Method for controlling autonomous valet system pathing for a motor vehicle

• US 10,338,586 B2
• Filed: 08/19/2016
• Issued: 07/02/2019
• Est. Priority Date: 08/19/2016
• Status: Active Grant

• Current Assignee: Ohio State Innovation Foundation (Ohio State University), New Eagle LLC (Woodward Incorporated)
• Original Assignee: Dura Operating LLC (Dura Automotive Systems)
• Inventors: Kurt, Arda, Redmill, Keith, Ozguner, Umit, Thomas, Gordon
• Primary Examiner(s): Odeh, Nadeem
• Application Number:
  US15/242,175
• Publication Number:
  US 20180052460A1
• Time in Patent Office: 1,047 Days
• Field of Search: 701 25
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G01C 21/3685 the POI's being parking facilities
• CPC Class Codes: G05D 1/0282 generated in a local control room
• CPC Class Codes: G08G 1/143 inside the vehicles
• CPC Class Codes: G08G 1/144 on portable or mobile units, e.g. personal digital assistant [PDA]
• CPC Class Codes: G08G 1/146 where the parking area is a limited parking space, e.g. parking garage, restricted space
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method for autonomously parking or un-parking a motor vehicle includes receiving a map of a parking area having a first temporary obstruction zone, determining a starting location of the motor vehicle relative to the parking area, selecting a destination location within the parking area, setting the first temporary obstruction zone as operative or inoperative, generating a path from the starting location to the destination location, wherein the path does not enter the first temporary obstruction zone when operative, and driving the motor vehicle autonomously along the path from the starting location of the motor vehicle to the destination location.

Claims

1. A method for autonomously driving a motor vehicle, the method comprising:

receiving a map having a first temporary obstruction zone;

determining a starting location of the motor vehicle on the map;

selecting a destination location within the map, wherein the first temporary obstruction zone is located between the starting location and the destination location;

setting the first temporary obstruction zone as operative or inoperative, wherein the first temporary obstruction zone does not contain an object;

generating a path from the starting location to the destination location, wherein generating the path comprises the steps of;

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

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

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

(d) generating another set of nodes from the selected node;

(e) assigning a cost to each of the newly generated nodes, wherein the cost is equal to an inherited cost plus a base cost and a change cost, wherein the change cost is a function of a previously generated node;

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

(g) repeating steps (d)-(f) until a lowest cost node is located at the destination location; and

(h) setting a path from the starting location of the motor vehicle to the destination location comprising the last selected lowest cost node and parent nodes connected to the last selected lowest cost node,

wherein nodes are not generated in the first temporary obstruction zone when set as operative and nodes are generated in the first temporary obstruction zone when set as inoperative; and

driving the motor vehicle autonomously along the path from the starting location of the motor vehicle to the destination location.

2. The method of claim 1 wherein the first temporary obstruction zone is a lane in the map.

3. The method of claim 1 wherein the map includes a right side lane and a left side lane along a route from the starting location to the destination location, and the first temporary obstruction zone covers the right side lane and the first temporary obstruction zone is set as inoperative.

4. The method of claim 1 wherein the map includes a right side lane and a left side lane along a route from the starting location to the destination location, and the first temporary obstruction zone covers the left side lane and the first temporary obstruction zone is set as operative.

5. The method of claim 1,

wherein the map includes a second temporary obstruction zone adjacent the first temporary obstruction zone,

wherein the first temporary obstruction zone is operative to prevent the path from generating on a left hand side of a route from the starting location to the destination location, and

wherein the second temporary obstruction zone is inoperative to allow the path to generate on a right hand side of the route.

6. The method of claim 1 wherein the destination location is an open parking spot in a parking area.

7. The method of claim 1 wherein the destination location is a location of a mobile device in communication with the motor vehicle.

8. The method of claim 1 further comprising generating a permanent obstruction zone on the map that is always operative, wherein the path does not enter the permanent obstruction zone.

9. The method of claim 8 wherein the permanent obstruction zone covers a fixed object located in the map.

10. The method of claim 1, wherein the step of receiving the map having the first temporary obstruction zone includes receiving the map from a parking area infrastructure.

