The invention provides a parking method and a parking controller. The parking method comprises the steps that when front wheels on the outer side of a vehicle make contact with target positions, corresponding to the front wheels on the outer side, of a target parking space, an electric driving system is controlled so that the vehicle can enter a preparation stage, and in the stage, the vehicle can generate yawing moment; then, when the slip rate of rear wheels on the inner side of the vehicle reaches a slip rate threshold value related to drifting of the vehicle, the electric driving system is controlled so that the vehicle can enter a drifting stage; and then, when the slip rate of the inner side front wheel of the vehicle reaches the slip rate threshold value, controlling the electric driving system so that the vehicle enters a rotation phase in which the outer side front wheel is locked and the vehicle body rotates around the outer side front wheel into the target parking space.

    本发明提供了一种泊车方法和泊车控制器。所述泊车方法包括:在车辆的外侧前轮接触目标泊车位的、与所述外侧前轮相应的目标位置时,控制电驱动系统以使得车辆进入准备阶段,并在该阶段中使得车辆产生横摆力矩;接着,在车辆的内侧后轮的滑移率达到与车辆漂移相关的滑移率阈值时,控制电驱动系统以使得车辆进入漂移阶段;以及接着,在车辆的内侧前轮的滑移率达到所述滑移率阈值时,控制电驱动系统以使得车辆进入旋转阶段,在该阶段中,外侧前轮抱死,并且车身绕着外侧前轮旋转到所述目标泊车位中。


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    Title :

    Parking method and parking controller


    Additional title:

    泊车方法和泊车控制器


    Contributors:
    TAO YAO (author)

    Publication date :

    2025-04-25


    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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