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Method for autonomously parking a motor vehicle for head-in, tail-in, and parallel parking spots

  • US 10,012,986 B2
  • Filed: 08/19/2016
  • Issued: 07/03/2018
  • Est. Priority Date: 08/19/2016
  • Status: Expired due to Fees
First Claim
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1. A method for autonomously parking a motor vehicle, the method comprising:

  • receiving a map of a parking area;

    locating the motor vehicle relative to the parking area;

    selecting a parking spot within the parking area;

    generating a plurality of paths each having a cost function from the location of the motor vehicle to the parking spot;

    selecting a path from the plurality of paths based on the cost function, wherein the path connects the location of the motor vehicle to proximal the parking spot;

    autonomously driving the motor vehicle along the path from the location of the motor vehicle to an intermediate location on the path; and

    performing a parking maneuver into the parking spot from the intermediate location;

    wherein generating the plurality of paths includes generating a node tree which includes;

    (a) generating a first set of nodes from the location of the motor vehicle;

    (b) assigning a cost to each node in the first set of nodes;

    (c) selecting a lowest cost node from the first set of nodes;

    (d) generating another set of nodes linked to the selected node and offset from the selected node by a fixed distance and a steering angle;

    (e) assigning a cost to each of the newly generated nodes, wherein the cost of a node is equal to a base cost plus an inherited cost from the selected node, a turning cost, and a reverse cost if the newly generated node is behind the selected node;

    (f) selecting a lowest cost node from all of the nodes; and

    (g) repeating steps (d)-(f) until a lowest cost node is located at the parking spot.

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