Selecting a parking space using a probabilistic approach

Abstract

This document describes techniques and systems for selecting a parking spot using a probabilistic approach. An example system includes a processor that can determine, using sensor data, whether a plurality of parking spots are available near a host vehicle. Parking-space characteristics (e.g., width, entry turning radius, and longitudinal distance to the parking spot) are determined for each available parking spot using the sensor data. The processor can then select a selected parking spot among the plurality of parking spots based on the parking-space characteristics. The processor or another processor can then control the host vehicle to park in the selected parking spot using an assisted driving system or an autonomous driving system. In this way, the described systems can select and navigate to a parking spot using a probabilistic approach. In some implementations, the processor can select a parking spot and a parking maneuver based on programmable and customizable parking-space characteristics.

Description

Background Technology

[0001] Some vehicles offer autonomous or automatic parking to assist drivers. However, parking systems generally use reverse parking for perpendicular parking spaces. These systems typically require passing through the parking space to confirm its availability and size details. In many parking environments (e.g., congested parking lots), forward perpendicular parking is more natural and practical. Summary of the Invention

[0002] This document describes techniques and systems for selecting parking spaces using probabilistic methods. An example system includes a processor that can use sensor data to determine whether multiple parking spaces are available near (e.g., ahead of) a primary vehicle. The sensor data is used to determine the parking-space characteristics (e.g., width, entrance turning radius, and longitudinal distance to the parking space) of each available parking space. The processor can then select a parking space from the multiple available spaces based on these parking-space characteristics. The processor, or another processor, can then use a driver assistance system or an autonomous driving system to park the primary vehicle in the selected parking space. In this way, the described system can use probabilistic methods to select and navigate to a parking space. In some implementations, the processor can select a parking space based on programmable and customizable parking-space characteristics.

[0003] The described system can also park the main vehicle in a selected parking space, chosen based on the example above or user input. The system can determine the lateral and longitudinal distances associated with the selected parking space. The system can then determine whether the lateral and longitudinal distances are greater than the minimum inner turning radius of the main vehicle. In response to determining that the lateral and longitudinal distances are greater than the minimum inner turning radius, the processor or another processor can control the main vehicle via an assisted driving system or an autonomous driving system to park in the selected parking space using a single-turn maneuver. In response to determining that the lateral distance is not greater than the minimum inner turning radius, the processor can determine whether the longitudinal distance is greater than a longitudinal threshold, which is based on the minimum inner turning radius or a configurable inner turning radius (e.g., the optimal or preferred inner turning radius for parking maneuvers). In response to determining that the longitudinal distance is greater than the longitudinal threshold, the processor or another processor can control the main vehicle to park in the selected parking space using a double-turn maneuver.

[0004] This document also describes the methods for performing the systems summarized above and other configurations set forth herein, as well as the computer-executable instructions and apparatus for performing these methods.

[0005] This invention describes simplified concepts related to the use of probabilistic methods for selecting parking spaces, as described in the detailed embodiments and accompanying drawings. This invention is not intended to identify essential features of the claimed subject matter, nor is it intended to define the scope of the claimed subject matter. Attached Figure Description

[0006] This document describes in detail one or more aspects of the technique and system for selecting parking spaces using probabilistic methods, with reference to the following figures. Throughout the figures, the same numbers are generally used to refer to similar features and components:

[0007] Figure 1 An example environment is shown in which a parking system can use a probabilistic method to select a parking space according to the technology of this disclosure;

[0008] Figure 2 Another example environment is shown in which the parking system according to the technology of this disclosure can select a parking space or perform parking maneuvers based on parking-space characteristics;

[0009] Figure 3 An example configuration of a vehicle with a parking system that can use probabilistic methods to select parking spaces is shown;

[0010] Figure 4 This demonstrates an example method for a parking system to select parking spaces using a probabilistic approach;

[0011] Figure 5 An example flowchart of the described technique and system for selecting parking spaces using probabilistic methods is shown;

[0012] Figures 6-1 to 6-3 An example selection of a parking space is shown using a probability-based approach according to the technology disclosed herein;

[0013] Figure 7 An example method is shown for a parking system to determine parking maneuvers for a selected parking space;

[0014] Figure 8-1 An example environment is shown in which the parking system can perform a single-turn maneuver for a selected parking space;

[0015] Figure 8-2 An example environment is shown in which the parking system can perform a double-turn maneuver for a selected parking space;

[0016] Figure 8-3 An example environment is shown in which the parking system can perform a double-turn maneuver to reverse into a selected parking space; and

[0017] Figure 9 An example diagram is shown illustrating the available parking maneuvers for parking in a selected parking space. Detailed Implementation

[0018] Overview

[0019] Some vehicles use sensors (e.g., vision-based, radar, lidar, or ultrasonic systems) to provide autonomous or automatic parking. These autonomous or automatic parking systems generally use reverse parking technology and require navigating the parking space to confirm its availability and size.

[0020] Other vehicles can provide automated parking assistance by communicating with infrastructure sensors. For example, cars can be equipped with communication devices (e.g., vehicle-to-the-world (V2X) systems) to communicate with infrastructure sensors in the parking area. Such technologies select parking spaces based on human factors (e.g., proximity to building entrances or parking area entrances).

