Control Method, System, Storage Medium and Electronic Device for Vehicle Out-of-Garage

Abstract

The present application discloses a control method, system, storage medium and electronic device for vehicle out-of-warehouse, relating to the technical field of vehicle control. The method includes: entering the out-of-warehouse mode based on the out-of-warehouse instruction of the target object, and obtaining the vehicle environment information detected by the vehicle; determining the out-of-warehouse 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 out-of-warehouse 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 be tightened; when the motor torque of the driving wheels of the vehicle increases from the first torque value to the second torque value, calculating the target wheel speed of the driving wheels of the vehicle according to the target yaw rate corresponding to the out-of-warehouse speed, and controlling the vehicle to rotate out of the warehouse at the target yaw rate according to the target wheel speed.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and more particularly, to a control method, system, storage medium, and electronic device for a vehicle to exit a garage. Background Art

[0002] Currently, autonomous driving technology has become the mainstream trend in the development of automobiles. Autonomous driving technology includes five levels from L1 to L5. Among them, L2, L3, and L4 levels of autonomous driving technology can achieve an automated driving state of the vehicle through an Advanced Driver Assistance System (ADAS) on the basis of realizing basic functions such as automatic docking, automatic parking, automatic following, and automatic obstacle avoidance. However, the application of autonomous driving technology in vehicle exiting from a garage is not yet mature. The existing vehicle exiting methods are mostly manual operations, requiring the driver to have the driving ability to operate the steering wheel and brake pedal to control the vehicle to exit the garage. However, when exiting from a parallel parking space, due to space limitations and the influence of surrounding obstacles, it is difficult for the driver to quickly judge a safe exiting direction, and it is easy to collide with surrounding obstacles during the attempt to exit, resulting in difficulty for the vehicle to safely and quickly exit the garage.

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

[0004] In the related art, for the situation of exiting from a parallel parking space, no effective solution has been proposed for the technical problem that it is difficult for the vehicle to safely and quickly exit the garage. Summary of the Invention

[0005] Embodiments of this application provide a control method, system, storage medium, and electronic device for a vehicle to exit a garage, so as to at least solve the technical problem that in the related art, for the situation of exiting from a parallel parking space, it is difficult for the vehicle to safely and quickly exit the garage.

[0006] According to an embodiment of the present application, a control method for a vehicle to leave a warehouse is provided, including: entering a warehouse-out mode based on a warehouse-out instruction of a target object, and obtaining vehicle environment information detected by the vehicle, where the warehouse-out instruction at least includes a warehouse-out speed; determining a warehouse-out 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 warehouse-out 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 be tightened; 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 a target yaw angular velocity corresponding to the warehouse-out speed, and controlling the vehicle to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed, where the first torque value represents the torque value when the vehicle is in the static friction stage, and the second torque value represents the torque value when the vehicle enters the dynamic friction stage.

[0007] In an exemplary embodiment, determining the warehouse-out direction of the vehicle according to the vehicle environment information includes: when it is determined that the vehicle environment information does not include an obstacle, determining the default warehouse-out direction in the available warehouse-out directions of the vehicle as the warehouse-out direction; or, when it is determined that the vehicle environment information includes an obstacle and the obstacle is located in the available warehouse-out directions, determining a first distance between the obstacle and the vehicle, and determining the warehouse-out direction from the available warehouse-out directions according to a comparison result between the first distance and a safety distance.

[0008] In an exemplary embodiment, determining the warehouse-out direction from the available warehouse-out directions according to the comparison result between the first distance and the safety distance includes: when the comparison result is used to indicate that the first distance is greater than the safety distance, determining the default warehouse-out direction as the warehouse-out direction or determining any one of the available warehouse-out directions as the warehouse-out direction; when the obstacle is located in a first direction among the available warehouse-out directions of the vehicle and the comparison result is used to indicate that the first distance is less than the safety distance, excluding the first direction from the available warehouse-out directions to obtain a second direction, and determining the second direction as the warehouse-out direction.

[0009] In an exemplary embodiment, the steering angle command includes a steering angle start command and a steering angle end command. Sending a steering angle command to the electric power steering system to cause the electric power steering system to control the vehicle's steering wheel to rotate according to the steering wheel angle corresponding to the outbound direction includes: sending the steering angle start command to the electric power steering system to cause the electric power steering system to control the vehicle's steering wheel to start rotating according to the steering wheel angle corresponding to the outbound direction; receiving the rotated angle of the steering wheel feedback by the electric power steering system; and in the case where it is determined that the rotated angle is consistent with the steering wheel angle, sending the steering angle end command to the electric power steering system to cause the electric power steering system to control the vehicle's steering wheel to stop rotating.

