In one embodiment, a path for parking is planned in operating an autonomous driving vehicle (ADV). The operations comprises: determining a plurality of sample points; determining a plurality of candidate paths connecting a start point and an end point for parking, each of the candidate paths passing through one of the sample points; determining a cost associated with each of the plurality of candidate paths; determining one or more candidate paths from the plurality of candidate paths that meet a boundary check requirement; selecting as the planned path a candidate path associated with a lowest cost that meets the boundary check requirement; determining a speed profile based on the planned path and an environment of the ADV; and generating driving signals based at least in part on the speed profile to control operations of the ADV to perform parking along the planned path.


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    Titel :

    Spiral curve based vertical parking planner system for autonomous driving vehicles


    Beteiligte:
    MA LIN (Autor:in) / ZHU FAN (Autor:in) / XU XIN (Autor:in)

    Erscheinungsdatum :

    23.11.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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