Vehicle exit control methods and devices, vehicles, and computer-readable storage media

Abstract

This application relates to the field of vehicle control technology, specifically to a vehicle exit control method and apparatus, a vehicle, and a computer-readable storage medium. The exit control method includes: responding to an exit request, determining the exit direction, and acquiring distance information between the vehicle and vehicles in front and behind; when the distance information meets the exit conditions and the brake pedal is released, controlling the braking system to apply a first braking torque to the rear wheel on the outside of the steering wheel, using the rear wheel as a pivot point; controlling the front axle drive motor and the rear axle drive motor in the drive system to operate in speed control mode and torque control mode, respectively; acquiring the minimum distance value between the vehicle and the following vehicle during the exit control process; and adjusting the control strategies of the drive system and braking system based on the minimum distance value. This solution enables the vehicle to rotate around a single point during exit, monitors the distance to the following vehicle in real time during the exit process, avoids collisions with the following vehicle, and improves exit safety.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, such as a vehicle exit control method and device, a vehicle, and a computer-readable storage medium. Background Technology

[0002] With the number of cars on the road increasing year by year, the problem of difficulty in exiting a parallel parking space has become increasingly prominent. In narrow parallel parking spaces, due to the small distance between vehicles, drivers often need to move their vehicles repeatedly to complete the exit, which is cumbersome and prone to collisions.

[0003] Among related technologies, some control methods for assisting in vehicle exit are provided. By integrating a main controller into the vehicle, using LiDAR and cameras to monitor environmental information and generate a panoramic image, users can instruct the vehicle to swerve for entry or exit from the parking space via the panoramic image. The motor controller controls the vehicle's movement based on torque.

[0004] In implementing the above embodiments, at least the following problems exist: During the control process, the vehicle body posture was not adjusted according to the real-time distance between the vehicle and the vehicles in front and behind, which could not meet the needs of exiting extremely narrow parking spaces. When the distance between vehicles is too small, it is easy to cause scratches. The pain point of side exiting has not been effectively solved.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0007] This disclosure provides a vehicle exit control method and device, a vehicle, and a computer-readable storage medium to address the high risk of side collisions during exit.

[0008] In some embodiments, a method for controlling vehicle exit from a parking space is provided. The vehicle includes a four-wheel independent drive system and a braking system. The control method includes: responding to an exit request, determining the exit direction, and acquiring distance information between the vehicle and vehicles in front and behind; when the distance information meets the exit conditions and the vehicle's brake pedal is released, controlling the braking system to apply a first braking torque to the rear wheel on the outside of the steering wheel, based on the exit direction, so as to use the rear wheel as a pivot point; and controlling the front axle drive motor and the rear axle drive motor in the drive system to operate in a speed control mode and a torque control mode, respectively; acquiring the minimum distance value between the vehicle and the vehicles behind during the vehicle exit process; and adjusting the control strategies of the drive system and the braking system based on the minimum distance value.

[0009] The vehicle exit control method disclosed in this embodiment locks the outer rear wheel as the rotation fulcrum and coordinates the operation of front axle drive motor speed control and rear axle drive motor torque control to achieve vehicle rotation exit around a single point. Simultaneously, real-time monitoring of the distance to the vehicle behind and dynamic adjustment of the control strategy based on this distance effectively avoids collisions with following vehicles, improving exit safety. The differentiated control modes of front axle speed control and rear axle torque control enhance the response speed of rotational power output and maintain vehicle stability through rear axle torque control.

[0010] Optionally, the distance information between the vehicle and the vehicles in front and behind includes the minimum distance between the vehicle and the vehicle in front and the minimum distance between the vehicle and the vehicle behind; the exit conditions include the minimum distance between the vehicle and the vehicle in front and the minimum distance between the vehicle and the vehicle behind, both of which are greater than or equal to the vehicle distance threshold.

[0011] In this embodiment, by setting a clear outbound condition threshold, the outbound function is only activated when there is sufficient space in front and behind, thus avoiding the risk of outbound failure or damage due to insufficient space.

[0012] Optionally, controlling the front axle drive motor in the drive system to operate in speed control mode includes: determining the initial target speed of the front axle drive motor based on the target rotational speed and the differential yaw rate; wherein the differential yaw rate is equal to the difference between the actual yaw rate of the vehicle and the target yaw rate; and / or controlling the rear axle drive motor in the drive system to operate in torque control mode includes: controlling the target torque of the motor corresponding to the rear wheel on the outer side of the steering wheel to be 0 Nm, and adjusting the target torque of the motor corresponding to the rear wheel on the inner side of the steering wheel to a preset initial value.

[0013] In this embodiment, the initial target speed of the front axle drive motor is determined by the target rotational speed and the differential yaw rate, achieving closed-loop control of the vehicle's rotational speed. This allows for dynamic adjustment of the driving force based on actual rotational conditions, ensuring the vehicle rotates smoothly at the user's desired speed. Differential torque presets for the rear axle drive motor (0 Nm for the right rear wheel and preset initial values ​​for the left rear wheel), combined with braking lock of the outer rear wheel during steering, further optimize the dynamic characteristics of rotation around a point, making the rotation process more controllable.

[0014] Optionally, the control strategies of the drive system and braking system are adjusted according to the minimum distance value, including: when the minimum distance value is greater than a first threshold, executing a first control strategy to make the vehicle rotate with the outer rear wheel as the pivot point, causing the rear of the vehicle to swing outward; when the minimum distance value is less than or equal to the first threshold and greater than or equal to a second threshold, first executing the first control strategy, and then transitioning to a second control strategy when the minimum distance value continues to decrease to less than the second threshold, to smoothly transfer the pivot point from the outer rear wheel to the inner rear wheel; when the minimum distance value is less than the second threshold, executing a second control strategy to switch the pivot point from the outer rear wheel to the inner rear wheel, causing the rear of the vehicle to change from swinging outward to tucking inward. Wherein, the first threshold is greater than the second threshold.

[0015] In this embodiment, a three-level dynamic adjustment mechanism based on the following vehicle distance is constructed. When the following vehicle distance is large, the first control strategy is adopted. When the following vehicle distance enters the warning zone, the first control strategy is executed first, and then the second control strategy is switched to adjust the posture. When the following vehicle distance is too small, the second control strategy is executed immediately to adjust the posture. This hierarchical processing method improves the efficiency of outbound operations and enhances the safety of outbound operations under extreme space conditions.

[0016] Optionally, the process of controlling the vehicle to leave the parking space also includes: acquiring the vehicle speed and wheel speed; determining the road surface type based on the vehicle speed and wheel speed; wherein, adjusting the control strategy of the drive system and braking system based on the minimum distance value includes: adjusting the control strategy of the drive system and braking system based on the minimum distance value and the road surface type.

[0017] In this embodiment, road surface adhesion conditions are identified by calculating the correlation between vehicle speed and wheel speed, enabling the control strategy to adaptively adjust according to actual road conditions. This allows the method to cover various working conditions, including dry asphalt, wet and slippery roads, and icy and snowy roads, overcoming the limitation of existing technologies that are only applicable to good road surfaces.

[0018] Optionally, a first control strategy is implemented, including: controlling the front axle drive motor to continue operating in speed control mode, and determining a first speed according to the road surface type; determining the control mode of the rear axle drive motor according to the road surface type; wherein, when the road surface type is a medium-adhesion or high-adhesion road surface, the rear axle drive motor operates in torque control mode; when the road surface type is a low-adhesion road surface, the motor corresponding to the rear wheel on the inside of the steering wheel switches to speed control mode, and the motor corresponding to the rear wheel on the outside of the steering wheel switches to torque control mode; and controlling the braking torque distribution of the braking system to remain unchanged.

[0019] In this embodiment, the first control strategy selects the control mode of the rear axle drive motor based on the road surface type: torque control is maintained on high / medium friction surfaces to simplify the control logic, while speed control is added on low friction surfaces to enhance grip. This adaptive adjustment method enables the vehicle to maintain stable rotational motion under different road surface conditions, improving controllability and safety under extreme conditions.

[0020] Optionally, a second control strategy is implemented, including: controlling the front axle drive motor to continue operating in speed control mode and determining a second speed of the front axle drive motor; controlling the motor corresponding to the rear wheel on the outside of the steering wheel to switch to speed control mode and determining a third speed; controlling the motor corresponding to the rear wheel on the inside of the steering wheel to be in torque control mode; applying a second braking torque to the rear wheel on the inside of the steering wheel and releasing the braking torque on the rear wheel on the outside of the steering wheel, so that the vehicle continues to rotate around the rear wheel on the inside of the steering wheel.

[0021] In this embodiment, the second control strategy achieves dynamic adjustment of the vehicle's posture by switching the control modes of the rotation pivot point and the rear axle drive motor. Specifically, the rotation pivot point switches from the outer rear wheel to the inner rear wheel. When the following distance is too small, by changing the rotation center and drive distribution, the vehicle can avoid rear-end collisions with the following vehicle and safely complete the exit maneuver.

[0022] Optionally, after determining the outbound direction in response to the outbound request, the method further includes: if the distance information meets the outbound conditions, performing a status verification step for the drive system and braking system; and releasing the brake pedal if the verification result is normal. The execution of the response verification step for the drive system and braking system includes: controlling the drive system to operate in torque control mode, where the initial torque is 0 Nm; and controlling the braking system to apply a first braking torque to the rear wheel on the outer side of the steering wheel, while the braking torque of the remaining wheels is 0 Nm.