[0010] In an exemplary embodiment, the braking command includes an electronic parking brake request and a control request for the electronic stability program. Sending a braking command to the vehicle braking subsystem based on the vehicle's motion state to cause the vehicle braking subsystem to control the non-driving wheels of the vehicle to tighten includes: in the case where it is determined that the vehicle's motion state is the vehicle being stationary, sending the electronic parking brake request and the control request for the electronic stability program to the vehicle braking subsystem to cause the vehicle braking subsystem to activate the vehicle's brakes based on the electronic parking brake request, use the brakes to control the non-driving wheels of the vehicle to tighten, and turn off the electronic stability program based on the control request for the electronic stability program.

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

[0012] In an exemplary embodiment, during the process of controlling the vehicle to rotate and exit the warehouse at the target yaw rate according to the target wheel speed, the method further includes: in the case where it is monitored that the target object triggers a condition for pausing the rotation and exiting the warehouse, sending an outbound confirmation message to the target object; in the case of receiving a continue outbound instruction sent by the target object based on the outbound confirmation message, controlling the vehicle to rotate and exit the warehouse, or controlling the vehicle to rotate and exit the warehouse at a default yaw rate, where the default yaw rate is less than or equal to the target yaw rate; and in the case of 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 and exiting 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 further includes: determining that the vehicle meets a preset outbound condition, where the preset outbound condition at least includes: the current vehicle speed of the vehicle is less than a 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 motor torque of the vehicle is greater than a 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 warehouse at the target yaw angular velocity, it satisfies the vehicle dynamics equation, and the vehicle dynamics equation is expressed as follows:

[0015]

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

[0017] According to another aspect of the embodiments of the present application, a control system for vehicle outbound is further provided, including: a vehicle intelligent driving subsystem, an electric power steering system, and a vehicle braking subsystem; the vehicle intelligent driving subsystem is configured to enter the outbound mode based on the outbound instruction of the target object, acquire the vehicle environment information detected by the vehicle, where the outbound instruction at least includes the 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; 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, 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, where the first torque value represents the torque value when the vehicle is in the static friction stage, and the second torque value represents the torque value when the vehicle enters the dynamic friction stage.

[0018] According to another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the above-described vehicle out-of-warehouse control method when running.

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

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

[0021] In the embodiments of the present application, when an out-of-warehouse instruction of a target object enters the out-of-warehouse mode, vehicle environment information detected by the vehicle is obtained, wherein the out-of-warehouse instruction at least includes an out-of-warehouse speed; the out-of-warehouse 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 out-of-warehouse 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-driving 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, 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 when the vehicle is in the static friction stage, and the second torque value represents the torque value when the vehicle enters the dynamic friction stage; by adopting the above technical solution, the vehicle intelligent driving subsystem intelligently analyzes the vehicle environment information, automatically determines the out-of-warehouse direction, and controls the electric power steering system and the vehicle braking subsystem to work together, solving the technical problem that it is difficult for a vehicle to safely and quickly leave the warehouse in the case of side parking out-of-warehouse, thereby simplifying the driver's out-of-warehouse operation, reducing the collision risk, realizing the automatic, safe and efficient out-of-warehouse of the vehicle, and providing a more convenient driving experience for the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0023] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 is a schematic diagram of the hardware environment of a vehicle out-of-warehouse control method according to an embodiment of the present application;

[0025] Figure 2 is a flowchart of the vehicle out-of-warehouse control method according to an embodiment of the present application;

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

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

[0028] Figure 5 is a structural block diagram of a vehicle out-of-warehouse control system according to an embodiment of the present application. Detailed implementation manners

[0029] In order to enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope 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 accompanying drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0031] According to one aspect of the embodiments of the present application, a control method for a vehicle to leave the warehouse is provided. This control method for a vehicle to leave the warehouse is widely applied to vehicle equipment control application scenarios such as automated control vehicles and semi-automated control vehicles. Optionally, in this embodiment, the above vehicle lateral movement control method can be applied to, for example, Figure 1 the hardware environment composed of the vehicle-end device 102 and the server 104 as shown. As Figure 1 shown, the server 104 is connected to the vehicle-end device 102 through a network, and can be used to provide services (such as application services, etc.) for the terminal or the 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 operation services for the server 104.

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

[0033] In the present application, for the EPB (Electronic Parking Brake) system, EPS (Electric Power Steering) system, and IBS (Intelligent Braking System) to work together and ensure the safe execution of the action of leaving the warehouse, a communication and status confirmation process is required.

