Parking space-to-parking space pilot auxiliary control method and system and vehicle

Abstract

The invention relates to a parking space-to-parking space pilot auxiliary control method and system and a vehicle. The method comprises the following steps: receiving a navigation request from a starting parking space to a target parking space; obtaining a parking lot high-precision map, a real-time parking space state and dynamic traffic information based on the navigation request, and planning a global path from the starting parking space to a target parking space according to the parking lot high-precision map, the real-time parking space state and the dynamic traffic information; positioning a vehicle and acquiring real-time environment information, and planning a local path according to the positioning result and the real-time environment information on the basis of the global path; generating a vehicle control instruction according to the local path and the real-time environment information; and the vehicle control instruction is executed until the vehicle arrives at the target parking space and parking operation is completed. According to the invention, navigation assistance from the starting parking space to the target parking space is realized.

Description

Technical Field

[0001] This invention belongs to the field of vehicle control technology, specifically relating to a parking space-to-parking space navigation assistance control method, system, and vehicle. Background Technology

[0002] In the wave of automotive intelligence, advanced driver assistance systems (ADAS) have become crucial for enhancing the driving experience. Mainstream highway and city ADAS rely on the collaborative work of onboard sensors (cameras, millimeter-wave radar, and lidar) and high-precision maps. Cameras capture visual information, millimeter-wave radar handles adverse weather conditions, and lidar generates high-precision point clouds; these three complement each other to achieve environmental perception. High-precision maps provide prior information beyond line-of-sight, assisting the system in accurate positioning, route planning, and decision-making control. On structured roads, this enables functions such as automatic following and lane changing, reducing driver workload and improving safety.

[0003] However, such systems face challenges in large multi-story and underground parking lots. First, weak or malfunctioning satellite positioning signals, along with signal blockage and reflection both indoors and outdoors, prevent the system from accurately determining vehicle location, impacting route planning and navigation. Second, the complex parking environment, with its confined spaces, irregular and randomly appearing obstacles, rapidly changing traffic flow, and variable lighting, increases the difficulty for sensors. Third, the limited range of onboard sensors, with blind spots around corners, behind pillars, and in multi-story structures, makes it difficult to fully grasp the environment and increases the risk of collisions. Fourth, the system heavily relies on high-precision maps, but parking lot layouts are often altered due to construction and parking space adjustments, leading to delayed map updates and inaccurate navigation. Fifth, the lack of coordination capabilities prevents the system from acquiring information on other vehicles' intentions and the dynamics of parking facilities, resulting in uncoordinated vehicle movement and potential congestion and chaos.

[0004] Furthermore, while commonly used functions such as Automatic Parking Assist (APA), Memory Parking (HPA), and Remote Parking Assist (RPA) simplify parking operations to some extent, they have significant limitations. They primarily focus on the final parking / exit maneuvers near the parking space, lacking the capability for end-to-end path planning and execution from any starting parking space (e.g., home, office, or shopping mall entrance) to the target parking space (e.g., inside a shopping mall or airport terminal). Moreover, they are also constrained by parking lot perception and positioning challenges; sensor accuracy and range are limited, satellite positioning is unreliable, making accurate path planning and guidance difficult, and thus failing to meet users' needs for fully autonomous navigation and parking within a parking lot.

[0005] Therefore, it is necessary to develop a new parking space-to-parking space navigation assistance control method, system, and vehicle. Summary of the Invention

[0006] The purpose of this invention is to provide a parking space-to-parking space navigation assistance control method, system and vehicle to achieve navigation assistance from the starting parking space to the target parking space.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a parking space-to-parking space navigation assistance control method, comprising the following steps: Receive navigation requests from the starting parking space to the target parking space; Based on the navigation request, a high-precision map of the parking lot, real-time parking space status, and dynamic traffic information are obtained, and a global path from the starting parking space to the target parking space is planned according to the high-precision map of the parking lot, real-time parking space status, and dynamic traffic information. The vehicle is located and real-time environmental information is obtained. Based on the global path, a local path is planned according to the location result and the real-time environmental information. Vehicle control commands are generated based on the local path and real-time environmental information; Execute the vehicle control commands until the vehicle reaches the target parking space and completes the parking operation.