[0023] In this embodiment, before the actual departure action is initiated, a status check ensures that both the drive system and braking system are ready and responding to control commands. This check mechanism avoids control failures caused by abnormal system responses, improving the reliability and safety of the function.

[0024] Optionally, the control method further includes: triggering a parking control strategy in response to meeting a preset stopping condition; wherein the parking control strategy includes: reducing the target speed of the front axle drive motor, the target speed of the rear axle drive motor, and the target torque of the rear axle drive motor in time periods; and maintaining the braking torque of the rear wheels until the speed of the front axle drive motor drops to zero during the process of reducing the speed of the front axle drive motor, and then gradually releasing the braking torque of the rear wheels.

[0025] In this embodiment, the solution achieves smooth stopping by gradually reducing the speed of the front axle drive motor and the torque of the rear axle drive motor in stages. Furthermore, by controlling the drive system to stop first and then releasing the brakes, the braking torque continues to apply until the drive torque is fully released, avoiding vehicle swaying due to inertia and achieving seamless stopping.

[0026] Optionally, the target speeds of the front axle drive motor and the rear axle drive motor are reduced in stages, including: reducing the speeds of the front axle drive motor and the rear axle drive motor from the current value to a fourth speed value; and then reducing the speed of the front axle drive motor from the fourth speed value to zero; wherein the first speed value is less than or equal to the speed of the front axle drive motor during the vehicle start-up phase.

[0027] In this embodiment, the reduction of the front axle drive motor speed is divided into two periods: first reducing to an intermediate speed and then to zero, avoiding sudden changes in speed. The first speed value is set to be less than or equal to the speed during the starting phase, ensuring the smoothness of the entire deceleration process and further improving parking comfort.

[0028] In some embodiments, a vehicle exit control device is provided, including a processor and a memory storing program instructions, the processor being configured to execute the vehicle exit control method as described in any of the above embodiments when executing the program instructions.

[0029] In some embodiments, a vehicle is provided, including: a vehicle body; and a vehicle exit control device as described in any of the above embodiments, disposed on the vehicle body.

[0030] In some embodiments, a computer-readable storage medium is provided storing program instructions that, when executed, cause a computer to perform the vehicle outbound control method as described in any of the above embodiments.

[0031] The vehicle exit control method and apparatus, vehicle, and computer-readable storage medium provided in this disclosure can achieve the following technical effects: (1) The outbound control method provided in this disclosure achieves differentiated control of the four wheels through a four-wheel independent drive system and a braking system, so that the vehicle can yaw and rotate around a designated fulcrum to complete the lateral movement in a narrow space; specifically, the differentiated drive mode of front axle speed control and rear axle torque / speed switching, combined with the fixed-point braking of the braking system, realizes distributed electric drive vector control, maximizing the technical potential of four-wheel independent drive.

[0032] (2) By calculating the minimum distance between the vehicle and the vehicles in front and behind, all-round obstacle perception is achieved, replacing the single-direction distance judgment, improving the accuracy of exit condition judgment and avoiding collisions; with the minimum distance to the vehicle behind as the core basis, the smooth switching of control strategy and real-time dynamic adjustment of vehicle posture are realized. In extremely narrow parking spaces, the rotation fulcrum can be switched twice to achieve a breakthrough in exiting extreme parking spaces. In this way, it can adapt to different parking distance scenarios such as regular parking spaces and extremely narrow parking spaces. Based on the minimum distance to the vehicle behind, a step-by-step control strategy is executed to achieve full adaptation from sufficient parking distance to extremely narrow parking spaces, solving the pain point of difficult side parking. In addition, by setting a quantitative parking distance threshold as the exit start condition, the function is avoided from being forcibly started when the parking distance is insufficient. At the same time, the parking distance is perceived in real time during the exit process, and the strategy is adjusted in a timely manner to eliminate the risk of collisions with vehicles in front and behind.

[0033] (3) The initial target speed of the front axle drive motor is determined based on the target rotation speed and the difference yaw rate, so as to suppress the vehicle rotation too fast or too slow and make the rotation speed meet the user's needs.

[0034] (4) Before leaving the warehouse, perform a status check on the drive system and braking system to detect the system response capability in advance, avoid control failure due to system failure, and indicate the safety of leaving the warehouse.

[0035] (5) The braking system and the drive system are controlled in coordination. The braking torque is adjusted synchronously when the pivot point is switched, so that there is no inertial slippage or sudden change in attitude during the vehicle rotation.

[0036] (6) When exiting, a phased speed reduction and torque reduction strategy is adopted instead of direct power cut-off or torque cut-off, which effectively suppresses the vehicle shaking problem caused by inertia; during the parking process, the braking torque of the rear wheels is maintained until the speed of the front axle drive motor is 0, and then the brake is gradually released to avoid the body shaking caused by sudden change in braking force, so as to achieve seamless switching and comfortable parking.

[0037] (7) It is compatible with different adhesion coefficients of road surfaces such as dry asphalt, wet gravel, ice and snow, and sand. It identifies the road surface type by slip ratio and dynamically adjusts the control strategy to solve the problem that existing technologies cannot cover extreme road surfaces. For low-adhesion road surface types, the rear axle drive motor switches to speed control mode to realize full speed closed-loop control of the front and rear axles, effectively suppressing wheel slippage and loss of rotation control, and improving the stability of low-adhesion road surface exit.

[0038] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0039] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein: Figure 1 This is a schematic flowchart of a vehicle outbound control method provided in one embodiment of this disclosure; Figure 2 This is a schematic flowchart of a vehicle outbound control method provided in another embodiment of the present disclosure; Figure 3 This is a schematic flowchart of a vehicle outbound control method provided in yet another embodiment of this disclosure; Figure 4 This is a schematic flowchart of a vehicle outbound control method provided in yet another embodiment of this disclosure; Figure 5 This is a schematic flowchart of a vehicle outbound control method provided in yet another embodiment of this disclosure; Figure 6 This is a schematic flowchart of a vehicle outbound control method provided in yet another embodiment of this disclosure; Figure 7 This is a structural diagram of a vehicle exit control device provided in an embodiment of this disclosure; Figure 8 This is a schematic diagram of a vertical outbound control scenario provided in an embodiment of this disclosure. Detailed Implementation

[0040] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0041] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0042] Unless otherwise stated, the term "multiple" means two or more.

[0043] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0044] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0045] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0046] The vehicle of this invention is equipped with a four-wheel independent distributed drive system and a four-wheel independent electronic braking system. The four-wheel independent distributed drive system includes a left front motor, a right front motor, a left rear motor, and a right rear motor, each driving one of the four wheels independently. Millimeter-wave radar or ultrasonic radar is mounted on the vehicle body to acquire distance information between the vehicle and vehicles in front and behind. Wheel speed sensors are located at the wheels to acquire wheel speeds. The vehicle controller is integrated into the vehicle's electronic control system to execute the vehicle exit control function.

[0047] For the outbound control device of the present invention, the processor can be the vehicle controller (VCU) of the vehicle, the memory is the storage module of the vehicle controller, the program instructions are the outbound control algorithm solidified in the storage module, the vehicle controller communicates with the vehicle's radar module, wheel speed sensor, motor controller and brake controller through CAN bus to realize the acquisition of vehicle distance information and wheel speed information, as well as the issuance of control commands of drive system and braking system to complete outbound control.

[0048] In some embodiments, combined with Figure 1 As shown, a method for controlling vehicle exit from a parking space is provided. The vehicle includes a four-wheel independent drive system and a braking system. The control method includes: S101, in response to the outbound request, determines the outbound direction and obtains the distance information between the vehicle and the vehicles in front and behind.

[0049] The distance information between this vehicle and the vehicles in front and behind includes the minimum distance between this vehicle and the vehicle in front and the minimum distance between this vehicle and the vehicle behind.

[0050] The distance L from the vehicle in front to the left front is obtained through millimeter-wave radar, ultrasonic radar, or camera sensing modules. LF The distance L between the front right side of this vehicle and the vehicle in front RF The distance L from the left rear of this vehicle to the vehicle behind it LR And the distance L between the right rear of this vehicle and the vehicle behind itRR Take the distance L from the front left of this vehicle to the vehicle in front. LF The distance L between the front right side of this vehicle and the vehicle in front RF The minimum value in the range is taken as the minimum distance L between this vehicle and the vehicle in front. Fmin Take the distance L from the left rear of this vehicle to the vehicle behind it. LR The distance L between the right rear of this vehicle and the vehicle behind it RR The minimum value in the range is taken as the minimum distance L between this vehicle and the vehicle behind it. Rmin .

[0051] S102, when the distance information meets the exit conditions and the vehicle's brake pedal is released, the braking system is controlled to apply a first braking torque to the rear wheel on the outside of the steering wheel according to the exit direction, so as to use the rear wheel as a pivot point.

[0052] The conditions for leaving the warehouse include the minimum distance L between the vehicle and the vehicle in front. Fmin The minimum distance L between this vehicle and the vehicle behind it Rmin All are greater than or equal to the vehicle distance threshold L O .

[0053] Optionally, if the distance information meets the outbound conditions, the outbound function enters a standby state. If the distance information does not meet the outbound conditions, a prompt message is issued indicating that the outbound function is currently unavailable.