[0034] Among them, EPB is a system that realizes parking braking in an electronic control manner. During the process of leaving the warehouse in the present 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 when leaving the warehouse, and ensure that the vehicle can rotate stably in the predetermined direction when starting the action of leaving the warehouse. In this way, during the process of leaving the warehouse, EPB needs to maintain the locked state of the two rear wheels until the action of leaving the warehouse is completed.

[0035] EPS is a system that provides steering assistance to the driver, using an electric motor to replace the traditional hydraulic system to provide steering force. During the vehicle out-of-warehouse process in this application, 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 achieve stable rotation of the vehicle out of the warehouse in a predetermined direction. The "handshake" between EPS and the vehicle intelligent driving subsystem (such as ADAS) ensures that the steering system is ready and able to execute control instructions. "Handshake" means the confirmation of the status and readiness of each other through signal exchange between two or more systems for safe collaborative operation. Among them, the electric power steering system in this application is, for example, EPS.

[0036] IBS is an integrated braking system that can intelligently manage the braking process of the vehicle, including the control of EPB. During the out-of-warehouse process, IBS receives the EPB clamping request from the vehicle intelligent driving subsystem and the temporary shutdown request of ESP (Electronic Stability Program), ensuring that the braking system works according to requirements, and at the same time feeding back the actual status of the braking system to the vehicle intelligent driving subsystem to confirm whether EPB and ESP have entered the correct mode according to the instructions. For example, the vehicle braking subsystem in this application can be composed of an electronic parking brake system EPB and an intelligent braking system IBS.

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

[0038] In this application, the vehicle intelligent driving subsystem is the central system of the vehicle out-of-warehouse control method, collecting and analyzing various information from inside and outside the vehicle, such as the position of obstacles, vehicle speed, acceleration, and driver's instructions, etc. Based on this information, the vehicle intelligent driving subsystem determines the out-of-warehouse direction and out-of-warehouse speed, and then sends control commands to other systems such as EPB, EPS, and IBS. For example, when the one-key out-of-warehouse function is activated, the vehicle intelligent driving subsystem will send requests to EPS and IBS, asking them to enter the out-of-warehouse control mode. After receiving the requests, EPS and IBS will feedback the confirmation information 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 due to incoordination between systems and enabling vehicles to be safely and quickly released from storage.

[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 where the motor torque of the driving wheels of the vehicle increases from a first torque value (e.g., greater than 0) to a second torque value can indicate that the vehicle is in a static friction process without wheel slip, and the control torque value is continuously increased until the wheels start to slip and enter the dynamic friction stage. Then, in the dynamic friction stage, the target wheel speed of the front wheels (representing the driving wheels) is calculated based on the target yaw rate, and 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 exit speed selected by the driver. For example, a slow speed corresponds to a target yaw rate of 5 deg / s, a medium speed corresponds to a target yaw rate of 7 deg / s, and a high speed corresponds to a target yaw rate of 10 deg / s. This step accurately controls the vehicle's rotational exit according to the vehicle's motion state and the target yaw rate, greatly improving the automation level and safety of the exit operation.

[0047] Through the above steps, enter the exit mode based on the exit instruction of the target object, and obtain the vehicle environment information detected by the vehicle. Among them, the exit instruction at least includes the exit speed; determine the exit 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 exit 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 be tightened; in the case where 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 rate corresponding to the exit speed, and control the vehicle to rotate out of the warehouse at the target yaw rate according to the target wheel speed. Among them, the first torque value represents the torque value when the vehicle is in the static friction stage, and the second torque value represents the torque value when the vehicle enters the dynamic friction stage; adopting the above technical solution, the vehicle intelligent driving subsystem intelligently analyzes the vehicle environment information, automatically determines the exit direction, and controls the electric power steering system and the vehicle braking subsystem to work together, solving the technical problem that it is difficult for the vehicle to safely and quickly exit the warehouse in the case of side parking exit. Furthermore, it simplifies the driver's exit operation, reduces the collision risk, realizes the vehicle's automatic, safe and efficient exit, and provides a more convenient driving experience for the driver.

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

[0049] Wherein, the safety distance is, for example, the minimum distance at which the vehicle does not collide with obstacles when exiting the warehouse.

[0050] Optionally, the vehicle environment information can be detected, for example, by the vehicle's camera or radar.

