vehicle intelligent driving subsystem is also used to: obtain a third distance between the obstacle monitored by the vehicle and the vehicle; when it is determined that the third distance is less than the safety distance, reduce the torque value of the motor torque to a preset value, and control the vehicle to stop rotating out of the warehouse.

[0108] In an exemplary embodiment, the vehicle intelligent driving subsystem is also used to: when it is monitored that the target object triggers a condition for pausing rotation out of the warehouse, send an outbound confirmation message to the target object; when receiving a continue outbound instruction sent by the target object based on the outbound confirmation message, control the vehicle to rotate out of the warehouse, or control the vehicle to rotate out of the warehouse at a default yaw angular velocity, which is less than or equal to the target yaw angular velocity; when receiving a stop outbound instruction sent by the target object based on the outbound confirmation message, reduce the torque value of the motor torque to a preset value, and control the vehicle to stop rotating out of the warehouse.

[0109] In an exemplary embodiment, the vehicle intelligent driving subsystem is also used to: determine whether the vehicle meets preset exit conditions, wherein the preset exit conditions include at least: the current vehicle speed of the vehicle is less than the preset vehicle speed; the lateral acceleration of the vehicle is less than a first preset acceleration value, and the longitudinal acceleration of the vehicle is less than a second preset acceleration value; the current torque value of the vehicle's motor torque is greater than the preset torque value; the communication channel between the vehicle intelligent driving subsystem and the electric power steering system is normal, and the communication channel between the vehicle intelligent driving subsystem and the vehicle braking subsystem is normal.

[0110] In an exemplary embodiment, the vehicle intelligent driving subsystem is further used to control the vehicle to satisfy a vehicle dynamics equation when rotating out of the garage at the target yaw angular velocity. The vehicle dynamics equation is expressed as follows:

[0111]

[0112] in, represents the horizontal force of the vehicle in the vehicle coordinate system, represents the vertical force of the vehicle in the vehicle coordinate system, represents the left rear wheel braking force of the vehicle, represents the right rear wheel braking force of the vehicle, represents the yaw moment of the vehicle.

[0113] The control method and system for vehicle exit provided by the present application can not only automatically analyze the vehicle environment and intelligently determine the exit direction, but also accurately control steering and braking, ensuring the safety, efficiency and automation of the exit process. The method is suitable for automatic exit in various complex environments, such as underground garages, narrow lanes, slippery roads, etc., providing drivers with a more convenient and safe driving experience, and also providing strong technical support for the development of intelligent parking systems and autonomous driving technologies. Through interaction with the target object, the exit process is made more flexible and controllable, and can respond to emergencies in a timely manner, ensuring the safety and controllability of the exit process. In addition, by setting the conditional check before exiting the warehouse, it is ensured that the vehicle exits the warehouse in the best state, further improving the reliability and safety of the exit operation, and providing technical support for the improvement of the intelligent transportation system and the popularization of autonomous driving vehicles.

[0114] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein the program executes any of the above methods when it is run.

[0115] Optionally, in this embodiment, the storage medium may be configured to store program codes for executing the following steps:

[0116] S1, entering a depot mode based on a depot instruction of a target object, and acquiring vehicle environment information detected by a vehicle, wherein the depot instruction at least includes a depot speed;

[0117] S2, determining the exit direction of the vehicle according to the vehicle environment information, and sending a steering angle instruction to the electric power steering system, so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the exit direction;

[0118] S3, sending a braking instruction to the vehicle braking subsystem based on the motion state of the vehicle, so that the vehicle braking subsystem controls the non-driving wheels of the vehicle to tighten;

[0119] S4, when the motor torque of the driving wheel of the vehicle increases from a first torque value to a second torque value, the target wheel speed of the driving wheel of the vehicle is calculated according to the target yaw angular velocity corresponding to the out-of-warehouse speed, and the vehicle is controlled to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle in the dynamic friction stage.