[0054] Optionally, the vehicle distance threshold L O The value range is 10cm to 15cm. Specific values ​​include, but are not limited to, 10cm, 11cm, 12cm, 13cm, 14cm, or 15cm.

[0055] In this step, the minimum distance values ​​between the vehicle and the vehicle in front and behind are calculated separately to replace the distance judgment in a single direction. This enables all-round distance perception of obstacles around the vehicle, avoids the problem of collisions when leaving the parking space due to sufficient distance in some areas but insufficient distance in the overall area, and improves the accuracy of the judgment of the conditions for leaving the parking space.

[0056] S103 controls the front axle drive motor and the rear axle drive motor in the drive system to operate in speed control mode and torque control mode, respectively.

[0057] S104: During the process of controlling the vehicle to leave the parking lot, obtain the minimum distance value between the vehicle and the following vehicle.

[0058] S105, adjusts the control strategy of the drive system and braking system according to the minimum distance value.

[0059] The vehicle exit control method disclosed herein uses the outer rear wheel as the pivot point based on the exit direction. Combined with differentiated drive modes of front axle speed control and rear axle torque control, it fully leverages the independent control advantages of the four-wheel independent drive system to achieve yaw rotation of the vehicle around the pivot point, enabling lateral movement of the vehicle in narrow spaces. Furthermore, during the exit process, the risk of collision with the following vehicle is highest when the vehicle swings with the rear wheel as the pivot point. Therefore, by using the minimum distance between the vehicle and the following vehicle as the basis for strategy adjustment, dynamic adaptation of the exit control strategy is achieved. This solves the problem of existing technologies not adjusting vehicle posture according to distance, improving the vehicle's exit capability in extremely narrow parking spaces and reducing the risk of collision. By combining fixed-point braking of the braking system and differentiated mode control of the drive system, the vehicle's exit posture is controlled, preventing collisions with vehicles in front and behind, and obstacles, thus improving exit safety.

[0060] In this context, "outer steering wheel" refers to the wheel located on the outer arc of the vehicle's rotation trajectory during the vehicle's rotational exit process. When the vehicle exits to the left, the entire vehicle rotates to the left, and the right side is located on the outer arc of the rotation trajectory; therefore, the right wheel is the outer steering wheel. When the vehicle exits to the right, the left side is located on the outer arc of the rotation trajectory; therefore, the left wheel is the outer steering wheel.

[0061] The inner steering wheel refers to the wheel located on the inner arc of the vehicle's rotation trajectory during the vehicle's rotational exit process. When the vehicle exits to the left, the left side is located on the inner arc of the rotation trajectory, so the left wheel is the inner steering wheel; when the vehicle exits to the right, the right side is located on the inner arc of the rotation trajectory, so the right wheel is the inner steering wheel.

[0062] Taking a vehicle exiting the parking space to the left as an example, combined with Figure 8 The diagram illustrates the initial state of a vehicle exiting a parking space to the left. The vehicle is positioned in a parallel parking space, with vehicle A in front and vehicle B behind. As the vehicle exits to the left, it rotates counter-clockwise around a point on its right side. The right side lies on the outer arc of the rotation trajectory, making the right wheel the outer steering wheel; the left side lies on the inner arc of the rotation trajectory, making the left wheel the inner steering wheel. The outer steering wheel (right rear wheel) is marked with a solid circle in the diagram, serving as the target of the first braking torque applied by the braking system, i.e., using the right rear wheel as the pivot point. The inner steering wheel (left rear wheel) is marked with a hollow circle in the diagram, serving as the new pivot point after switching to the second control strategy.

[0063] Furthermore, this disclosure controls the front axle drive motor and rear axle drive motor in the drive system to operate in speed control mode and torque control mode, respectively. Utilizing the independent drive capability of the four wheels, the yaw moment of the vehicle is actively controlled by applying differentiated driving forces to different wheels, achieving precise control of the vehicle's motion. In this disclosure, the front axle motor, as the primary power source, actively generates the target yaw moment by precisely controlling the speed difference between the left and right front axle wheels, guiding the vehicle to rotate at a set angular velocity. The rear axle motor, as an auxiliary power source, provides continuous support torque during vehicle rotation through a preset stable torque output, ensuring the smoothness and continuity of rotational motion. This disclosure maximizes the potential of the four-wheel independent drive system. Through the decoupling of front and rear axle functions, the front axle is responsible for speed guidance, and the rear axle is responsible for stable following; each performs its own function, avoiding conflicts in control objectives. The driving force of the four wheels is differentiated according to their kinematic roles. The left and right front axle wheels dynamically adjust the speed difference based on the yaw rate deviation, while the left and right rear axle wheels provide stable auxiliary torque, ensuring that the driving force of each wheel serves the overall rotational motion target of the vehicle.

[0064] Optionally, in response to an outbound request, the system obtains the target rotation speed and target rotation angle corresponding to the outbound request. Both the target rotation speed and target rotation angle can be set by the user via the central control screen or physical buttons. For example, the user can set the target rotation angle to 30°, 45°, or 60°, and the target rotation speed to high, medium, or low speed. If the user does not set any settings, system preset values ​​can be used; for example, the preset value for the target rotation angle is 45°, and the preset value for the target rotation speed is set to medium speed.

[0065] Optionally, controlling the front axle drive motor in the drive system to operate in speed control mode includes: determining the initial target speed of the front axle drive motor based on the target rotational speed and the differential yaw rate; wherein the differential yaw rate is equal to the difference between the actual yaw rate of the vehicle and the target yaw rate.

[0066] Among them, determining the target yaw rate based on the target rotation speed includes: determining the target yaw rate through the mapping relationship between the target yaw rate and the target rotation speed, wherein the mapping relationship is: high speed corresponds to the first angular velocity value, medium speed corresponds to the second angular velocity value, and low speed corresponds to the third angular velocity value.

[0067] Optionally, the initial target speed of the front axle drive motor is determined based on the target rotational speed and the difference yaw rate, including: calculating the difference between the target yaw rate and the actual yaw rate to obtain the difference yaw rate; and looking up the corresponding initial target speed of the left front motor and the right front motor from a preset speed mapping table based on the target yaw rate and the difference yaw rate.

[0068] In this embodiment, the initial target speed of the front axle drive motor is determined based on the target rotational speed and the differential yaw rate, thereby achieving closed-loop control of the front axle drive motor speed: when the actual yaw rate of the vehicle is too fast, the differential yaw rate will adjust the initial target speed in the opposite direction to suppress the vehicle from rotating too fast; when the actual yaw rate of the vehicle is too slow, the differential yaw rate will increase the initial target speed in the positive direction, ensuring that the vehicle rotational speed meets the user's needs and improving the accuracy and stability of the outbound control.

[0069] In this disclosure, the speed control mode refers to a control method where the motor uses a target speed as the control objective and adjusts the output torque through closed-loop regulation to make the actual speed follow the target speed. When the front axle uses the speed control mode, the control system dynamically adjusts the output torque of the front axle motor based on the deviation between the user-set target rotational speed and the actual yaw rate, so that the vehicle's actual yaw rate follows the target value. Since the front axle is the main power source for the vehicle's rotational motion, it has a direct impact on the control of the vehicle's yaw rate. The target speed of the front axle motor is determined based on the difference between the target yaw rate and the actual yaw rate. When the actual yaw rate deviates from the target value, the front axle motor can quickly respond and adjust its output torque to bring the actual yaw rate back to the target value, achieving precise closed-loop control of the vehicle's rotational speed; when the driver adjusts the target rotational speed, the front axle motor can quickly respond and adjust to the new target speed, achieving dynamic adjustment of the exit speed.

[0070] Specifically, the initial target speed of the left front motor is obtained from Table 1 based on the target yaw rate and the differential yaw rate. The initial target speed of the right front motor is obtained from Table 2 based on the target yaw rate and the differential yaw rate.

[0071] Specifically, based on the parking request, the target rotational speed is obtained and converted into a target yaw rate. For example, the target rotational speed is converted into a high-speed target yaw rate, a medium-speed target yaw rate, and a low-speed target yaw rate. Specifically, the high-speed target yaw rate is set to be above -8 degrees / s, the medium-speed target yaw rate to be -4 degrees / s, and the low-speed target yaw rate to be -2 degrees / s. When the target rotational speed is constant, as the absolute value of the vehicle's actual yaw rate increases, the absolute value of the initial target rotational speed of each distributed drive motor gradually decreases to suppress excessive vehicle rotation. Conversely, as the absolute value of the vehicle's actual yaw rate decreases, the absolute value of the initial target rotational speed of each distributed drive motor gradually increases to increase the wheel rotational speed, thereby ensuring that the vehicle rotational speed matches the user's needs and improving the accuracy and smoothness of the outbound control.

[0072] For specific reference, see Tables 1 and 2, which are used to obtain the mapping relationship between the initial target speed of the left front motor and the initial target speed of the right front motor of the front axle, respectively.

[0073] Table 1. Mapping Relationship of Initial Target Speed ​​Values ​​for the Left Front Motor

[0074] Table 2 Mapping Relationship of Initial Target Speed ​​Values ​​for the Left Front Motor

[0075] Optionally, controlling the rear axle drive motor in the drive system to operate in torque control mode includes: setting the target torque of the motor corresponding to the rear wheel steering outward to 0 Nm, and adjusting the target torque of the motor corresponding to the rear wheel steering inward to a preset initial value.