[0008] Optionally, the high-precision parking map, real-time parking space status, and dynamic traffic information are acquired via V2I communication, which is vehicle-to-infrastructure communication. The dynamic traffic information includes at least one of traffic control information, recommended routes, and traffic facility status. Acquiring the high-precision parking map, real-time parking space status, and dynamic traffic information via V2I communication provides vehicles with comprehensive parking environment data, helping them better plan their global routes.

[0009] Optionally, the real-time environmental information is obtained through V2V communication, which is vehicle-to-vehicle communication. The real-time environmental information includes at least one of the following: real-time location, speed, heading angle, size, and driving intention of surrounding vehicles. Obtaining relevant information about surrounding vehicles through V2V communication can provide vehicles with comprehensive real-time environmental information, helping them to better plan local routes.

[0010] Optionally, the real-time environmental information also includes at least one of the pedestrian's location and movement trend obtained through V2P communication. Adding V2P communication, which includes the pedestrian's location and movement trend in the real-time environmental information, further improves the vehicle's perception of the surrounding environment, enabling the vehicle to detect pedestrians in a timely manner and take appropriate measures, such as slowing down or avoiding collisions.

[0011] Optionally, the step of locating the vehicle and obtaining real-time environmental information includes: Once the vehicle enters the parking lot where the target parking space is located, it obtains the differential correction signal broadcast by the roadside system and acquires cooperative positioning information through V2X (vehicle-to-everything communication). Based on the differential correction information and cooperative positioning information, and by fusing data from the vehicle's inertial navigation system, wheel speed sensor data, and the vehicle's recognition results of fixed landmarks, the vehicle is located and real-time environmental information is acquired. This multi-source data fusion positioning method can achieve high-precision vehicle positioning even when satellite positioning signals are weak or unavailable in parking lots, providing accurate location information for subsequent path planning and vehicle control, ensuring that the vehicle can accurately travel along the planned path.

[0012] Optionally, the generation of vehicle control commands includes: generating speed and heading commands based on the planned local path, and generating longitudinal and lateral control commands in conjunction with the vehicle dynamics model and the current state; wherein, the longitudinal control adopts a scenario-adaptive speed limit strategy, setting different speed limits based on straight roads, curves, proximity to parking spaces, pedestrians, vehicles, and areas with poor visibility. This allows for setting different speed limits according to different scenarios, such as appropriately increasing speed on straight roads and decreasing speed in curves, proximity to parking spaces, and pedestrian areas, ensuring safe and stable vehicle operation under various conditions while also improving driving efficiency.

[0013] Optionally, when the vehicle approaches the target parking space, the system switches to automatic parking mode or memory parking mode. It utilizes V2I communication to obtain the location, status, and surrounding environment information of the target parking space, combined with onboard sensors, to perform a parking operation, or to perform a temporary stop operation within the target area. This allows the vehicle to park more accurately in the target space, reducing the difficulty and time required for manual parking by the driver, improving parking convenience and accuracy, while also enabling temporary stopping within the target area to meet different user needs.

[0014] Optionally, the process of executing the vehicle control command further includes: Continuously monitor the system status and driver status, and request the driver to take over when the takeover conditions are met; The takeover conditions include at least one of the following: the interruption time of the V2X communication link exceeds a preset time threshold, the preset sensor fails, the positioning accuracy is lower than a preset accuracy threshold, the system determines that the current scene exceeds the processing capacity boundary, and the driver actively intervenes. When the takeover conditions are met, the system issues an alarm and executes a smooth degradation strategy until the driver takes over or the vehicle comes to a safe stop. This improves the system's safety and reliability. When the system malfunctions or encounters a scenario beyond its processing capacity, it can promptly notify the driver to take over the vehicle, preventing accidents. Furthermore, by executing a smooth degradation strategy, such as deceleration and stopping, it provides the driver with sufficient time and safe conditions to take over the vehicle.

[0015] Secondly, the present invention provides a parking space-to-parking space navigation assistance control system, comprising a memory and a controller. The memory stores a computer-readable program, which, when invoked by the controller, can execute the steps of the parking space-to-parking space navigation assistance control method as described in the present invention.

[0016] Thirdly, the vehicle described in this invention employs a parking space-to-parking space navigation assistance control system as described in this invention.

[0017] The present invention has the following unexpected technical effects: (1) The present invention provides a complete navigation and driving assistance experience from the starting parking space to the target parking space, and solves the limitation of the existing system that fails at the entrance of the parking lot.