[0051] In an exemplary embodiment, in the technical solution of determining the outbound direction from the available outbound directions according to the comparison result between the first distance and the safety distance, the steps include: when the comparison result is used to indicate 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 available outbound directions as the outbound direction; when the obstacle is located in the first direction among the vehicle's available outbound directions and the comparison result is used to indicate that the first distance is less than the safety distance, excluding the first direction from the available 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] Or, when the obstacle is located in all directions among the vehicle's available outbound directions and the comparison result is used to indicate that the first distance is less than the safety distance, generating a prompt message to prompt the target object that the outbound direction does not exist.

[0053] Optionally, in one embodiment, after the vehicle intelligent driving subsystem receives the outbound instruction, it provides the outbound direction to the driver according to the perceived obstacle information. The obstacle information may include whether an obstacle is detected, and whether the distance between the obstacle and the vehicle's own position (corresponding to the first distance) meets the requirements for exiting the warehouse.

[0054] Specifically: if the obstacle on the left side of the vehicle is at a distance greater than the safety distance from the vehicle's own position, the outbound direction is the left side. If there is an obstacle on the right side or the distance between the obstacle and the vehicle's own position is less than the safety distance, the outbound direction is the left side.

[0055] If there are obstacles on both sides, the side with the distance between the obstacle and the vehicle position greater than the safety distance is the direction for exiting the warehouse. If there are obstacles on both sides and the distance between the obstacle and the vehicle position is less than the safety distance, the driver is prompted that there is no direction for exiting the warehouse.

[0056] If there is no obstacle on the left side of the vehicle, the direction for exiting the warehouse is the left side. If there are no obstacles on both sides, the default direction for exiting the warehouse is the left side.

[0057] In an exemplary embodiment, the steering angle command includes a steering angle start command and a steering angle end command. The specific implementation steps for sending the steering angle command to the electric power steering system to enable the electric power steering system to control the vehicle's steering wheel to rotate according to the steering wheel angle corresponding to the warehouse exit direction are as follows: sending the steering angle start command to the electric power steering system to enable the electric power steering system to control the vehicle's steering wheel to start rotating according to the steering wheel angle corresponding to the warehouse exit direction; receiving the rotated angle of the steering wheel feedback by the electric power steering system; and when it is determined that the rotated angle is consistent with the steering wheel angle, sending the steering angle end command to the electric power steering system to enable the electric power steering system to control the vehicle's steering wheel to stop rotating. This embodiment ensures that the vehicle exits the warehouse along a predetermined path by controlling the rotation angle of the steering wheel, improving the accuracy of exiting the warehouse.

[0058] Among them, the steering wheel angle is, for example, the maximum steering wheel angle. At this time, factors such as the vehicle parking position and the distance of surrounding obstacles are not considered for the influence on the steering wheel angle.

[0059] In this embodiment, based on the handshake mechanism between the vehicle intelligent driving subsystem and the EPS, after the warehouse exit function is activated, the EPS can be requested to enter the warehouse exit control mode and a steering angle command can be sent. The EPS responds to the warehouse exit control request and feedbacks the actual steering angle. After the vehicle exits the warehouse, the vehicle intelligent driving subsystem sends a steering angle end command to the EPS.

[0060] In an exemplary embodiment, the braking instruction includes an electronic parking brake request and a control request for an electronic stability program. The following steps can be used to 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 be tightened: When it is determined that the motion state of the vehicle is stationary, send the electronic parking brake request and the control request for 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 non-driven wheels of the vehicle to be tightened, and turns off the electronic stability program based on the control request for the electronic stability program. This embodiment provides a braking control method, which provides necessary braking force during the out-of-warehouse process 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 content, in an alternative embodiment, when the vehicle is stationary, a request for the EPB to tighten and a request for automatically turning off the ESP are sent, so as 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 signals such as EPBAppdReq (corresponding to the electronic parking brake request) to the EPB, and the vehicle intelligent driving subsystem receives the EPB status (Unknown, BrkApplied, BrkReleased) from the EPB; the vehicle intelligent driving subsystem receives the ESPMode status (OFF, Normal) from the EPS. When "EPBAppd == BrkApplied and ESPMode == OFF", the next operation can be performed.

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

[0063] EPBAppdReq (EPB Application Request) is a request signal used to instruct the Intelligent Braking System (IBS) to control the EPB, that is, to require the EPB to clamp or increase the braking force. During the out-of-warehouse process of the vehicle, when the vehicle intelligent driving subsystem determines that it is necessary to fix the rear wheels of the vehicle to prevent unnecessary sliding, it will send the EPBAppdReq signal to the IBS. This ensures that when the front-wheel drive torque increases, the rear part of the vehicle will not move uncontrollably, thus keeping the vehicle stable and rotating in a predetermined direction.