[0076] In this embodiment, the rear axle drive motor adopts differentiated torque settings. The right rear motor has zero torque to avoid power interference to the pivot point, while the left rear motor has a preset initial torque to provide stable power output for the vehicle's rotation around the pivot point. This achieves precise distribution of rear axle power, improves the dynamic stability of the vehicle's yaw rotation, simplifies the control logic, and improves the response efficiency of the drive system.

[0077] In this disclosure, torque control mode refers to a control method in which the motor is directly controlled to output a specified torque, with the target torque as the control objective. When torque control mode is used on the rear axle, the control system controls the rear axle motor to output a constant torque based on a preset target torque value, such as 0 Nm or a preset initial value. In the motion state of the vehicle rotating around a fixed pivot point, the function of the rear axle differs fundamentally from that of the front axle: the rear axle is closer to the pivot point, and its range of motion is smaller than that of the front axle. If speed control is also used on the rear axle, its speed response will compete with that of the front axle, potentially leading to speed mismatch between the front and rear axles and motion interference. Using torque control mode on the rear axle and outputting a smaller preset torque, such as 0 Nm or -15 Nm, can provide auxiliary stabilizing torque for the vehicle without interfering with the dominant control of the front axle, enhancing the smoothness of vehicle rotation. Furthermore, using torque control mode on the rear axle eliminates the need for complex closed-loop speed calculations, reducing the computational burden on the control system and improving response speed.

[0078] Optionally, the preset initial value ranges from -10Nm to -15Nm. Specific values ​​include, but are not limited to, -10Nm, -12Nm, -14Nm, or -15Nm.

[0079] In some embodiments, combined with Figure 2 As shown, a method for controlling vehicle exit from a parking space is provided. The vehicle includes a four-wheel independent drive system and a braking system. The control method includes: S201, in response to the outbound request, determines the outbound direction and obtains the distance information between the vehicle and the vehicles in front and behind.

[0080] S202, when the distance information meets the exit conditions and the vehicle's brake pedal is released, the braking system is controlled to apply a first braking torque to the rear wheel on the outside of the steering wheel according to the exit direction, so as to use the rear wheel as a pivot point.

[0081] S203 controls the front axle drive motor and the rear axle drive motor in the drive system to operate in speed control mode and torque control mode, respectively.

[0082] S204: During the process of controlling the vehicle to leave the parking lot, obtain the minimum distance value between the vehicle and the following vehicle.

[0083] S205, if the minimum distance value is greater than the first threshold, execute the first control strategy.

[0084] S206, if the minimum distance value is less than or equal to the first threshold and greater than or equal to the second threshold, execute the first control strategy first, and then execute the second control strategy.

[0085] S207, If the minimum distance value is less than the second threshold, execute the second control strategy.

[0086] The first threshold is greater than the second threshold.

[0087] In this embodiment, a stepped control strategy is set based on the interval division of the minimum distance value to achieve smooth switching of the control strategy during the exit process, avoid drastic changes in vehicle posture caused by sudden changes in strategy, and improve the stability and comfort of exiting the warehouse.

[0088] Specifically, for scenarios where the minimum distance is greater than the first threshold (sufficient distance), between the first and second thresholds (moderate distance), and less than the second threshold (extremely narrow distance), differentiated exit control strategies are implemented based on these different distance scenarios. This adapts to parking space scenarios with varying degrees of narrowness, addressing the limitation of existing technologies in handling extremely narrow parking spaces and significantly improving the coverage of vehicle exit scenarios. By setting the first and second thresholds as quantitative criteria for strategy switching, the timeliness and accuracy of strategy adjustments are improved, preventing collisions between vehicles and following vehicles due to delays in distance judgment and enhancing the safety of exiting narrow parking spaces.

[0089] Optionally, the second threshold ranges from 8cm to 10cm, specifically including but not limited to 8cm, 9cm, or 10cm. The first threshold ranges from 25cm to 30cm, specifically including but not limited to 25cm, 26cm, 27cm, 28cm, or 30cm.

[0090] For example, in combination Figure 8 The scenario shown is an exit from the warehouse on the left, based on the distance L of the vehicle behind.Rmin Three control intervals were set. The second threshold was set to 8cm. The first threshold was set to 25cm. When L... Rmin When the distance to the vehicle is greater than 25cm, it is determined that the distance to the vehicle behind is sufficient, and the first control strategy is executed. The vehicle rotates normally out of the parking space using the left rear wheel on the outside of the steering wheel as the fulcrum.

[0091] When L Rmin When entering the 15cm to 25cm range, the system determines that the following distance is too small and enters a dynamic adjustment preparation state. At this time, the first control strategy is still executed, but the control parameters required for the second control strategy are pre-calculated and cached, including the target speed of the left rear motor and the target braking torque of the inner rear wheel, so as to respond quickly when a switch is needed. This preparation mechanism effectively shortens the response time of strategy switching and avoids control lag caused by parameter calculation delays.

[0092] When L Rmin When the distance is further reduced to below 8cm, the system determines that the following distance is too small and triggers the second control strategy. The system completes the following actions in a very short time: the front axle drive motor switches to the target speed corresponding to the second control strategy; the left rear motor switches from torque control mode to speed control mode; the braking system releases the braking torque on the right rear wheel while simultaneously applying braking torque to the left rear wheel. Through the coordinated action of these actions, the center of rotation smoothly shifts from the right rear wheel to the left rear wheel, and the vehicle continues to rotate out of the parking space, avoiding rear-end collisions with the following vehicle.

[0093] Understandably, the minimum distance between the vehicle and the following vehicle during the process of controlling vehicle exit is a dynamically changing process. As the vehicle moves during exit, the minimum distance constantly changes, and vehicle control is improved based on the range of the minimum distance value, thus enhancing the safety of vehicle exit.

[0094] In some embodiments, combined with Figure 3 As shown, a method for controlling vehicle exit from a parking space is provided. The vehicle includes a four-wheel independent drive system and a braking system. The control method includes: S301, in response to the outbound request, determines the outbound direction and obtains the distance information between the vehicle and the vehicles in front and behind.

[0095] S302, when the distance information meets the exit conditions and the vehicle's brake pedal is released, the braking system is controlled to apply a first braking torque to the rear wheel on the outside of the steering wheel according to the exit direction, so as to use the rear wheel as a pivot point.

[0096] S303 controls the front axle drive motor and the rear axle drive motor in the drive system to operate in speed control mode and torque control mode, respectively.

[0097] S304, during the process of controlling the vehicle to leave the warehouse, obtains the vehicle speed, wheel speed, and minimum distance between the vehicle and the following vehicle.

[0098] S305 determines the road surface type based on vehicle speed and wheel speed.

[0099] Optionally, the step of determining the current road surface type based on vehicle speed and wheel speed includes: calculating the slip ratio of each wheel based on the wheel speed and the actual vehicle speed; identifying the current road surface type based on the slip ratio, wherein the road surface type includes at least high-adhesion road surface and low-adhesion road surface.

[0100] The formula for calculating the slip ratio using vehicle speed and wheel speed is: Slip ratio λ = (V ω × r) / V) × 100%, where V is the actual vehicle speed, ω is the wheel angular velocity, and r is the tire radius. When λ is between 8% and 15%, the road surface where the vehicle is located is considered a high-adhesion road surface; when λ is between 12% and 20%, the road surface where the vehicle is located is considered a medium-adhesion road surface; when λ is between 15% and 30%, the road surface where the vehicle is located is considered a low-adhesion road surface. For specific details, please refer to the friction coefficient and slip ratio comparison table for different types of road surfaces in Table 3 to determine the road surface type.

[0101] Table 3. Comparison of slip ratios for different types of road surfaces with different adhesions.

[0102] S306 adjusts the control strategies of the drive and braking systems based on the minimum distance value and road surface type.

[0103] In this embodiment of the disclosure, the slip ratio is calculated by vehicle speed and wheel speed to achieve automatic identification of road surface type without the need for manual settings by the user, thereby improving the intelligence level of the system. At the same time, the slip ratio, as a quantitative indicator of the road surface adhesion coefficient, improves the accuracy of road surface type judgment.

[0104] By combining the minimum distance between vehicles and the road surface type as dual-parameter adjustment strategies, the precision of vehicle exit control is achieved. This addresses the problem that existing technologies cannot cover extreme scenarios with different road surface adhesion, enabling vehicles to adapt to parking spaces of varying narrowness and to different road surfaces such as dry, wet, slippery, and icy surfaces, achieving full-scenario exit coverage. In this way, by adjusting the control strategy according to the adhesion characteristics of different road surfaces, wheel slippage and loss of control due to low road surface adhesion coefficients are avoided, improving the stability and safety of vehicles exiting parking spaces on low-adhesion surfaces such as ice, snow, and gravel.

[0105] Optionally, a first control strategy is implemented, including: controlling the front axle drive motor to continue operating in speed control mode, and determining a first speed according to the road surface type; determining the control mode of the rear axle drive motor according to the road surface type; wherein, when the road surface type is a medium-adhesion or high-adhesion road surface, the rear axle drive motor operates in torque control mode; when the road surface type is a low-adhesion road surface, the motor corresponding to the rear wheel on the inside of the steering wheel switches to speed control mode, and the motor corresponding to the rear wheel on the outside of the steering wheel switches to torque control mode; and controlling the braking torque distribution of the braking system to remain unchanged.

