The invention relates to an extreme small parking space parking method and system and a vehicle control system, and the parking method comprises the following steps: carrying out the environment reconstruction of spatial parking spaces through multiple sensors, and classifying the spatial parking spaces meeting the preset size as extreme small parking spaces; outputting a parking path planning scheme according to the type of the ultimate parking space, sending a vehicle body peripheral folding request after the central point of the rear axle of the vehicle enters the parking space, and folding the vehicle body peripheral; and after parking is completed according to the parking path planning scheme, a power-off memory strategy is executed, information recorded by the power-off memory strategy is automatically obtained during power-on, and automatic parking out of the limited small parking space is completed. According to the invention, aggressive planning and cooperative control schemes are further expanded for an actual extreme small parking space scene, and the problem that an automatic parking scheme in the prior art cannot adapt to the extreme small parking space can be solved.

    本发明涉及一种极限小车位泊车方法及系统、车辆控制系统,泊车方法包括以下步骤:采用多传感器对空间车位进行环境重构,将符合预设大小的空间车位归类为极限小车位;根据极限小车位的类型输出入库路径规划方案,在车辆后轴中心点进入车位后,发送车身外设折叠请求,折叠车身外设;根据入库路径规划方案完成泊车后,执行下电记忆策略,在上电时自动获取所述下电记忆策略记录的信息,完成极限小车位自动泊出。本发明针对实际极限小车位场景进一步拓展激进规划和协同控制方案,能够解决现有技术中的自动泊车方案未能适配极限小车位的问题。


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    Title :

    Extreme small parking space parking method and system and vehicle control system


    Additional title:

    一种极限小车位泊车方法及系统、车辆控制系统


    Contributors:
    SHENG JINYUAN (author) / LYU XUEHUI (author) / WAN KAILIN (author) / WANG CHAOMEI (author) / ZENG WEI (author)

    Publication date :

    2024-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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