To optimize parking planning for autonomous driving vehicles (ADVs) in the presence of potential obstacles.SOLUTION: An ADV detects a parking lot and selects a parking space. The ADV defines constraints used for the parking lot and parking space, and kinematic constraints of the ADV, and generates a plurality of potential parking paths to the parking space, taking into account the constraints of the parking lot, parking space, and kinematics of the ADV, but without taking into any obstacles that may be surrounding the ADV. The ADV determines a cost for traversing each of the parking paths. One or more least cost candidate paths are selected from the parking paths, then one or more candidate paths are eliminated based on obstacles surrounding the ADV. Remaining candidates can be analyzed using a quadratic optimization system. A best parking path is selected from the remaining candidates to navigate the ADV to the parking space.SELECTED DRAWING: Figure 5

    【課題】潜在的な障害物の存在下で、自動運転車両(ADV)のための駐車計画を最適化する。【解決手段】ADVは、駐車場を検出して駐車スペースを選択する。ADVは、駐車場、駐車スペースに用いられる制約及びADVの運動学的制約を定義し、ADVの周辺に存在可能な如何なる障害物を考慮せず、駐車場、駐車スペース及びADVの運動学的制約を考慮して駐車スペースへの複数の潜在的な駐車経路を生成する。ADVは、それぞれの駐車経路を通過するコストを確定する。駐車経路から一つ又は複数の最小コスト候補経路を選択し、ADVを囲む障害物に基づいて一つ又は複数の候補経路を排除する。残りの候補は、二次最適化システムを用いて分析することができる。残りの候補から最適な駐車経路を選択して、ADVを駐車スペースにナビゲートする。【選択図】図5


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    Title :

    PLANNING PARKING TRAJECTORY GENERATION FOR SELF-DRIVING VEHICLES USING OPTIMIZATION METHOD


    Additional title:

    最適化方法による自動運転車両のための計画駐車軌跡の生成


    Contributors:
    LUO QI (author) / LI DONG (author) / ZHANG YAJIA (author) / ZHANG LIANGLIANG (author) / JIANG YIFEI (author) / TAO JIAMING (author) / XU KECHENG (author) / HU JIANGTAO (author)

    Publication date :

    2020-01-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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



    Planning parking trajectory generation for self-driving vehicles using optimization method

    LUO QI / LI DONG / ZHANG YAJIA et al. | European Patent Office | 2021

    Free access

    PLANNING PARKING TRAJECTORY GENERATION FOR SELF-DRIVING VEHICLES USING OPTIMIZATION METHOD

    LUO QI / LI DONG / ZHANG YAJIA et al. | European Patent Office | 2020

    Free access

    PLANNING PARKING TRAJECTORY FOR SELF-DRIVING VEHICLES

    LI DONG / LUO QI / ZHANG LIANGLIANG et al. | European Patent Office | 2020

    Free access

    Planning parking trajectory for self-driving vehicles

    LI DONG / LUO QI / ZHANG LIANGLIANG et al. | European Patent Office | 2021

    Free access