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Method of generating optimum parking path of unmanned driving vehicle, and unmanned driving vehicle adopting the method

  • US 9,254,870 B2
  • Filed: 05/13/2014
  • Issued: 02/09/2016
  • Est. Priority Date: 11/08/2013
  • Status: Active Grant
First Claim
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1. A method of generating an optimum parking path of an unmanned driving vehicle, which is performed by a controller in the unmanned driving vehicle, the method comprising:

  • generating a reference parking path by selectively combining a plurality of operations which comprise head-in straight driving, head-out straight driving, head-in left turning, head-out left turning, head-in right turning, and head-out right turning;

    changing a moving distance in the reference parking path to find a parking path in which an average obstacle distance, which is an average distance between at least one near-to-path obstacle and the unmanned driving vehicle, is longest among a plurality of candidate parking paths;

    setting the parking path having the longest average obstacle distance, as the optimum parking path in response to the longest average obstacle distance being longer than a predetermined limited distance; and

    controlling the unmanned driving vehicle to perform a parking operation based on the optimum parking path,wherein the changing the moving distance further comprises;

    obtaining the average distance between the at least one near-to-path obstacle and the unmanned driving vehicle in one parking path,wherein the obtaining the average distance between the at least one near-to-path obstacle and the unmanned driving vehicle in one parking path comprises;

    calculating a shortest distance between the at least one near-to-path obstacle and the unmanned driving vehicle in respective positions when assuming that the positions of the unmanned driving vehicle are disposed to overlap each other along the parking path; and

    totaling results of the calculated shortest distance, and setting a value which is obtained by the totaling of the results as the average distance.

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