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

摘要： 论文从汽车整车控制器的视角出发，详细阐述了基于比亚迪插电式混动汽车的自动泊 车策略的逻辑控制及实现方式。在驾驶员开启自动泊车功能后，通过整车控制器判断自动泊 车的进入、退出条件，通过状态机切换的方式，实现自动泊车过程中的车辆状态切换，多控 制器相互协作实现自动泊车扭矩输出，控制车辆前进、后退、转向等动作，实现车辆在倒车 入库、水平泊车等应用场景下的自动泊车功能，泊车完成后由驾驶员确认泊车状态操作挡位 退出自动泊车。论文为自动泊车的落地量产提供思路，为自动泊车研究和发展提供参考。

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