[0064] Unknown indicates that the current state of the EPB system is unknown. The reason is, for example, that the state cannot be read due to the system initialization stage or communication interruption.

[0065] BrkApplied indicates that the EPB brake has been activated, the rear wheels are clamped, or braking force is applied.

[0066] BrkReleased indicates that the EPB brake has been released, the clamping state of the rear wheels is released, and they can roll freely.

[0067] OFF represents that the Electronic Stability Program (ESP) is in the off state, that is, the vehicle 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 performing one-key out-of-warehouse operation, in order to achieve specific vehicle dynamics, it is necessary to turn off the ESP automatic control request, that is, temporarily stop the active stability control function of ESP.

[0068] Normal represents that ESP is in the normal working state. The vehicle intelligent driving subsystem will actively intervene according to vehicle dynamics (such as oversteering or understeering), and maintain vehicle stability by adjusting braking torque and engine torque to avoid loss of control.

[0069] The above signals or states are crucial in vehicle out-of-warehouse control, which can ensure the stability and safety of the vehicle during the one-key out-of-warehouse process. For example, the vehicle intelligent driving subsystem will check the EPB status before out-of-warehouse to ensure that the rear wheels are effectively locked, and at the same time check the ESPMode status. If necessary, it will request to temporarily turn off ESP to allow the vehicle to perform specific dynamic operations. During the whole process, the vehicle intelligent driving subsystem will continuously monitor these states and adjust or pause the out-of-warehouse action when necessary to cope with emergencies.

[0070] For "EPBAppd == BrkApplied", it means that the Electronic Parking Brake System (EPB) has received and executed the request to apply braking force, that is, the EPB is currently in the state of clamping the rear wheels. This step is necessary during the out-of-warehouse process because fixing the rear wheels can prevent the vehicle from unnecessary sliding due to the increase in front-wheel drive torque during the out-of-warehouse process, thus ensuring that the vehicle can rotate out of the warehouse according to the predetermined yaw angular velocity and direction.

[0071] For "ESPMode == OFF", it means that the Electronic Stability Program (ESP) is currently in the off mode. The ESP system works during vehicle dynamic driving, and maintains vehicle stability by adjusting braking torque and engine torque to prevent skidding or loss of control. However, during the out-of-warehouse 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 wheel torque without being interfered by ESP. Turning off ESP allows precise adjustment of 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 vehicle out-of-warehouse process, ensuring that the vehicle is in a stable and controllable state before any operation that may cause dynamic changes to the vehicle. For example, the intelligent driving subsystem of the vehicle determines that the rear wheels are fixed, and the ESP will not interfere with the dynamic control of the vehicle, and it can safely continue to execute subsequent out-of-warehouse steps such as controlling the torque of the front axle motor to increase according to a preset slope, so that the vehicle rotates according to the target yaw angular velocity.

[0073] 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, further, a third distance between an obstacle detected by the vehicle and the vehicle can be obtained; when it is determined that the third distance is less than a 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 warehouse. This embodiment can decelerate or stop the vehicle in time when it approaches an obstacle, improving the safety of the vehicle out-of-warehouse process.

[0074] In an alternative embodiment, during the process of the vehicle rotating out of the warehouse, if the intelligent driving subsystem of the vehicle determines that the distance between the obstacle and the position of the vehicle itself is less than the safety distance, the out-of-warehouse process is paused, and the motor torque value is controlled to drop to 0 (corresponding to the preset value), so that the vehicle stops rotating and remains stationary.

[0075] 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, when it is monitored that the target object triggers the condition for pausing the rotation out of the warehouse, an out-of-warehouse confirmation message is sent to the target object; when receiving a continue out-of-warehouse instruction sent by the target object based on the out-of-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, and the default yaw angular velocity is less than or equal to the target yaw angular velocity; when receiving a stop out-of-warehouse instruction sent by the target object based on the out-of-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, based on the interaction mechanism with the target object, makes the out-of-warehouse process more flexible and controllable, can respond in time to emergencies that require pausing or stopping during the out-of-warehouse process, and improves the controllability and safety of the out-of-warehouse process.

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

[0077] Optionally, in this embodiment, during the process of the vehicle rotating out of the garage, when the driver cancels the out-of-garage operation or steps on the accelerator pedal or the brake pedal and other operations trigger the condition for pausing the rotation out of the garage, an out-of-garage confirmation message asking whether to continue to exit the garage is sent to the driver. If the driver terminates the out-of-garage operation, the control torque value is reduced to 0. If the driver continues to exit the garage, the vehicle continues to rotate out of the garage. Or, after the vehicle turns a certain angle (corresponding to the default yaw angular velocity, not greater than the target yaw angular velocity), the one-key out-of-garage operation ends.