[0120] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0121] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0122] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0123] S1, entering a depot mode based on a depot instruction of a target object, and acquiring vehicle environment information detected by a vehicle, wherein the depot instruction at least includes a depot speed;

[0124] S2, determining the exit direction of the vehicle according to the vehicle environment information, and sending a steering angle instruction to the electric power steering system, so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the exit direction;

[0125] S3, sending a braking instruction to the vehicle braking subsystem based on the motion state of the vehicle, so that the vehicle braking subsystem controls the non-driving wheels of the vehicle to tighten;

[0126] S4, when the motor torque of the driving wheel of the vehicle increases from a first torque value to a second torque value, the target wheel speed of the driving wheel of the vehicle is calculated according to the target yaw angular velocity corresponding to the out-of-warehouse speed, and the vehicle is controlled to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle in the dynamic friction stage.

[0127] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0128] Optionally, an embodiment of the present application further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.

[0129] Optionally, an embodiment of the present application further provides another computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0130] Optionally, an embodiment of the present application further provides a computer program, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium; a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in any one of the above method embodiments.

[0131] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0132] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0133] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling vehicle exiting a warehouse, characterized in that: A vehicle intelligent driving subsystem applied to a vehicle, wherein the vehicle is also equipped with an electric power steering system and a vehicle braking subsystem, and a communication channel is established between the vehicle intelligent driving subsystem and any one of the electric power steering system and the vehicle braking subsystem, including: Entering an outbound mode based on an outbound instruction of a target object, and acquiring vehicle environment information detected by the vehicle, wherein the outbound instruction at least includes an outbound speed; Determine the outbound direction of the vehicle according to the vehicle environment information, and send a steering angle instruction to the electric power steering system, so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the outbound direction; Sending a braking instruction to the vehicle braking subsystem based on the motion state of the vehicle, so that the vehicle braking subsystem controls the non-driving wheels of the vehicle to tighten; When the motor torque of the driving wheels of the vehicle increases from a first torque value to a second torque value, the target wheel speed of the driving wheels of the vehicle is calculated according to the target yaw angular velocity corresponding to the exiting speed, and the vehicle is controlled to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle in the dynamic friction stage.

2. The vehicle exit control method according to claim 1, characterized in that: Determining the exit direction of the vehicle according to the vehicle environment information includes: In a case where it is determined that the vehicle environment information does not include an obstacle, determining a default exit direction among the possible exit directions of the vehicle as the exit direction; Alternatively, when it is determined that the vehicle environment information contains an obstacle and the obstacle is located in the direction in which the vehicle can exit the warehouse, a first distance between the obstacle and the vehicle is determined, and the exit direction is determined from the direction in which the vehicle can exit the warehouse based on a comparison result between the first distance and a safety distance.

3. The vehicle exit control method according to claim 2, characterized in that: Determining the exit direction from the possible exit directions according to the comparison result of the first distance and the safety distance includes: When the comparison result indicates that the first distance is greater than the safety distance, the default exit direction is determined as the exit direction or any one of the possible exit directions is determined as the exit direction; When the obstacle is located in a first direction of the vehicle's exit direction and the comparison result indicates that the first distance is less than the safety distance, the first direction is excluded from the vehicle's exit direction to obtain a second direction, and the second direction is determined as the exit direction.

4. The vehicle exit control method according to claim 1, characterized in that: The turning angle instruction includes a turning angle start instruction and a turning angle end instruction, and sending the turning angle instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel turning angle corresponding to the exit direction, including: Sending the turning angle start instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to start rotating according to the steering wheel turning angle corresponding to the exit direction; receiving a rotation angle of a steering wheel fed back by the electric power steering system; When it is determined that the rotated angle is consistent with the steering wheel angle, the turning angle end instruction is sent to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to stop rotating.

