A control system for parking a vehicle uses a directed graph representing a traffic network within parking space to determine a coarse path subsequently refined to control the vehicle according to refined path. The directed graph includes waypoints connected by edges, a waypoint defines a position and an orientation, while edge defines a collision free path for the vehicle. The coarse path is selected as a shortest route of waypoints connecting an initial waypoint on the directed graph closest to the initial state of the vehicle with a target waypoint on the directed graph closest to the target state of the vehicle. The refined path is a path on a tree constructed to reduce a deviation of a cost of a motion defined by a refined path connecting the initial node with the target node of the tree from a cost of the coarse path defining the route of waypoints.
Autonomous Parking with Hybrid Exploration of Parking Space
2022-03-10
Patent
Electronic Resource
English
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 |
AUTONOMOUS PARKING WITH HYBRID EXPLORATION OF PARKING SPACE
European Patent Office | 2023
|Autonomous parking with hybrid exploration of parking space
European Patent Office | 2023
|AUTONOMOUS PARKING WITH HYBRID EXPLORATION OF PARKING SPACE
European Patent Office | 2022
|Empty parking space recommendation method suitable for autonomous parking in parking lot
European Patent Office | 2024
|Inclined parking space parking method and device for autonomous vehicle
European Patent Office | 2023
|