[0078] In an exemplary embodiment, before entering the out-of-garage mode based on the out-of-garage instruction of the target object and obtaining the vehicle environment information detected by the vehicle, further, the following technical solution is also proposed: determining that the vehicle meets the preset out-of-garage conditions, where the preset out-of-garage 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. This embodiment reduces the out-of-garage failure or safety risks caused by poor vehicle conditions through setting the condition check before out-of-garage.

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

[0080] Optionally, the out-of-garage conditions can also be set to include controller communication failure, non-stationary vehicle speed, unclosed doors, etc. If any of the following situations exists, the preset out-of-garage 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 lateral 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 braking system such as the IBS controller, resulting in invalid wheel speed signals, etc.).

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

[0082]

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

[0084] To better understand the process of the above vehicle out-of-warehouse control method, the following further describes the implementation method flow of the above vehicle out-of-warehouse control in combination with optional embodiments, but is not used to limit the technical solutions of the embodiments of the present application.

[0085] In this embodiment, a vehicle out-of-warehouse control method is provided. Figure 3 It is a schematic diagram of the force analysis during the vehicle out-of-warehouse process according to the embodiments of the present application. As Figure 3 shown, during the process of the vehicle rotating out of the warehouse, the vehicle satisfies the vehicle dynamics equation, that is, the force on the vehicle in the longitudinal direction is less than the static friction force to ensure that the vehicle does not move forward, the force in the lateral direction is greater than 0, the vehicle has lateral movement, and the vehicle yaw is greater than 0, so that the vehicle can rotate around the center of the rear axle. Among them, the expression "the vehicle yaw 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 vehicle one-key out-of-warehouse control method, when the vehicle is under the combined action of the front-wheel drive torque and the rear-wheel braking force, if the generated yaw moment M Z around the vehicle's vertical axis is greater than zero, this means that the vehicle is undergoing lateral rotation in the clockwise or counterclockwise direction, and the specific rotation direction depends on the steering of the vehicle's front wheels and the distribution of the rear-wheel braking force.

[0086] .

[0087] .

[0088] .

[0089] Among them, δ represents the front-wheel steering angle, F FLDrv represents the driving force of the left front wheel, F FLLat represents the lateral resistance of the left front wheel, F FRDrv represents the driving force of the right front wheel, F FLRat represents the lateral resistance of the right front wheel, F RLBrk represents the braking force of the left rear wheel, 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] Combined with Figure 4 the state changes during the vehicle out-of-warehouse process are described. The specific steps include:

[0091] 1. If it is detected that the driver has not turned on the out-of-warehouse switch, the vehicle intelligent driving subsystem always remains in the Off mode;

[0092] 2. If it is detected that the driver turns on the out-of-warehouse switch, the intelligent driving subsystem of the vehicle enters the StandBy mode (corresponding to the out-of-warehouse mode) according to the wake-up instruction and starts to leave the warehouse according to the out-of-warehouse direction. When leaving the warehouse, the intelligent driving subsystem of the vehicle completes the handshake with the 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 a pause action or an obstacle is detected, enter the Pause state and start the temporary pause function. After the driver confirms safety and clicks the continue button, continue to complete the out-of-warehouse operation;

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

[0096] 6. If it is detected that the driver turns on the out-of-warehouse switch, but the vehicle status does not meet the out-of-warehouse conditions such as controller communication failure, non-stationary vehicle speed, and unclosed doors, enter the Disable mode, change the display color of the out-of-warehouse button to gray, prevent the out-of-warehouse operation from starting, and prompt the driver that the one-key out-of-warehouse function is unavailable.

[0097] Based on the above steps, the present application can respond to the driver's out-of-warehouse instruction and realize the automatic, safe and efficient out-of-warehouse of the vehicle. It judges the out-of-warehouse direction according to the information of obstacles around the vehicle, and automatically controls the vehicle to rotate out of the warehouse after the driver confirms the out-of-warehouse direction.

