This document describes techniques and systems for performing a parking path search using a modified parking path algorithm. An example parking system can obtain an initial pose and a goal pose of a host vehicle and an obstacle map for a parking environment. The parking system can then use a parking path algorithm to determine first waypoints for a parking path. In response to a number of run-time iterations being greater than a threshold, the parking system can select an intermediate source node closest to the goal pose. The parking path algorithm can then be used to determine second waypoints from the intermediate source node to the goal pose. The host vehicle can then be controlled to park using the first waypoints and the second waypoints. In this way, a parking path search is performed more efficiently, while still generating a path close to the globally-optimal solution.
Parking Path Search Using a Modified Parking Path Algorithm
2024-09-26
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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