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发明公开
CN110696821A 全自动泊车控制方法、设备、存储介质及装置 有权

全自动泊车控制方法、设备、存储介质及装置
摘要：
本发明公开了一种全自动泊车控制方法、设备、存储介质及装置，该方法包括：获取待控制车辆全自动泊车APA系统的使能信号、待控制车辆的换挡杆位置信号及变速箱信息，根据所述使能信号、所述换挡杆位置信号及所述变速箱信息判断是否进入APA模式，若进入APA模式，则接收车身电子稳定ESP系统发出的变速箱控制单元TCU状态信号、电动助力转向系统EPS发出的档位请求信号，并获取待控制车辆的变速箱实际档位，根据所述TCU状态信号、所述档位请求信号及所述变速箱实际档位确定APA系统实际工作状态，预设时间内持续接收ESP系统发出的当前TCU状态信号，并根据所述当前TCU状态信号及所述APA系统实际工作状态进行泊车，实现在TCU侧开发APA系统。
摘要（英）：

The invention discloses a full-automatic parking control method and device, a storage medium and a device. The method comprises the following steps of acquiring an enabling signal of a full-automaticparking APA system of a to-be-controlled vehicle, a shift lever position signal of the to-be-controlled vehicle and the gearbox information; judging whether to enter an APA mode or not according to the enabling signal, the shift lever position signal and the gearbox information; if entering APA mode, receiving a TCU (transmission control unit) state signal sent by an ESP (electronic stability program) system of a vehicle body and a gear request signal sent by an EPS (electric power steering) system, and obtaining the actual gear of a gearbox of the vehicle to be controlled; determining the actual working state of the APA system according to the TCU state signal, the gear request signal and the actual gear of the gearbox, and continuously receiving the current TCU state signal sent by the ESP system within a preset time, and parking according to the current TCU state signal and the actual working state of the APA system, thereby developing the APA system at the TCU side.

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