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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    Title :

    SPIRAL CURVE BASED VERTICAL PARKING PLANNER SYSTEM FOR AUTONOMOUS DRIVING VEHICLES


    Additional title:

    AUF SPIRALKURVE BASIERENDES VERTIKALES PARKPLANUNGSSYSTEM FÜR AUTONOM FAHRENDE FAHRZEUGE
    SYSTÈME DE PLANIFICATION DE STATIONNEMENT VERTICAL FONDÉ SUR UNE COURBE EN SPIRALE POUR VÉHICULES À CONDUITE AUTONOME


    Contributors:
    MA LIN (author) / ZHU FAN (author) / XU XIN (author)

    Publication date :

    2021-11-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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