关键词: 自动泊车；整车控制器；插电式混动；状态控制；控制策略

Abstract: From the perspective of vehicle control unit, this paper expounds in detail the logical control and implementation of the automatic parking strategy based on BYD plug-in hybrid vehicle. After the driver turns on the automatic parking function, the entry and exit conditions of automatic parking are judged by the vehicle controller, and the vehicle state switching in the process of automatic parking is realized by the state machine switching. Multiple controllers cooperate with each other to realize the automatic parking torque output, control the vehicle forward reverse, turn and other actions to realize the automatic parking function of the vehicle in the application scenarios such as reverse warehousing and horizontal parking. After parking, the driver confirms the parking state and operates the gear to exit automatic parking. This paper provides ideas for the landing mass production of automatic parking, and provides a reference for the research and development of automatic parking.

Key words: Automatic parking; Vehicle control unit; Plug in hybrid; State control; Control strategy