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

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

[0100] The vehicle intelligent driving subsystem is used to enter the out-of-warehouse mode based on the out-of-warehouse instruction of the target object, and obtain the vehicle environment information detected by the vehicle. Among them, the out-of-warehouse instruction at least includes the out-of-warehouse speed; determine the out-of-warehouse 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 out-of-warehouse 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 be tightened; when the motor torque of the driving wheels of the vehicle increases from the first torque value to the 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 out-of-warehouse speed, and control the vehicle to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed. Among them, the first torque value represents the torque value when the vehicle is in the static friction stage, and the second torque value represents the torque value when the vehicle enters the dynamic friction stage.

[0101] Through the above system, enter the out-of-warehouse mode based on the out-of-warehouse instruction of the target object, and obtain the vehicle environment information detected by the vehicle. Among them, the out-of-warehouse instruction at least includes the out-of-warehouse speed; determine the out-of-warehouse 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 out-of-warehouse 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 be tightened; when the motor torque of the driving wheels of the vehicle increases from the first torque value to the 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 out-of-warehouse speed, and control the vehicle to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed. Among them, the first torque value represents the torque value when the vehicle is in the static friction stage, and the second torque value represents the torque value when the vehicle enters the dynamic friction stage; adopting the above technical solution, the control method for vehicle out-of-warehouse intelligently analyzes the vehicle environment information through the vehicle intelligent driving subsystem, automatically determines the out-of-warehouse direction, and controls the electric power steering system and the vehicle braking subsystem to work together, solving the technical problem that it is difficult for the vehicle to safely and quickly out of the warehouse in the case of side parking out-of-warehouse. Furthermore, it simplifies the driver's out-of-warehouse operation, reduces the collision risk, realizes the vehicle's automatic, safe and efficient out-of-warehouse, and provides a more convenient driving experience for the driver.

[0102] Optionally, communication can also be carried out between the electric power steering system 54 and the vehicle braking subsystem 56, which will not be elaborated in this application.

[0103] In an exemplary embodiment, the vehicle intelligent driving subsystem is further configured to: when it is determined that the vehicle environment information does not include an obstacle, determine the default exit direction among the available exit directions of the vehicle as the exit direction; or, when it is determined that the vehicle environment information includes an obstacle and the obstacle is located in the available exit direction, determine a first distance between the obstacle and the vehicle, and determine the exit direction from the available exit directions according to a comparison result between the first distance and a safety distance.

[0104] In an exemplary embodiment, the vehicle intelligent driving subsystem is further configured 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 available exit directions as the exit direction; when the obstacle is located in a first direction among the available 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 available 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 further configured to: send the steering angle start instruction to the electric power steering system to enable the electric power steering system to control the vehicle's steering wheel to start rotating according to the steering wheel angle corresponding to the exit direction; receive the rotated angle of the steering wheel feedback by the electric power steering system; when it is determined that the rotated angle is consistent with the steering wheel angle, send the steering angle end instruction to the electric power steering system to enable the electric power steering system to control the vehicle's steering wheel to stop rotating.

[0106] In an exemplary embodiment, the vehicle intelligent driving subsystem is further configured to: when it is determined that the vehicle's motion state is vehicle stationary, send the electronic parking brake request and the control request for the electronic stability program to the vehicle braking subsystem, so that the vehicle braking subsystem activates the vehicle's brakes based on the electronic parking brake request, uses the brakes to control the non-driving wheels of the vehicle to be tightened, and turns off the electronic stability program based on the control request for the electronic stability program.

[0107] In an exemplary embodiment, the vehicle intelligent driving subsystem is further configured to: obtain a third distance between the obstacle detected 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 and exiting the warehouse.

[0108] In an exemplary embodiment, the vehicle intelligent driving subsystem is further configured to: when it is detected that the target object triggers the condition for pausing the rotary exit, send an exit confirmation message to the target object; when receiving a continue exit instruction sent by the target object based on the exit confirmation message, control the vehicle to perform a rotary exit, or control the vehicle to perform a rotary exit at a default yaw angular velocity, where the default yaw angular velocity is less than or equal to the target yaw angular velocity; when receiving a stop exit instruction sent by the target object based on the exit confirmation message, reduce the torque value of the motor torque to a preset value and control the vehicle to stop the rotary exit.

[0109] In an exemplary embodiment, the vehicle intelligent driving subsystem is further configured to: determine that the vehicle meets a preset exit condition, where the preset exit condition at least includes: the current vehicle speed of the vehicle is less than a 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 motor torque of the vehicle is greater than a 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, when the vehicle intelligent driving subsystem controls the vehicle to perform a rotary exit at the target yaw angular velocity, it needs to satisfy the vehicle dynamics equation, and the vehicle dynamics equation is expressed as follows:

[0111]

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

[0113] The vehicle out-of-warehouse control method and system provided by this application can not only automatically analyze the vehicle environment, intelligently determine the out-of-warehouse direction, but also precisely control steering and braking, ensuring the safety, efficiency, and automation of the out-of-warehouse process. This method is applicable to automatic out-of-warehouse in various complex environments, such as underground garages, narrow lanes, slippery roads, etc., providing a more convenient and safe driving experience for drivers. At the same time, it also provides strong technical support for the development of intelligent parking systems and autonomous driving technologies. Through interaction with the target object, the out-of-warehouse process becomes more flexible and controllable, capable of responding to emergencies in a timely manner, ensuring the safety and controllability of the out-of-warehouse process. In addition, by setting pre-out-of-warehouse condition checks, it ensures that the vehicle exits the warehouse in the best state, further improving the reliability and safety of the out-of-warehouse operation, and providing technical guarantees for the improvement of intelligent transportation systems and the popularization of autonomous driving vehicles.

[0114] An embodiment of this application also provides a storage medium, which includes a stored program. When the above program runs, it executes the method of any one of the above.

[0115] Optionally, in this embodiment, the above storage medium can be set to store program code for executing the following steps:

[0116] S1. Enter the out-of-warehouse mode based on the out-of-warehouse instruction of the target object, and obtain the vehicle environment information detected by the vehicle. The out-of-warehouse instruction at least includes the out-of-warehouse speed.

[0117] S2. Determine the out-of-warehouse 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 out-of-warehouse direction.

[0118] S3. 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.

[0119] S4. When the motor torque of the driving wheels of the vehicle increases from the first torque value to the 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 out-of-warehouse speed, and control the vehicle to rotate out of the warehouse at the target yaw angular velocity according to the target wheel speed. The first torque value represents the torque value when the vehicle is in the static friction stage, and the second torque value represents the torque value when the vehicle enters the dynamic friction stage.

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

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

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

[0123] S1. Enter the outbound mode based on the outbound instruction of the target object, and obtain the vehicle environment information detected by the vehicle, wherein the outbound instruction at least includes the outbound speed;

[0124] S2. 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;

[0125] S3. 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 be tightened;

[0126] S4. 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 when the vehicle is in the static friction stage, and the second torque value represents the torque value when the vehicle enters the dynamic friction stage.

[0127] Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media such as USB flash drives, read-only memories (ROM for short), random access memories (RAM for short), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0128] Optionally, an embodiment of the present application further provides a computer program product, the above computer program product includes 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, 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 one of the above method embodiments are implemented.

[0130] Optionally, an embodiment of the present application further provides a computer program, which includes computer instructions 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 executes the steps in any one of the above method embodiments.

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

[0132] Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present application can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Optionally, they can be implemented by program codes executable by the computing device. Thus, 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 here, or they can be separately made into individual integrated circuit modules, or multiple modules or steps among them can be made into a single integrated circuit module to implement. In this way, the present application is not limited to any specific combination of hardware and software.

[0133] The above are only the preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope 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: Determine that the vehicle meets the preset exit conditions, and the preset exit 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; Entering a one-key outbound mode based on an 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; 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 both rear wheels of the vehicle to be tightened; When the motor torque of the driving wheel of the vehicle increases from the first torque value to the 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 exit speed, 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; The braking instruction includes an electronic parking brake request and a control request of an electronic stability program. The braking instruction is sent to the vehicle braking subsystem based on the movement state of the vehicle so that the vehicle braking subsystem controls both rear wheels of the vehicle to be tightened, including: when it is determined that the movement 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 brake of the vehicle based on the electronic parking brake request, uses the brake to control both rear wheels of the vehicle to be tightened, and turns off the electronic stability program based on the control request of the electronic stability program.

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: 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.

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: 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.

7. 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.

8. A vehicle exit control system, characterized in that: include: Vehicle intelligent driving subsystem, electric power steering system and vehicle braking subsystem; The vehicle intelligent driving subsystem is used to determine whether the vehicle meets the preset exit conditions, wherein the preset exit conditions include at least: 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; based on the exit instruction of the target object, enter the one-key exit mode, and obtain the vehicle environment information detected by the vehicle, wherein the exit instruction includes at least the exit speed; determine the exit 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 exit 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 both rear wheels of the vehicle to be tightened; 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 exit 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, and the braking instruction includes an electronic parking brake request and a control request of an electronic stability program. 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 both rear wheels of the vehicle to be tightened, and turns off the electronic stability program based on the control request of the electronic stability program.

9. 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 7 when executed.

10. 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 7 through the computer program.

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