[0018] (2) This invention utilizes V2X communication to obtain relevant information, enabling early prediction of the dynamics of vehicles and pedestrians at intersections and in blind spots, effectively solving the problems of blind spots and limited field of vision of vehicle-mounted sensors.

[0019] (3) This invention integrates V2X high-precision positioning service, vehicle sensors and map features to ensure continuous and reliable positioning in environments where GPS (Global Positioning System) signals are denied.

[0020] (4) This invention provides users with a highly automated “last mile” parking experience, saving time and reducing driving stress in complex parking environments.

[0021] (5) This invention is deeply integrated with the dynamic parking management platform, realizing parking space reservation, route guidance and facility linkage (gate, elevator).

[0022] (6) Based on global parking space information and dynamic traffic, the present invention plans the optimal route, reduces detours, and can predict dangers in advance and take proactive safety measures.

[0023] In summary, this invention utilizes V2X communication (including vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), and vehicle-to-network (V2N)) to acquire rich real-time information beyond the perception range of onboard sensors. It then fuses this information with the vehicle's own V2I-UWB (ultra-wideband) positioning, INS (inertial navigation system), and LiDAR information to achieve assisted driving navigation and control from the starting parking space to the target parking space. Attached Figure Description

[0024] Figure 1 This is a flowchart of the parking space-to-parking space navigation assistance control method described in the embodiments of this application; Figure 2 This is a schematic diagram of the parking space-to-parking space navigation assistance control system described in the embodiments of this application; Figure 3 This is an overall flowchart of the parking space-to-parking space navigation assistance control method described in the embodiments of this application; Figure 4 This is an architecture diagram of the parking space-to-parking space navigation assistance control system described in the embodiments of this application; In the diagram: 1. Memory, 2. Controller. Detailed Implementation

[0025] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0026] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner to facilitate understanding.

[0027] In the embodiments of this application, at least one can also be described as one or more, and multiple can be two, three, four or more, and this application does not impose any restrictions.

[0028] like Figure 1 As shown in the embodiments of this application, a parking space-to-parking space navigation assistance control method includes the following steps: Receive navigation requests from the starting parking space to the target parking space.

[0029] Based on the navigation request, a high-precision map of the parking lot, real-time parking space status, and dynamic traffic information are obtained, and a global path from the starting parking space to the target parking space is planned according to the high-precision map of the parking lot, real-time parking space status, and dynamic traffic information.

[0030] The system locates the vehicle and obtains real-time environmental information. Based on the global path, it plans a local path using the location results and real-time environmental information.

[0031] Vehicle control commands are generated based on local path and real-time environmental information.

[0032] Execute vehicle control commands until the vehicle reaches the target parking space and completes the parking operation.

[0033] In one possible embodiment, the navigation request is input via an in-vehicle human-machine interface (HMI) or a mobile terminal APP (application), and includes at least information on the starting parking space and the target parking space. The starting parking space can be selected by the user or automatically identified by the vehicle as the current parking location.

[0034] After initiating a navigation request, the system performs a self-check (including the status of the V2X module, the perception system, the positioning system, and the vehicle actuators). Once the activation conditions are met, the system function is activated.

[0035] In one possible embodiment, V2X communication includes V2I communication and V2V communication. V2I communication connects to the roadside unit (RSU) of the parking lot, acquiring information including a high-precision map of the parking lot (containing lanes, parking spaces, intersections, ramps, elevators, entrances / exits, etc.), real-time parking space status, and dynamic traffic information. The dynamic traffic information includes traffic control information (such as construction areas and temporary closures), recommended routes, and the status of traffic facilities (such as gate opening / closing and elevator positions). V2V communication acquires real-time environmental information, including the real-time location, speed, heading angle, size, and driving intentions (such as turn signal status and path planning segments) of surrounding vehicles. If V2P communication is available, it also acquires environmental information such as the location and movement trends of pedestrians.

[0036] Among them, V2I communication is communication between vehicles and infrastructure, V2V communication is communication between vehicles, and V2P communication is communication between vehicles and pedestrians.

[0037] In one possible embodiment, after a vehicle enters the parking lot where the target parking space is located, locating the vehicle and obtaining real-time environmental information specifically includes: The system acquires differential correction signals broadcast by the roadside system and cooperative positioning information via V2X communication. Based on the differential correction information and cooperative positioning information, and by integrating data from the vehicle inertial navigation system, wheel speed sensor data, and the recognition results of fixed landmarks by the onboard perception system, the system locates the vehicle and acquires real-time environmental information to achieve continuous and high-precision vehicle positioning in parking lot environments.

