A parking system for autonomous driving vehicles optimizes a solution to a parking problem. The ADV detects a parking lot and selects a parking space. The ADV defines constraints for the parking lot, 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 can be selected from the remaining candidates to navigate the ADV to the parking space.


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    Title :

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


    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 :

    2021-09-14


    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06K Erkennen von Daten , RECOGNITION OF DATA



    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 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