Planning parking trajectory generation for self-driving vehicles using optimization method

Abstract

A parking system for autonomous driving vehicles optimizes a solution to a parking problem. The ADV detects a parking lot and selects a parking space. The ADV defines constraints for the parking lot,parking space, and kinematic constraints of the ADV, and generates a plurality of potential parking paths to the parking space, taking into account the constraints of the parking lot, parking space, and kinematics of the ADV, but without taking into any obstacles that may be surrounding the ADV. The ADV determines a cost for traversing each of the parking paths. One or more least cost candidate paths are selected from the parking paths, then one or more candidate paths are eliminated based on obstacles surrounding the ADV. Remaining candidates can be analyzed using a quadratic optimization system. A best parking path can be selected from the remaining candidates to navigate the ADV to the parking space.

Description

technical field [0001] Embodiments of the present disclosure generally relate to operating an autonomous vehicle. More specifically, embodiments of the present disclosure relate to parking planning to optimize parking planning for autonomous vehicles (ADVs) in the presence of potential obstacles. Background technique [0002] Parking planning is important when navigating an autonomous vehicle (ADV) to a parking space around one or more moving obstacles on the ADV's route. In the prior art, the parking planning algorithm uses a zigzag (z-zag) algorithm, which considers the static obstacles immediately surrounding the parked vehicle. Such obstacles may include other parked cars, road curbs, and other fixed obstacles. Parking logic in a vehicle that provides an automated parking assist feature for a human driver detects objects around the vehicle, but does not predict the object's location, velocity, and direction. Thus, the obstacle may not be close to the moving vehicle in...

AI Technical Summary

Problems solved by technology

[0004] The solution to the parking problem is computationally expensive in the state of the art

Some do not produce a solution for 100 seconds or more, which is an unacceptable delay for passenger parking and ADV

Additionally, some prior art solutions do not guarantee a solution to the parking problem at all

Furthermore, some prior art solutions are not guaranteed to solve the parking problem at all

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