[0038] In one possible embodiment, a global path from the starting parking space to the target parking space is planned based on a high-precision parking map, real-time parking space status, traffic control information (including information obtained from V2V and V2I communication), recommended routes, and traffic facility status. Based on the positioning results and perceived real-time environmental information (information obtained from onboard sensors and V2X communication), local real-time path planning is performed on top of the global path to dynamically avoid static obstacles (reported by V2I communication or perceived by the vehicle) and dynamic obstacles (reported by V2V / V2P communication or perceived by the vehicle), and to respond to traffic rules and traffic facility status (such as waiting for a gate to open or reserving an elevator).

[0039] In one possible embodiment, speed and heading instructions are generated based on the planned local path, and longitudinal control instructions (including acceleration and braking) and lateral control instructions (including steering) are generated by combining the vehicle dynamics model and the current state.

[0040] For example, in key areas such as intersections, merging areas, and narrow passages, V2V communication can be used to exchange passage intentions (such as who goes first) and negotiate (based on preset rules or cloud control platform scheduling) with surrounding vehicles to achieve safe and efficient collaborative passage and avoid deadlock.

[0041] For example, vehicle behavior can be controlled based on traffic signals from the RSU (Roadside Unit) (such as virtual traffic lights), priority instructions (such as electronic instructions for yield signs), and gate control instructions (such as scheduled gate opening).

[0042] For example, based on real-time environmental information provided by V2X communication, potential conflicts (such as vehicles cutting in from blind spots or pedestrians suddenly crossing) can be predicted in advance, and safety measures such as slowing down, avoiding, or stopping can be taken proactively.

[0043] For example, in a parking lot environment, a scenario-adaptive speed limit strategy is adopted, such as different speed limits for straight roads, curves, near parking spaces, near pedestrians, near vehicles, and areas with poor visibility.

[0044] In one possible implementation, when a vehicle approaches a target parking space, the system switches to or enhances to Automatic Parking (APA) or Memory Parking (HPA) mode. It utilizes V2I communication to obtain the location and status of the target parking space (confirming its vacancy) and surrounding environmental information (such as the positions of vehicles in adjacent parking spaces), and combines this with onboard sensors to perform the parking operation. Alternatively, it may temporarily stop at a target area (such as an elevator entrance) to drop off or pick up passengers.

[0045] In one possible embodiment, a parking space-to-parking space navigation assistance control method further includes: The system continuously monitors the driver's status via in-vehicle cameras, steering wheel sensors, or brake pedal sensors to ensure the driver can take over at any time when needed. It also monitors V2X communication link quality, perception system confidence, positioning accuracy, and vehicle execution status in real time. When it detects a V2X communication interruption timeout (i.e., the V2X communication link interruption time exceeds a preset time threshold), preset sensor failure, severely degraded positioning accuracy (i.e., positioning accuracy falls below a preset accuracy threshold), inability to handle complex scenarios (i.e., the system determines the current scenario exceeds its processing capacity), or driver intervention, it immediately issues a clear and explicit takeover request to the driver (including visual, auditory, and tactile alerts) and provides a smooth degrade strategy (such as slowing down and stopping, maintaining the lane until a safe stop). Key data and events during the function's operation are recorded for subsequent analysis and liability determination. Once the vehicle successfully reaches the target parking space and completes the parking operation (or the temporary parking task is completed), the system automatically exits and notifies the user.

[0046] like Figure 3 As shown in the embodiment of this application, a parking space-to-parking space navigation assistance control method has the following specific process: The process begins with the user inputting the target parking space. A system self-check is then performed; if it fails, the user is prompted to take over. If the self-check passes, the system is activated, acquiring parking lot data (including a high-precision map and real-time parking space status) via V2I communication. Fusion positioning calculations and global path planning are then performed, with real-time input of V2V and V2I communication data. Next, it determines if the vehicle is in a critical area. If not, local obstacle avoidance planning is performed, generating individual vehicle control commands (including speed and heading commands, longitudinal control commands, and lateral control commands). If so, collaborative passage decisions are made, generating collaborative control commands (including speed and heading commands, longitudinal control commands, and lateral control commands). Both individual and collaborative control commands are used for vehicle motion control. During vehicle motion control, it continuously checks if the target area has been reached. If not, real-time input of V2V and V2I communication data continues, and subsequent steps are repeated. If the target area has been reached, the automatic parking mode is switched, parking is performed, and the function terminates. In addition, after the system self-check activation is successful, a security monitoring thread will be started. If an anomaly is detected, such as communication interruption or location failure, a degradation strategy will be triggered and the user will be prompted to take over. If the anomaly detected is a situation that requires driver intervention, the driver will take over the vehicle immediately.

[0047] The following example illustrates how a user navigates from their home parking space to their target parking space in the shopping mall: Users select a shopping mall and reserve a target parking space via a mobile app from their home parking space, activating the navigation assistance function. After the vehicle self-checks and activates the function, it obtains public road navigation information from its home to the mall entrance via V2N communication or cellular network from the cloud or directly via V2I communication (if the community has a RSU) (or relies on in-vehicle navigation). The vehicle drives out of its own parking space (this may require simple remote control or automatic exit). On public roads, it can be used in conjunction with traditional navigation assistance functions. When the vehicle approaches the mall parking lot entrance, it establishes a connection with the parking lot's RSU via V2I communication and sends the target parking space information. The RSU sends a high-precision map of the parking lot, real-time parking space status (confirming vacancy), and dynamic traffic information (such as congested areas and recommended entrance routes). Upon entering the target parking lot (GPS signal may weaken / disappear), the vehicle uses fusion positioning (V2I differential positioning + INS inertial navigation + wheel speed + landmark recognition). Based on the information provided by the RSU and real-time V2V data (sensing surrounding vehicles), the system plans the optimal route to the target parking space area. When a vehicle approaches a complex intersection, Vehicle A and the oncoming vehicle B exchange positions, speeds, and travel intentions (e.g., Vehicle A goes straight, Vehicle B turns left) via V2V communication. Based on preset negotiation rules (e.g., the vehicle closer to the intersection with the right-of-way goes first, or based on RSU scheduling), a passage order is determined to avoid conflicts. Upon approaching the target parking space, the system switches (or enhances) to APA (Automatic Parking Assist) (or HPA (Home Domain Memory Parking)) mode. The RSU provides precise coordinates of the target parking space and a snapshot of the surrounding environment (e.g., the positions of vehicles on both sides). Onboard sensors (ultrasonic radar, surround-view cameras) provide detailed perception. The vehicle performs an automatic parking maneuver. Once parking is complete, the system exits and notifies the user via a mobile app.

[0048] like Figure 2 As shown in the embodiments of this application, a parking space-to-parking space navigation assistance control system includes a memory 1 and a controller 2. The memory 1 stores a computer-readable program. When the computer-readable program is called by the controller 2, it can execute the steps of the parking space-to-parking space navigation assistance control method as described in the embodiments of this application.

[0049] In this embodiment of the application, a vehicle employs a parking space-to-parking space navigation assistance control system as described in this embodiment of the application.

[0050] like Figure 4As shown, in one possible embodiment, the vehicle needs to have a controller (decision control layer), a fusion positioning module, an actuator, a V2V communication module, and a V2I communication module. The decision control layer has a three-layer decision architecture, including a global planning layer, a local obstacle avoidance layer, and a collaborative decision layer. The global planning layer is used for global path planning. The local obstacle avoidance layer is used for local path planning. The collaborative decision layer is used to generate vehicle control commands (including speed, heading, longitudinal, and lateral control commands) based on the local path and real-time environmental information, combined with V2X collaborative decision-making. The fusion positioning module includes V2I-UWB positioning, INS inertial navigation, and LiDAR. V2I-UWB positioning applies ultra-wideband technology to vehicle-to-infrastructure communication to achieve accurate positioning. INS inertial navigation is the vehicle inertial navigation system. The vehicle interacts with surrounding vehicles through the V2V communication module and also interacts with the roadside unit (RSU) through the V2I communication module. If the vehicle also has a V2P communication module, it can also communicate with pedestrians.

[0051] like Figure 3 As shown, in one possible embodiment, the roadside system includes a Roadside Unit (RSU), a UWB positioning base station communicating with the RSU, an edge computing node, and an environmental perception system. The roadside system also interacts with the cloud platform via V2N (vehicle-to-network) communication.

