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Directing vehicle into feasible region for autonomous and semi-autonomous parking

  • US 8,862,321 B2
  • Filed: 08/15/2012
  • Issued: 10/14/2014
  • Est. Priority Date: 08/15/2012
  • Status: Active Grant
First Claim
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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:

  • 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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