[0106] In this embodiment, the front axle drive motor is adjusted to a first speed according to the road surface type. A higher speed is set for high / medium friction surfaces to ensure rotational efficiency, and an appropriate speed is set for low friction surfaces to avoid wheel slippage. This achieves road surface adaptability adjustment of the front axle power and improves rotational accuracy under different road conditions.

[0107] The rear axle drive motor adopts a differentiated control mode according to the road surface type: for high / medium friction surfaces, the rear axle drive motor adopts torque control mode to improve the stability of power output; for low friction surfaces, the left rear motor switches to speed control mode to realize closed-loop speed control of the rear axle drive motor, effectively suppressing wheel slippage on low friction surfaces and improving the vehicle's ability to exit the parking space on low friction surfaces; the right rear motor maintains torque control mode.

[0108] The braking torque distribution remains unchanged to ensure stable rotation of the vehicle around the initial pivot point and improve vehicle attitude stability during the execution of the first control strategy.

[0109] For example, regarding the exit direction, taking a standard parallel parking space in China as an example, when a vehicle exits to the left, the right rear wheel is the one turning to the outside. Based on the road surface type, the first rotational speed of the front axle drive motor is determined, including: The road surface type is high-adhesion, medium-adhesion, or low-adhesion. For the left front motor in the front axle drive motor, the first rotational speed corresponding to the left front motor is obtained by referring to Table 4 based on the target yaw rate and the difference yaw rate. For the right front motor in the front axle drive motor, the first rotational speed corresponding to the right front motor is obtained by referring to Table 5 based on the target yaw rate and the difference yaw rate.

[0110] Specifically, the control mode of the rear axle drive motor is determined according to the road surface type, including: For high-adhesion and medium-adhesion road surfaces, the left and right rear motors maintain torque control mode, with a target torque of -15 Nm for the left rear motor and 0 Nm for the right rear motor.

[0111] For low-adhesion road surfaces, the left rear motor switches to speed control mode. The target speed of the left rear motor is obtained by referring to Table 6 based on the target yaw rate and the difference yaw rate. The right rear motor maintains torque control mode with a target torque of 0 Nm.

[0112] Specifically, the braking torque of the braking system remains unchanged, with the braking torque at the left rear wheel end being 0 Nm and the braking torque at the right rear wheel end being -2000 Nm, maintaining the clamped state.

[0113] Table 4 Mapping Relationship of the First Speed ​​of the Left Front Motor

[0114] Table 5 Mapping Relationship of the First Speed ​​of the Right Front Motor

[0115] Table 6 Mapping Relationship of Target Speed ​​of Left Rear Motor

[0116] When executing the first control strategy under conditions of a relatively long following distance, the vehicle rotates out of the parking space using the outer rear wheel as the pivot point. During this process, the front axle drive motor provides the main rotational power output, while the rear axle drive motor mainly plays an auxiliary stabilizing role. However, when the vehicle is traveling on a low-traction surface, the front wheels are prone to slippage due to the driving force exceeding the road surface adhesion limit during the output of rotational power, leading to loss of yaw rate control and affecting the stability and safety of exiting the parking space. Therefore, how to optimize the control mode of the rear axle drive motor under low-traction surface conditions to make the driving force distribution between the front and rear axles more reasonable, so as to suppress front wheel slippage and maintain stable rotational motion, has become one of the technical problems to be solved in this application. In this embodiment, to solve this problem, this application switches the motor corresponding to the inner rear wheel to a speed control mode, so that the wheel actively outputs driving force, working together with the front axle drive motor to provide rotational power. Its working principle is as follows: by involving the inner rear wheel in power output, part of the rotational driving force originally borne solely by the front wheels is transferred to the inner rear wheel. This reduces the peak driving force required by the front wheels, ensuring that the driving force demand of the front wheels falls within the safe range of traction, thereby suppressing slippage. When rotating around the outer rear wheel, the inner rear wheel is located inside the center of rotation, exhibiting lower slippage and sufficient traction margin. This allows it to effectively share the driving force without compromising the vehicle's rotational stability. Employing a speed control mode instead of a torque control mode allows the inner rear wheel's speed to actively follow the target speed, coordinating with the front wheels to ensure consistent rotational movement between the front and rear axles and avoid motion interference caused by mismatched front and rear wheel speeds.

[0117] The outer rear wheel, acting as the pivot point, must remain locked to ensure a fixed center of rotation. If this wheel is also switched to speed control mode, its locked state will be broken, the vehicle will lose its fixed center of rotation, causing the trajectory to diverge and making precise exit maneuvers impossible. Therefore, the motor corresponding to the outer rear wheel must maintain torque control mode and output zero or minimal torque to ensure the braking system can stably lock it, maintaining a fixed center of rotation.

[0118] Optionally, a second control strategy is implemented, including: controlling the front axle drive motor to continue operating in speed control mode and determining a second speed of the front axle drive motor; controlling the motor corresponding to the rear wheel on the outside of the steering wheel to switch to speed control mode and determining a third speed; controlling the motor corresponding to the rear wheel on the inside of the steering wheel to be in torque control mode; applying a second braking torque to the rear wheel on the inside of the steering wheel and releasing the braking torque on the rear wheel on the outside of the steering wheel, so that the vehicle continues to rotate around the rear wheel on the inside of the steering wheel.

[0119] In this embodiment, when the second control strategy is implemented, the distance to the vehicle behind is already less than the second threshold. If the rotation center is continued to be the outer rear wheel, the rear of the vehicle will continue to swing outward, inevitably causing a collision with the obstacle behind. Therefore, the rotation center must be switched from the outer rear wheel to the inner rear wheel, changing the trajectory of the rear of the vehicle from "swinging outward" to "converging inward," in order to avoid the obstacle behind.

[0120] During this switching process, the roles of the two rear wheels are reversed: the outer rear wheel, which was originally the center of rotation, needs to be disengaged and participate in driving, while the inner rear wheel, which was originally moving with the steering wheel, needs to be locked as the new center of rotation. How to reasonably configure the motor control modes of the two rear wheels during this role reversal process so that the vehicle can smoothly and stably complete the transfer of the center of rotation is the key technical problem that this application needs to solve.

[0121] When the second control strategy is executed, the vehicle needs to shift its center of rotation from the outer rear wheel to the inner rear wheel. This shift essentially changes the trajectory of the vehicle's rear end, changing it from an outward swing to an inward pull, thus avoiding obstacles behind it. The roles of the two rear wheels are reversed, requiring a corresponding switch in the motor control modes of both rear wheels to match their new roles. Specifically, when the center of rotation shifts from the outer rear wheel to the inner rear wheel, the outer rear wheel no longer acts as a fixed fulcrum but becomes a follower wheel that moves in a circle around the new center of rotation (the inner rear wheel). At this time, the outer rear wheel is located outside the center of rotation, and its trajectory radius is larger, requiring active output of driving force to follow the vehicle's rotational movement. Switching the outer rear wheel to speed control mode allows it to actively rotate at the target speed. The speed of the outer rear wheel is actively controlled to match the vehicle's target yaw rate, enabling it to follow smoothly when moving around the new rotation center and reducing drag caused by wheel speed mismatch. Furthermore, the speed control mode responds to the target speed faster than the passive following of the torque control mode, allowing the outer rear wheel to quickly adapt to the new motion state after the rotation center is switched.

[0122] The inner rear wheel, acting as the new center of rotation, serves as a fixed pivot point, ensuring stable vehicle rotation around it. This function requires the wheel to be reliably locked by the braking system and to generate no active driving force during rotation. This switches the inner rear wheel to torque control mode and maintains zero torque output. In torque control mode, the electromagnetic resistance torque of the motor is minimal, and the wheel's motion is entirely determined by the braking system, providing clear and stable kinematic constraints for vehicle rotation.

[0123] Thus, by employing a control strategy that switches the speed control mode when steering to the outer rear wheel and the torque control mode when steering to the inner rear wheel, the braking system reliably locks the inner rear wheel into the new center of rotation. This provides stable rotational constraint for the vehicle, preventing center of rotation drift and thus avoiding exiting the parking space failure. By shifting the center of rotation from the outer rear wheel to the inner rear wheel, the movement trajectory of the vehicle's rear end is altered, changing its outward swing to an inward convergence, effectively avoiding obstacles behind it. This mechanism is the core technical means by which this application achieves exiting the parking space at its limit. The outer rear wheel changes from passively following to actively driving, its wheel speed actively matching the vehicle's target rotation speed, avoiding drag resistance caused by wheel speed mismatch, and enabling the vehicle to complete the remaining angle of rotation for exiting the parking space with higher efficiency.

[0124] For extremely narrow parking spaces, the vehicle's pivot point is switched during the exit process, from the outer rear wheel to the inner rear wheel. This allows the vehicle to complete a secondary attitude adjustment in extremely narrow parking spaces, solving the problem of being unable to exit narrow parking spaces due to fixed pivot points in traditional exit control, and achieving a breakthrough in exiting extremely narrow parking spaces.

[0125] The front axle drive motor maintains speed control and adjusts the second speed according to the road surface type, while the left rear axle motor switches to speed control and sets the third speed, realizing full-speed closed-loop control of the front and rear axle drive motors. This improves the accuracy and stability of vehicle rotation after pivot point switching and avoids vehicle swaying during attitude adjustment.