[0052] like Figure 3 As shown, in one possible embodiment, the cloud platform has a high-precision map server (stores and distributes high-precision parking lot maps via V2I), a dynamic parking space management platform (stores and distributes real-time parking space status via V2I), and a facility intelligent scheduling system (stores and distributes traffic facility status (such as turnstiles and elevators) and dynamic traffic information (such as controlled areas) via V2I).

[0053] like Figure 4 As shown, in one possible embodiment, the actuator is used to execute speed and heading commands, longitudinal control commands, and lateral control commands, etc.

[0054] The above description of specific embodiments will make it clear to those skilled in the art that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0055] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A parking space-to-parking space navigation assistance control method, characterized in that, Includes the following steps: Receive navigation requests from the starting parking space to the target parking space; Based on the navigation request, a high-precision map of the parking lot, real-time parking space status, and dynamic traffic information are obtained, and a global path from the starting parking space to the target parking space is planned according to the high-precision map of the parking lot, real-time parking space status, and dynamic traffic information. The vehicle is located and real-time environmental information is obtained. Based on the global path, a local path is planned according to the location result and the real-time environmental information. Vehicle control commands are generated based on the local path and real-time environmental information; Execute the vehicle control commands until the vehicle reaches the target parking space and completes the parking operation.

2. The parking space-to-parking space navigation assistance control method according to claim 1, characterized in that, The high-precision map of the parking lot, real-time parking space status, and dynamic traffic information are obtained through V2I communication, which is vehicle-to-infrastructure communication; wherein, the dynamic traffic information includes at least one of traffic control information, recommended routes, and traffic facility status.

3. The parking space-to-parking space navigation assistance control method according to claim 1, characterized in that, The real-time environmental information is obtained through V2V communication, which is vehicle-to-vehicle communication; the real-time environmental information includes at least one of the following: real-time location, speed, heading angle, size, and driving intention of surrounding vehicles.

4. The parking space-to-parking space navigation assistance control method according to claim 1, characterized in that, The real-time environmental information also includes at least one of the pedestrian's location and movement trend obtained through V2P communication.

5. The parking space-to-parking space navigation assistance control method according to claim 1, characterized in that, The process of locating the vehicle and obtaining real-time environmental information includes: Once the vehicle enters the parking lot where the target parking space is located, it obtains the differential correction signal broadcast by the roadside system and acquires cooperative positioning information through V2X communication. Based on the differential correction information and cooperative positioning information, and by integrating vehicle inertial navigation system data, wheel speed sensor data, and the vehicle perception system's recognition results of fixed landmarks, the vehicle is located and real-time environmental information is obtained.

6. The parking space-to-parking space navigation assistance control method according to claim 1, characterized in that, The generated vehicle control commands include: generating speed and heading commands based on the planned local path, and generating longitudinal and lateral control commands in combination with the vehicle dynamics model and the current state; wherein, the longitudinal control adopts a situation-adaptive speed limit strategy, setting different speed limit values ​​according to straight roads, curves, near parking spaces, near pedestrians, near vehicles, and areas with poor visibility.

7. The parking space-to-parking space navigation assistance control method according to claim 1, characterized in that, When the vehicle approaches the target parking space, the system switches to automatic parking mode or memory parking mode, uses V2I communication to obtain the location, status and surrounding environment information of the target parking space, and performs parking operation in combination with onboard sensors, or performs temporary parking operation in the target area.

8. The parking space-to-parking space navigation assistance control method according to claim 1, characterized in that, The process of executing the vehicle control commands also includes: Continuously monitor the system status and driver status, and request the driver to take over when the takeover conditions are met; The takeover conditions include at least one of the following: the interruption time of the V2X communication link exceeds a preset time threshold, the preset sensor fails, the positioning accuracy is lower than a preset accuracy threshold, the system determines that the current scene exceeds the processing capacity boundary, and the driver actively intervenes. When the takeover conditions are met, the system issues an alarm and executes a smooth degrading strategy until the driver takes over or the vehicle comes to a safe stop.

9. A parking space-to-parking space navigation assistance control system, characterized in that, It includes a memory (1) and a controller (2), wherein the memory (1) stores a computer-readable program, which, when invoked by the controller (2), can execute the steps of the parking space-to-parking space navigation assistance control method as described in any one of claims 1 to 8.

10. A vehicle, characterized in that, The parking space-to-parking space navigation assistance control system as described in claim 9 is adopted.

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