11. The method of claim 10, wherein the step of setting the first temporary obstruction zone as operative or inoperative is performed by the parking area infrastructure.

12. The method of claim 1, wherein the destination is set by an operator of the motor vehicle or by the parking area infrastructure.

13. A method for autonomously valet parking a motor vehicle, the method comprising:

initiating a park function;

receiving a map of a parking area from a parking area infrastructure, the map having a plurality of parking spots, a first temporary obstruction zone and a second temporary obstruction zone, wherein the first and second temporary obstruction zones are in lanes, do not contain an object and are each selectively flagged as operative or inoperative by the parking area infrastructure;

determining a starting location of the motor vehicle relative to the parking area;

selecting a parking spot within the parking area;

generating a path from the starting location to the parking spot wherein the path does not enter the first or second temporary obstruction zones when operative, wherein generating the path comprises the steps of;

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

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

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

(d) generating another set of nodes from the selected node;

(e) assigning a cost to each of the newly generated nodes, wherein the cost is equal to an inherited cost plus a base cost and a change cost, wherein the change cost is a function of a previously generated node;

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

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

(h) setting a path from the starting location of the motor vehicle to the parking spot comprising the last selected lowest cost node and parent nodes connected to the last selected lowest cost node, wherein nodes are not generated in the first temporary obstruction zone when operative and nodes are not generated in the second temporary obstruction zone when operative; and

driving the motor vehicle autonomously along the path from the starting location of the motor vehicle to the parking spot.

14. The method of claim 13 further comprising:

initiating an un-park function;

selecting a destination location;

generating a path from the parking spot to the destination location wherein the path does not enter either the first or second temporary obstruction zones when operative; and

driving the motor vehicle autonomously along the path from the parking spot to the destination location.

15. An automatic valet method comprising:

receiving a map of a parking area having a plurality of temporary obstruction zones that can be selectively flagged as either operative or inoperative by a parking area infrastructure, wherein the plurality of temporary obstruction zones do not contain an object;

determining a starting location of a motor vehicle relative to the parking area;

determining a parking spot within the parking area;

determining a pick-up location relative to the parking area;

generating a first path from the starting location to the parking spot;

generating a second path from the parking spot to the pick-up location, wherein the first path includes an approach phase and a parking phase, wherein the second path includes an un-parking phase and a return phase, and wherein the approach phase, parking phase, un-parking phase, and return phase are not generated within a temporary obstruction zone when flagged as operative,

wherein generating the first path comprises the steps of;

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

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

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

(d) generating another set of nodes from the selected node;

(e) assigning a cost to each of the newly generated nodes, wherein the cost is equal to an inherited cost plus a base cost and a change cost, wherein the change cost is a function of a previously generated node;

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

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

(h) setting the first path comprising the last selected lowest cost node and parent nodes connected to the last selected lowest cost node,

wherein nodes are not generated in the first temporary obstruction zone when operative and nodes are generated in the first temporary obstruction zone when inoperative; and

wherein generating the second path comprises the steps of;

(a) generating a second set of nodes from the parking spot;

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

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

(d) generating another set of nodes from the selected node;

(e) assigning a cost to each of the newly generated nodes, wherein the cost is equal to an inherited cost plus a base cost and a change cost, wherein the change cost is a function of a previously generated node;

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

(g) repeating steps (d)-(f) until a lowest cost node is located at the pick-up location; and

(h) setting the second path comprising the last selected lowest cost node and parent nodes connected to the last selected lowest cost node,

wherein nodes are not generated in the first temporary obstruction zone when operative and nodes are generated in the first temporary obstruction zone when inoperative; and

driving the motor vehicle autonomously along the first path and the second path.

16. The method of claim 15 wherein the plurality of temporary obstruction zones include left and right side lanes in the parking area.

17. The method of claim 15 wherein the plurality of temporary obstruction zones include portions of the parking area that covers one or more parking spots in the parking area.

18. The method of claim 15 wherein the plurality of temporary obstruction zones when operative define a route in the approach phase and the return phase.