[0126] The braking torque of the braking system is adjusted synchronously with the pivot point switching. A second braking torque is applied to the new pivot point to ensure rotation at the fixed point, and the original pivot point braking torque is released to avoid power interference. This achieves coordinated adjustment of the braking strategy and the drive strategy, improving the smoothness and safety of the pivot point switching process.

[0127] For example, regarding the exit direction, taking a standard parallel parking space in China as an example, when a vehicle exits to the left, the right rear wheel is the one turning outwards. The second rotational speed of the front axle drive motor is determined, including: For the left front motor in the front axle drive motor maintaining speed control mode, the second speed corresponding to the left front motor is obtained by referring to Table 4 based on the target yaw rate and the difference yaw rate. For the right front motor in the front axle drive motor maintaining speed control mode, the second speed corresponding to the right front motor is obtained by referring to Table 5 based on the target yaw rate and the difference yaw rate.

[0128] Specifically, the control mode of the rear axle drive motor is determined, including: The right rear motor switches to speed control mode. Based on the target yaw rate and the difference yaw rate, the corresponding third speed of the right rear motor is obtained by referring to Table 7. The left rear motor maintains torque control mode with a target torque of 0 Nm.

[0129] Specifically, the vehicle's pivot point shifts from the outer rear wheel to the inner rear wheel, applying a second braking torque to the inner rear wheel and releasing the braking torque on the outer rear wheel. That is, the left rear wheel becomes the pivot point, with the braking torque adjusted to -2000 Nm to maintain a clamped state; the braking torque at the right rear wheel end is adjusted to 0 Nm.

[0130] Table 7 Mapping Relationship of the Third Speed ​​of the Left Rear Motor

[0131] In some embodiments, combined with Figure 4As shown, a method for controlling vehicle exit from a parking space is provided. The vehicle includes a four-wheel independent drive system and a braking system. The control method includes: S401, in response to the outbound request, determines the outbound direction and obtains the distance information between the vehicle and the vehicles in front and behind.

[0132] S402, if the distance information meets the exit conditions, perform the status verification steps of the drive system and braking system, and release the brake pedal if the verification result is normal.

[0133] The response verification steps for the drive system and braking system include: controlling the drive system to operate in torque control mode, where the initial torque is 0 Nm; and controlling the braking system to apply a first braking torque to the rear wheel on the outside of the steering wheel, while the braking torque of the other wheels is 0 Nm.

[0134] S403, depending on the exit direction, controls the braking system to apply a first braking torque to the rear wheel on the outside of the steering wheel so as to use the rear wheel as a pivot point.

[0135] S404 controls the front axle drive motor and the rear axle drive motor in the drive system to operate in speed control mode and torque control mode, respectively.

[0136] S405, during the process of controlling the vehicle to leave the parking lot, obtains the minimum distance value between the vehicle and the following vehicle.

[0137] S406 adjusts the control strategy of the drive system and braking system based on the minimum distance value.

[0138] In this embodiment, a system status verification step is added before the outbound control strategy is officially launched to detect the response capabilities of the drive system and braking system in advance, thereby avoiding outbound control failure due to system failure or response failure and improving the safety of outbound control from the source.

[0139] The calibration phase employs a zero-torque, fixed-point braking control method, which not only completes system response testing but also avoids unnecessary vehicle movement during the calibration process, ensuring the vehicle remains stationary during the calibration phase and improving user safety and comfort.

[0140] The verification results serve as a prerequisite for releasing the brake pedal and initiating the formal control strategy, forming a clear control logic hierarchy, improving the standardization and orderliness of system operation, and avoiding the forced activation of the outbound function in the event of system abnormalities.

[0141] The response verification steps for the drive system and braking system specifically include: The target control mode for both the left front motor and the right front motor is torque control mode; and the initial target torque for both the left front motor and the right front motor is 0 Nm. The target control mode for both the left and right rear motors is torque control mode; and the initial target torque for both the left and right rear motors is 0 Nm. The braking system applies a first braking torque to the rear wheel on the outside of the steering wheel, while the braking torque to the other wheels is 0 Nm.

[0142] For example, taking a standard parallel parking space in China as an example, when a vehicle is pulling out of the parking space to the left, a first braking torque, such as -2000 Nm, is applied to the right rear wheel. Based on the direction of rotation, the target braking torque request for the other wheels is confirmed to be 0 Nm. That is, in this state, only the right rear wheel is braked to clamp the wheel.

[0143] The vehicle controller checks whether each motor and braking system responds to control requests. If any actuator fails to respond, the function exits, and the instrument panel displays "System Abnormality." If all actuators respond, the function remains in standby mode. The vehicle controller monitors the brake pedal status in real time. When it detects that the brake pedal has been released (i.e., the driver releases the brake), it enters the automatic exit mode, controlling the front axle drive motor to switch to speed control mode, while the rear axle drive motor continues to maintain torque control mode.

[0144] In some embodiments, combined with Figure 5 As shown, a method for controlling vehicle exit from a parking space is provided. The vehicle includes a four-wheel independent drive system and a braking system. The control method includes: S501, in response to the outbound request, determines the outbound direction and obtains the distance information between the vehicle and the vehicles in front and behind.

[0145] S502, if the distance information meets the exit conditions, execute the status verification steps of the drive system and braking system, and release the brake pedal if the verification result is normal.

[0146] S503, depending on the direction of exit, controls the braking system to apply a first braking torque to the rear wheel on the outside of the steering wheel so as to use the rear wheel as a pivot point.

[0147] S504 controls the front axle drive motor and the rear axle drive motor in the drive system to operate in speed control mode and torque control mode, respectively.

[0148] S505, during the process of controlling the vehicle to leave the parking lot, obtains the minimum distance value between the vehicle and the following vehicle.

[0149] S506 adjusts the control strategies of the drive and braking systems based on the minimum distance value.

[0150] S507, in response to the fulfillment of preset stopping conditions, triggers the parking control strategy.

[0151] The parking control strategy includes: reducing the target speeds of the front axle drive motor and the rear axle drive motor and the target torque of the rear axle drive motor in stages; maintaining the braking torque of the rear wheels while reducing the speed of the front axle drive motor until the speed of the front axle drive motor drops to zero, and then gradually releasing the braking torque of the rear wheels.

[0152] In this embodiment, in response to meeting preset stopping conditions, the speed of the front axle drive motor and the torque of the rear axle drive motor are reduced in stages, replacing the parking method of directly cutting off power or torque. This effectively suppresses the shaking problem caused by vehicle inertia, improves the stability and comfort of parking, and solves the problem of vehicle shaking when the function is disengaged in the prior art.

[0153] Maintaining the braking torque of the rear wheels during parking provides stable braking force constraint to the vehicle, preventing the vehicle from sliding due to inertia during the deceleration of the front axle drive motor, ensuring the accuracy of the parking position, and preventing the vehicle from scraping against surrounding obstacles.

[0154] After the front axle drive motor speed drops to zero, the braking torque of the rear wheels is gradually released, realizing coordinated stopping of the braking system and the drive system. This avoids the vehicle's inertial movement caused by premature release of braking torque, and at the same time, the gradual release of braking torque avoids the vehicle body vibration caused by sudden changes in braking force, thus improving the parking experience.

[0155] Optionally, the preset stopping conditions include one of the following: the vehicle has reached the target rotation angle, the driver has pressed the brake pedal, the function has timed out, or the system malfunctions.

[0156] Optionally, the target speeds of the front axle drive motor and the rear axle drive motor are reduced in stages, including: reducing the speeds of the front axle drive motor and the rear axle drive motor from the current value to a fourth speed value; and then reducing the speed of the front axle drive motor from the fourth speed value to zero; wherein the first speed value is less than or equal to the speed of the front axle drive motor during the vehicle start-up phase.

[0157] In this embodiment, the stepped speed reduction method makes the speed change of the front axle drive motor smoother, further suppressing the inertial sway of the vehicle and improving the stability of parking. Setting the first speed value to be less than or equal to the initial speed during the starting phase ensures that the intermediate speed during the deceleration process is within the safe speed range for vehicle startup. This avoids sudden increases in drive system load caused by sudden speed changes during deceleration, thus extending the lifespan of the drive system. Stepped deceleration provides sufficient time for the vehicle's inertia to be buffered, allowing the vehicle to gradually release inertia during parking, ensuring the accuracy of the parking position. At the same time, it reduces the rigidity requirements of the chassis hardware, reduces hardware wear, and achieves cost reduction and efficiency improvement.

[0158] The following example illustrates the exit direction, using a standard parallel parking space in China as an example, where the vehicle exits to the left. The right rear wheel is the one turning to the outside. The specific parking control strategy is explained below: In one example, after executing the first control policy, the parking control policy is entered, including: For the left front motor in the front axle drive motor, the first rotational speed value corresponding to the left front motor is obtained by referring to Table 8 based on the target yaw rate and the difference yaw rate. For the right front motor in the front axle drive motor, the first rotational speed value corresponding to the right front motor is obtained by referring to Table 9 based on the target yaw rate and the difference yaw rate.

[0159] For high-adhesion and medium-adhesion road surfaces, the braking torque at each wheel end is gradually released to 0 Nm.

[0160] For low-adhesion road surfaces and for the left rear motor, the corresponding first rotational speed of the left rear motor is obtained by referring to Table 10 based on the target yaw rate and the differential yaw rate. The braking torque at each wheel end is gradually released to 0 Nm.

