Directing vehicle into feasible region for autonomous and semi-autonomous parking
First Claim
1. A method of guiding a vehicle to a region for initiating a parallel parking maneuver, the method comprising the steps of:
- determining, by a processor, a region of feasible starting locations to successfully perform a parallel parking maneuver, the region of feasible starting locations including a region where the vehicle can feasibly initiate an execution of the parallel parking maneuver to a final parking position;
determining a position of the vehicle relative to the region of feasible starting locations if the vehicle is not within the region of feasible starting locations;
determining whether the vehicle is in a zero heading position relative to the road of travel;
guiding the vehicle along an initial target path by controlling a steering actuator until the vehicle is in a zero heading position relative to the road of travel in response to the determination that the vehicle is not initially in the zero heading position;
generating, by the processor, a planned path that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined, the two arc-trajectories including clothoids; and
controlling the steering actuator to follow the planned path to the region of feasible starting locations.
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Accused Products
Abstract
A method of guiding a vehicle to a region for initiating a parallel parking maneuver. A region of feasible starting locations for successfully performing a parallel parking maneuver is determined by a processor. A position of the vehicle relative to the region of feasible starting locations is determined. A determination is made whether the vehicle is in a zero heading position. The vehicle is guided along an initial target path by controlling a steering actuator until the vehicle is in a zero heading position relative to the road of travel in response to the vehicle is not in the zero heading position. A planned path is generated that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined by the processor. The steering actuator is controlled to follow the planned path to the feasible region.
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Citations
21 Claims
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1. A method of guiding a vehicle to a region for initiating a parallel parking maneuver, the method comprising the steps of:
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determining, by a processor, a region of feasible starting locations to successfully perform a parallel parking maneuver, the region of feasible starting locations including a region where the vehicle can feasibly initiate an execution of the parallel parking maneuver to a final parking position; determining a position of the vehicle relative to the region of feasible starting locations if the vehicle is not within the region of feasible starting locations; determining whether the vehicle is in a zero heading position relative to the road of travel; guiding the vehicle along an initial target path by controlling a steering actuator until the vehicle is in a zero heading position relative to the road of travel in response to the determination that the vehicle is not initially in the zero heading position; generating, by the processor, a planned path that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined, the two arc-trajectories including clothoids; and controlling the steering actuator to follow the planned path to the region of feasible starting locations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An autonomous parking system for parallel parking a driven vehicle comprising:
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a steering module for autonomously pivoting steerable wheels of the vehicle; a processor communicating with the steering module for autonomously controlling the pivoting wheels of the vehicle; a sensing device for detecting objects proximate to the driven vehicle, the sensing device communicating with the controller for identifying an available parking space, the sensing device further detecting obstacles in a driven path of the vehicle; wherein the processor determines a region of feasible starting locations to successfully perform a parallel parking maneuver by a processor, the region of feasible starting locations including a region where the vehicle can feasibly initiate an execution of the parallel parking maneuver to a final parking position, the processor determining a position of the vehicle relative to the region of feasible starting locations if the vehicle is not within the region of feasible starting locations, the processor determining whether the vehicle is in a zero heading position relative to the road of travel, wherein the processor and steering module cooperatively guide the vehicle along an initial target path until the vehicle is in a zero heading position relative road of travel in response to determining that the vehicle is not in the zero heading position, wherein the processor generates a planned path that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined by the processor, wherein the two arc-trajectories includes clothoids, and wherein the processor controls the steering module to follow the planned path to the region of feasible starting locations. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification