Path planning method for computing optimal parking maneuvers for road vehicles and corresponding system
US10960876B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Jun 28, 2018 |
| Grant date | Mar 30, 2021 |
| Priority date | — |
| Expiry date | Feb 15, 2039 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2050/0034
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Path planning method for computing optimal parking maneuvers for road vehicles including the steps of computing a set of value functions of a cost function of parking maneuvers reaching the target set of states as unique viscosity solution of a Hamilton Jacobi Bellman equation, supplying the set of value functions, together with a starting state of the vehicle, as input to the dynamic programming calculation procedure calculating at least the set of vehicle controls. The set of equations modeling the evolution of the state of said road vehicle is a switched system of equations between a first sub-system if the vehicle is in forward motion and a second sub-system if the vehicle is in reverse motion. The cost function takes into account the arrival time a number of direction changes of the road vehicle between forward motion and reverse motion.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.