[0161] In one example, after executing the second control policy, the parking control policy is entered, including: For the left front motor in the front axle drive motor, the first rotational speed value corresponding to the left front motor is obtained by referring to Table 8 based on the target yaw rate and the difference yaw rate. For the right front motor in the front axle drive motor, the first rotational speed value corresponding to the right front motor is obtained by referring to Table 9 based on the target yaw rate and the difference yaw rate.

[0162] For the right rear motor, the corresponding third speed of the left rear motor is obtained by referring to Table 11 based on the target yaw rate and the difference yaw rate. The braking torque at each wheel end is gradually released to 0 Nm.

[0163] Table 8 Mapping table of the fourth speed value of the left front motor

[0164] Table 9 Mapping table of the fourth speed value of the right front motor

[0165] Table 10 Mapping table of the fourth speed value of the left rear motor

[0166] Table 11 Mapping table of the fourth speed value of the right rear motor

[0167] It should be noted that the mapping tables provided in Tables 1, 2, 4 to 11 in the above embodiments are all rotation speed mapping tables with the outbound direction as left. The rotation speed direction of the mapping table for outbound to the right is opposite to that of the left direction, which will not be elaborated here.

[0168] For example, in combination Figure 6 As shown, this embodiment uses an electric vehicle equipped with a four-wheel independent drive system and a four-wheel independent braking system as an example to explain in detail the vehicle exit control method of the present invention. Assume the vehicle is currently in a parallel parking space, with vehicle A in front and vehicle B behind, and the vehicle needs to exit to the left. The exit control process includes: S601, outbound function enabled, obtain target rotation angle and target rotation speed.

[0169] In this step, the driver clicks the exit function button on the central control screen. The system responds to the exit request and enters the exit control mode. The driver can customize the target rotation angle and target rotation speed. For example, the target rotation angle is 45°, and the target rotation speed is medium speed, corresponding to a target yaw rate of -4deg / s. If the driver does not set any settings, the system uses the default values, for example, a target rotation angle of 45° and a target rotation speed of medium speed.

[0170] S602, obtain distance information between this vehicle and the vehicles in front and behind.

[0171] In this step, for example, the distance L from the vehicle in front to the left front is obtained by fusion perception using ultrasonic radar and camera. LF =50cm, distance L from the vehicle in front on the right front RF =45cm. Obtain the distance L from the left rear of this vehicle to the vehicle behind it. LR =40cm, distance L from the rear vehicle on the right rear RR =38cm.

[0172] Calculate the minimum distance L between this vehicle and the vehicle in front. Fmin =min(50, 45)=45cm, the minimum distance L between this car and the car behind is... Rmin =min(40, 38)=38cm.

[0173] S603, determine whether the distance information between this vehicle and the vehicles in front and behind meets the exit conditions. If not, proceed to S604; if yes, proceed to S605.

[0174] In this step, for example, the vehicle distance threshold L is... O Set to 15cm, and use the minimum distance L between the vehicle and the vehicle in front obtained from S602. Fmin The minimum distance L between this vehicle and the vehicle behind it Rmin , respectively with the vehicle distance threshold L OThe comparison was performed, and the result was L. Fmin and L Rmin All are greater than L O If the distance information between this vehicle and the vehicles in front and behind it meets the exit conditions, then it enters S605.

[0175] S604, issue a prompt message to exit the automatic inventory release function.

[0176] S605 performs status checks on the drive and braking systems.

[0177] In this step, a command is sent to the drive system to control the front axle drive motor and the rear axle drive motor to operate in torque control mode, with an initial torque of 0 Nm for both. A command is also sent to the braking system to apply a first braking torque, for example -2000 Nm, to the right rear wheel on the outside of the wheel, based on the exit direction, i.e., exiting to the left, while the braking torque for the other wheels is 0 Nm.

[0178] The system detects the response status of each actuator and confirms that the front axle drive motor, rear axle drive motor, and braking systems of each wheel have all responded to the control commands. The verification result is normal.

[0179] At this point, the system will prompt the driver via the instrument panel or voice prompt, "Please release the brake pedal." Once the driver releases the brake pedal, the system will be activated.

[0180] S606, in the initial control phase of outbound operation, when activated, controls the front axle drive motor to operate in speed control mode and the rear axle drive motor to operate in torque control mode.

[0181] In this step, the front axle drive motor is controlled as follows: The target yaw angle is determined based on the target's rotation speed. In this embodiment, the target rotation speed is medium, so the corresponding target yaw angle ω... target = 4deg / s.

[0182] Obtain the vehicle's current actual yaw rate ω actual =4deg / s.

[0183] Calculate the difference yaw rate Δω = ω actual ω target =4 ( 4) = 8deg / s.

[0184] Based on the preset speed mapping tables Table 1 and Table 2, find ω target = The initial target speeds of the left front motor and the right front motor are 4deg / s and Δω=8deg / s, respectively. For example, the left front motor is -275rpm and the right front motor is 275rpm, and the two are in opposite directions.

[0185] The control of the rear axle drive motor is as follows: The target torque for the right rear motor is set to 0 Nm. Adjust the target torque of the left rear motor to -15Nm.

[0186] The control of the braking system is as follows: Maintain the first braking torque (-2000Nm) on the right rear wheel, and the braking torque on the other wheels is 0Nm.

[0187] At this point, the vehicle begins to rotate counterclockwise out of the parking space, using the right rear wheel as a pivot point.

[0188] S607, during the process of a vehicle rotating out of the parking space, determine the current road surface type.

[0189] In this step, the actual vehicle speed and the wheel speed of each wheel are acquired in real time. For example, by collecting the actual vehicle speed and the wheel speed of each wheel, the slip ratio λ = 10% is calculated. By referring to Table 3, it is determined that the current road surface type is a high-adhesion road surface.

[0190] S608, during the vehicle's rotation and exit from the parking space, continuously acquires the minimum distance L between the vehicle and the vehicle behind it. Rmin Based on the minimum distance value L Rmin Adjust the vehicle's control strategy.

[0191] Specifically, this includes: in the initial stage of vehicle departure, L Rmin If the yaw rate is 38cm, which is greater than the first threshold of 25cm, then the first control strategy is executed, including: the front axle drive motor continues to operate in speed control mode, the road surface type is a high-adhesion road surface, and for the left front motor in the front axle drive motor, the first speed corresponding to the left front motor is obtained by looking up Table 4 based on the target yaw rate and the difference yaw rate. For the right front motor in the front axle drive motor, the first speed corresponding to the right front motor is obtained by looking up Table 5 based on the target yaw rate and the difference yaw rate.

[0192] For high-adhesion road surfaces, the left rear motor maintains torque control mode, and its target torque is calculated and output based on the differential yaw rate using a PI control algorithm. The right rear motor also maintains torque control mode with a target torque of 0 Nm.

[0193] The braking torque of the braking system remains constant, with the braking torque at the left rear wheel end being 0 Nm and the braking torque at the right rear wheel end being -2000 Nm, maintaining the clamped state.

[0194] As the vehicle continues to rotate, the distance to the following vehicle gradually decreases. When L Rmin =20cm, less than the first threshold of 25cm, greater than the second threshold of 8cm, enters the dynamic adjustment preparation state, but still executes the first control strategy first.

[0195] When the vehicle rotates to a certain extent, L Rmin If the diameter decreases to 7cm, which is less than the second threshold of 8cm, dynamic adjustment is triggered, and the second control strategy is executed, including: For the front axle drive motor to maintain speed control mode, based on the target yaw rate and the difference yaw rate, the second speed corresponding to the left front motor is obtained by looking up Table 4, and the second speed corresponding to the right front motor is obtained by looking up Table 5.

[0196] The vehicle's pivot point is switched from the right rear wheel to the left rear wheel. That is, the braking torque of the left rear wheel is adjusted to -2000Nm and kept in a clamped state; the braking torque of the right rear wheel is adjusted to 0Nm.

[0197] Simultaneously, the right rear motor switches to speed control mode. Based on the target yaw rate and the difference yaw rate, the corresponding third speed of the right rear motor is obtained by referring to Table 7. The left rear motor maintains torque control mode with a target torque of 0 Nm.

[0198] At this point, the vehicle's rotation center shifts from the right rear wheel to the left rear wheel, continuing to rotate out of the parking space to avoid scraping the rear of the vehicle behind.

[0199] S609: When the vehicle rotates to a user-defined rotation angle of 45°, the stop condition is triggered, and the vehicle enters the parking control phase.

[0200] Parking control procedures include: For the left front motor in the front axle drive motor, the first rotational speed value corresponding to the left front motor is obtained by referring to Table 8 based on the target yaw rate and the difference yaw rate. For the right front motor in the front axle drive motor, the first rotational speed value corresponding to the right front motor is obtained by referring to Table 9 based on the target yaw rate and the difference yaw rate.

[0201] Reduce the speed of the front axle drive motor to the first speed value, and then reduce the speed of the front axle drive motor from the first speed value to 0 rpm.

[0202] For the right rear motor, based on the target yaw rate and the difference yaw rate, the corresponding third speed of the left rear motor is obtained by referring to Table 11. The speed of the right rear motor is reduced to the third speed, and then reduced from the third speed to 0 rpm.

[0203] After the speed of the front axle drive motor drops to zero, the braking torque at each wheel end is gradually released to 0 Nm.

[0204] At this point, the vehicle comes to a smooth stop, completing the exit operation, and the driver can take over the vehicle for normal driving.

