Autonomous parking with hybrid exploration of parking space
US11767035B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 4, 2020 |
| Grant date | Sep 26, 2023 |
| Priority date | — |
| Expiry date | Sep 4, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/3453
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.