5. The vehicle exit control method according to claim 1, characterized in that: The braking instruction includes an electronic parking brake request and an electronic stability program control request, and sending a braking instruction to the vehicle braking subsystem based on the motion state of the vehicle so that the vehicle braking subsystem controls the non-driving wheels of the vehicle to tighten, including: When it is determined that the motion state of the vehicle is stationary, the electronic parking brake request and the control request of the electronic stability program are sent to the vehicle braking subsystem, so that the vehicle braking subsystem activates the brakes of the vehicle based on the electronic parking brake request, uses the brakes to control the tension of the non-driven wheels of the vehicle, and turns off the electronic stability program based on the control request of the electronic stability program.

6. The vehicle exit control method according to claim 1, characterized in that: In the process of controlling the vehicle to rotate out of the garage at the target yaw angular velocity according to the target wheel speed, the method further includes: Acquiring a third distance between the obstacle monitored by the vehicle and the vehicle; When it is determined that the third distance is less than the safety distance, the torque value of the motor torque is reduced to a preset value, and the vehicle is controlled to stop rotating out of the garage.

7. The vehicle exit control method according to claim 1, characterized in that: In the process of controlling the vehicle to rotate out of the garage at the target yaw angular velocity according to the target wheel speed, the method further includes: When it is detected that the target object triggers a condition for suspending rotation out of the warehouse, sending an out-of-warehouse confirmation message to the target object; When receiving a continue outbound instruction sent by the target object based on the outbound confirmation message, controlling the vehicle to rotate out of the warehouse, or controlling the vehicle to rotate out of the warehouse at a default yaw angular velocity, wherein the default yaw angular velocity is less than or equal to the target yaw angular velocity; Alternatively, when receiving a stop exit instruction sent by the target object based on the exit confirmation message, the torque value of the motor torque is reduced to a preset value, and the vehicle is controlled to stop rotating to exit the warehouse.

8. The vehicle exit control method according to claim 1, characterized in that: Before entering the outbound mode based on the outbound instruction of the target object and acquiring vehicle environment information detected by the vehicle, the method further includes: Determine whether the vehicle meets a preset exit condition, wherein the preset exit condition at least includes: The current speed of the vehicle is less than a preset speed; The lateral acceleration of the vehicle is less than a first preset acceleration value, and the longitudinal acceleration of the vehicle is less than a second preset acceleration value; The current torque value of the motor torque of the vehicle is greater than the preset torque value; The communication channel between the vehicle intelligent driving subsystem and the electric power steering system is normal, and the communication channel between the vehicle intelligent driving subsystem and the vehicle braking subsystem is normal.

9. The vehicle exit control method according to claim 1, characterized in that: The method further comprises: When the vehicle rotates out of the garage at the target yaw angular velocity, the vehicle dynamics equation is satisfied, and the vehicle dynamics equation is expressed as follows: ;in, represents the horizontal force of the vehicle in the vehicle coordinate system, represents the vertical force of the vehicle in the vehicle coordinate system, represents the left rear wheel braking force of the vehicle, represents the right rear wheel braking force of the vehicle, represents the yaw moment of the vehicle.

10. A control system for vehicle exit, characterized in that: include: Vehicle intelligent driving subsystem, electric power steering system and vehicle braking subsystem; The vehicle intelligent driving subsystem is used to enter the outbound mode based on the outbound instruction of the target object, obtain the vehicle environment information detected by the vehicle, wherein the outbound instruction at least includes the outbound speed; determine the outbound direction of the vehicle according to the vehicle environment information, and send an angle instruction to the electric power steering system so that the electric power steering system controls the steering wheel of the vehicle to rotate according to the steering wheel angle corresponding to the outbound direction; send a braking instruction to the vehicle braking subsystem based on the motion state of the vehicle so that the vehicle braking subsystem controls the non-driving wheels of the vehicle to tighten; When the motor torque of the driving wheels of the vehicle increases from a first torque value to a second torque value, the target wheel speed of the driving wheels of the vehicle is calculated according to the target yaw angular velocity corresponding to the exiting speed, and the vehicle is controlled to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, wherein the first torque value represents the torque value of the vehicle in the static friction stage, and the second torque value represents the torque value of the vehicle in the dynamic friction stage.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method described in any one of claims 1 to 9 when executed.

12. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 9 through the computer program.

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