[0205] The steps for exit control on low-adhesion road surfaces are basically the same as those in the above embodiments. The difference is that in the initial control stage, based on the characteristics of the low-adhesion road surface, the system selects the corresponding speed mapping table and appropriately reduces the absolute value of the target speed of each motor to prevent wheel slippage.

[0206] When executing the first control strategy, depending on the type of low-adhesion road surface, the left rear motor in the rear axle drive motor switches to speed control mode, and the right rear motor switches to torque control mode, in order to increase the number of wheels involved in the control and enhance grip.

[0207] When implementing the second control strategy, the target speeds of the front axle drive motor and the left rear motor are further optimized and adjusted according to the type of low-adhesion road surface to ensure stable rotation and exit from the depot even on low-adhesion road surfaces.

[0208] Through the aforementioned road surface adaptive control, this method can still maintain stable outbound performance on low-adhesion road surfaces such as ice, snow, and gravel, achieving full-scenario coverage.

[0209] For the scenario of exiting the warehouse to the right, the steps are basically the same as in the above embodiment, except that the exit direction is to the right. In this case, the rear wheel turning outwards is the left rear wheel, and the braking system applies a first braking torque to the left rear wheel. The target rotational speed of the front axle drive motor is opposite to that in Embodiment 1. In the rear axle drive motors, the target torque of the right rear motor is adjusted to a preset initial value, and the target torque of the left rear motor is 0 Nm. During the dynamic adjustment phase, when the distance to the vehicle behind is less than a second threshold, the system switches to rotating around the right rear wheel as the center of rotation. Other control logic is the same as in the above embodiment and will not be repeated here.

[0210] The parking space exit control method disclosed herein achieves vehicle rotation exit in narrow parking spaces by locking the outer rear wheel as the rotation fulcrum and combining front axle speed control and rear axle torque control in a coordinated manner. Through a graded dynamic adjustment mechanism based on rear vehicle distance, the risk of collision with following vehicles is effectively avoided. Road surface recognition and adaptive control cover various working conditions, including dry asphalt, wet and slippery roads, and icy and snowy roads. The technical solution of this invention has broad application prospects and can be widely applied to various electric vehicles and intelligent driving vehicles.

[0211] Combination Figure 7As shown, this embodiment of the disclosure provides a vehicle outbound control device 70, including a processor 700 and a memory 701. Optionally, the device 70 may further include a communication interface 702 and a bus 703. The processor 700, communication interface 702, and memory 701 can communicate with each other via the bus 703. The communication interface 702 can be used for information transmission. The processor 700 can call logical instructions in the memory 701 to execute the vehicle outbound control method of the above embodiment.

[0212] Furthermore, the logic instructions in the aforementioned memory 701 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0213] The memory 701, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 700 executes functional applications and data processing by running the program instructions / modules stored in the memory 701, thereby implementing the vehicle outbound control method in the above embodiments.

[0214] The memory 701 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function. The data storage area may store data created based on the use of the terminal device. Furthermore, the memory 701 may include high-speed random access memory and may also include non-volatile memory.

[0215] In some embodiments, a vehicle is provided, including: a vehicle body; and a vehicle exit control device as described in any of the above embodiments, disposed on the vehicle body.

[0216] In some embodiments, a computer-readable storage medium is provided storing program instructions, characterized in that the program instructions, when executed, cause a computer to perform the vehicle outbound control method as described in any of the above embodiments.

[0217] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0218] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0219] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0220] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A method for controlling vehicle departure from a warehouse, characterized in that, The vehicle includes a four-wheel independent drive system and braking system, and the control methods include: In response to an outbound request, determine the outbound direction and obtain distance information between the vehicle and the vehicles in front and behind; When the distance information meets the exit conditions and the vehicle's brake pedal is released, the braking system applies a first braking torque to the outermost rear wheel, based on the exit direction, to use this wheel as a pivot point; and, The front axle drive motor and the rear axle drive motor in the control drive system operate in speed control mode and torque control mode, respectively. During the process of controlling the vehicle to leave the warehouse, obtain the minimum distance between the vehicle and the vehicle behind it; Adjust the control strategies of the drive and braking systems based on the minimum distance value.

2. The control method according to claim 1, characterized in that, The distance information between this vehicle and the vehicles in front and behind includes the minimum distance between this vehicle and the vehicle in front and the minimum distance between this vehicle and the vehicle behind. The conditions for leaving the warehouse include the minimum distance between the vehicle and the vehicle in front and the minimum distance between the vehicle and the vehicle behind, both of which must be greater than or equal to the vehicle distance threshold.

3. The control method according to claim 1, characterized in that, Operating the front axle drive motor in a speed control mode within the control drive system includes: determining the initial target speed of the front axle drive motor based on the target rotational speed and the differential yaw rate; wherein the differential yaw rate is equal to the difference between the vehicle's actual yaw rate and the target yaw rate; and / or, The operation of the rear axle drive motor in the control drive system in torque control mode includes: the target torque of the motor corresponding to the rear wheel on the outside of the steering wheel is 0 Nm, and the target torque of the motor corresponding to the rear wheel on the inside of the steering wheel is adjusted to a preset initial value.

4. The control method according to any one of claims 1 to 3, characterized in that, Based on the minimum distance value, adjust the control strategies of the drive and braking systems, including: If the minimum distance value is greater than the first threshold, the first control strategy is executed so that the vehicle rotates with the rear wheel on the outside as the pivot point, causing the rear of the vehicle to swing outward. When the minimum distance value is less than or equal to the first threshold and greater than or equal to the second threshold, the first control strategy is executed first. When the minimum distance value continues to decrease to less than the second threshold, the first control strategy is transitioned to the second control strategy to smoothly transfer the pivot point from the rear wheel on the outside of the steering wheel to the rear wheel on the inside of the steering wheel. If the minimum distance value is less than the second threshold, the second control strategy is executed to switch the pivot point from the rear wheel on the outside of the steering wheel to the rear wheel on the inside of the steering wheel, so that the rear of the vehicle changes from swinging outward to tucking inward. The first threshold is greater than the second threshold.

5. The control method according to claim 4, characterized in that, The process of controlling vehicle departure also includes: Obtain the vehicle's speed and the wheel speed; Determine the road surface type based on vehicle speed and wheel speed; The step of adjusting the control strategy of the drive system and braking system according to the minimum distance value includes: adjusting the control strategy of the drive system and braking system according to the minimum distance value and the road surface type.

6. The control method according to claim 5, characterized in that, Execute the first control strategy, including: The front axle drive motor is controlled to continue operating in speed control mode, and the first speed is determined according to the road surface type. The control mode of the rear axle drive motor is determined according to the road surface type. When the road surface type is medium or high adhesion, the rear axle drive motor operates in torque control mode. When the road surface type is low adhesion, the motor corresponding to the rear wheel on the inside of the steering wheel switches to speed control mode, and the motor corresponding to the rear wheel on the outside of the steering wheel switches to torque control mode. The braking torque distribution of the control braking system remains unchanged.

7. The control method according to claim 5, characterized in that, Implementing the second control strategy includes: The front axle drive motor is controlled to continue operating in speed control mode, and a second speed of the front axle drive motor is determined; The motor corresponding to the rear wheel that controls steering on the outside switches to speed control mode and determines the third speed. The motor corresponding to the rear wheel that controls the steering on the inside is in torque control mode; A second braking torque is applied to the rear wheel on the inside of the steering wheel, and the braking torque on the rear wheel on the outside of the steering wheel is released, allowing the vehicle to continue rotating around the rear wheel on the inside of the steering wheel.

8. The control method according to any one of claims 1 to 3, characterized in that, After responding to the outbound request and determining the outbound direction, the process further includes: if the distance information meets the outbound conditions, performing a status verification step on the drive system and braking system; and releasing the brake pedal if the verification result is normal. The response verification steps for the drive system and braking system include: The drive system operates in torque control mode, where the initial torque is 0 Nm. The braking system applies a first braking torque to the rear wheel on the outside of the steering wheel, while the braking torque to the other wheels is 0 Nm.

9. The control method according to any one of claims 1 to 3, characterized in that, Also includes: In response to the fulfillment of preset stopping conditions, the parking control strategy is triggered; The parking control strategy includes: reducing the target speeds of the front axle drive motor and the rear axle drive motor and the target torque of the rear axle drive motor in stages; maintaining the braking torque of the rear wheels while reducing the speed of the front axle drive motor until the speed of the front axle drive motor drops to zero, and then gradually releasing the braking torque of the rear wheels.

10. The control method according to claim 9, characterized in that, The time-segmented reduction of the target speeds of the front axle drive motor and the rear axle drive motor includes: Reduce the speeds of the front axle drive motor and the rear axle drive motor from their current values ​​to the fourth speed value; Then reduce the speed of the front axle drive motor from the fourth speed value to zero; Among them, the first speed value is less than or equal to the speed of the front axle drive motor during the vehicle start-up phase.

11. A vehicle exit control device, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to execute the vehicle exit control method as described in any one of claims 1 to 10 when executing the program instructions.

12. A vehicle, characterized in that, include: Vehicle body; The vehicle exit control device as described in claim 11 is installed on the vehicle body.

13. A computer-readable storage medium storing program instructions, characterized in that, When the program instructions are executed, they cause the computer to perform the vehicle exit control method as described in any one of claims 1 to 10.

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