[0021] In contrast, this document describes a technique and system for selecting parking spaces using a probabilistic approach. The parking system can use sensors on the main vehicle to determine whether multiple parking spaces are available and obtain the parking-space characteristics of each available space. These parking-space characteristics can include width, entrance turning radius, and longitudinal distance to the available parking space. The parking system can then determine the selected parking space based on these parking-space characteristics. An assisted driving system or an autonomous driving system can then control the main vehicle to park in the selected parking space. In this way, the parking system can select parking spaces in congested parking lots and control the main vehicle to perform more natural and practical front-end parking maneuvers.

[0022] As another example, a parking system can determine whether a parking space (e.g., a selected parking space from a previous example) is available. Sensor data can be used to determine the lateral and longitudinal distances associated with the selected parking space. The parking system can determine whether the lateral and longitudinal distances are greater than the minimum turning radius of the primary vehicle. If the lateral and longitudinal distances are greater than the minimum turning radius, the driver assistance system or autonomous driving system can control the primary vehicle to use a single-turn maneuver to park in the selected parking space. If the lateral distance is not greater than the minimum turning radius, but the longitudinal distance is greater than a longitudinal threshold, the driver assistance system or autonomous driving system can control the primary vehicle to use a double-turn maneuver to park in the selected parking space. In this way, the parking system can control the primary vehicle to perform practical parking maneuvers for congested or crowded parking lots based on parking-space characteristics.

[0023] These examples are just two illustrations of the techniques and systems used to select parking spaces and park there using probabilistic methods. This document describes other examples and implementations.

[0024] Operating environment

[0025] Figure 1 An example environment 100 is shown in which a parking system 112 for a vehicle 102 (e.g., a primary vehicle) according to the technology of this disclosure can use a probabilistic method to select a parking space 104. In the depicted environment 100, the vehicle 102 is located in a parking lot or other environment including multiple parking spaces 104. Figure 1 The diagram shows a driving path perpendicular to vehicle 102. In other implementations, parking space 104 may be angled or parallel to the driving path of vehicle 102. Environment 100 includes other vehicles 106 parked in some of the parking spaces 104. Environment 100 also includes multiple available spaces 108; in the depicted environment 100, there are four available spaces 108 in front of vehicle 102.

[0026] Although shown as a passenger truck, vehicle 102 can represent other types of motorized vehicles (e.g., cars, automobiles, motorcycles, buses, tractors, semi-trailers), watercraft (e.g., boats), or aircraft (e.g., airplanes). Similarly, other vehicles 106 can be other types of motorized vehicles, watercraft, aircraft, or other objects located in parking space 104 (e.g., trash cans, shopping carts).

[0027] Vehicle 102 includes one or more sensors 110 and a parking system 112. In the depicted environment 100, the sensors 110 are mounted to or integrated into the front of vehicle 102. As described in more detail below, the sensors 110 may include camera systems, radar systems, lidar systems, or ultrasonic systems. The sensors 110 may provide the parking system 112 with sensor data about parking space 104, other vehicles 106, and available space 108.

[0028] In the depicted implementation, sensor 110 is mounted at the front of vehicle 102 and provides parking-space characteristics of available space 108. Sensor 110 can detect parking-space characteristics from any external surface of vehicle 102. For example, vehicle manufacturers can integrate radar systems, lidar systems, cameras, or ultrasonic sensors into bumpers, side mirrors, headlights, or any other internal or external location where objects and parking spaces 104 need to be detected. In some cases, vehicle 102 includes multiple sensors and / or sensor types (such as radar systems and cameras) that provide a large instrument field of view or improved detection of different parking-space characteristics. Generally, vehicle manufacturers can design the location of sensor 110 to provide a specific field of view encompassing the region of interest. Example fields of view include 180-degree fields of view, one or more 90-degree fields of view, etc., which can overlap or be combined into a field of view of a specific size.

[0029] Parking system 112 can provide assisted or autonomous parking for the driver of vehicle 102. For example, parking system 112 can identify a selected parking space (e.g., an optimal parking space) and perform parking maneuvers based on parking-space characteristics determined from sensor data. Parking-space characteristics may include width, entrance turning radius, and longitudinal distance to each available space 108. As another example, parking system 112 can provide input to an assisted driving system or an autonomous driving system to park vehicle 102 in one of the available spaces 108.

[0030] Parking system 112 may include a parking space selector 114 and a parking maneuver selector 116. Parking system 112, parking space selector 114, and parking maneuver selector 116 may be implemented using hardware, software, firmware, or a combination thereof. Parking space selector 114 may identify available space 108 and select a parking space within the available space 108 of vehicle 102. In this way, parking space selector 114 can select a parking space in a congested parking lot and allow vehicle 102 to perform more natural and practical forward parking maneuvers. Parking maneuver selector 116 may determine the maneuver type (e.g., forward parking, reverse parking, single-turn maneuver, double-turn maneuver) and the maneuver path for parking vehicle 102 into the selected parking space. In this way, parking maneuver selector 116 can control vehicle 102 to perform parking maneuvers without passing through a parking space.

[0031] Figure 2 Another example environment 200 is shown whereby the parking system 112, according to the technology of this disclosure, can select a parking space or perform parking maneuvers based on parking-space characteristics. Figure 1 Similar to environment 100, environment 200 depicts vehicles 102 in a parking lot with multiple parking spaces 104. The parking lot also includes other vehicles 106 and several available spaces 108.

[0032] Parking system 112 can use sensor 110 to determine parking-space characteristics associated with available space 108. Parking-space characteristics may include width 202, entrance turning radius 204, and longitudinal distance 206 associated with each available space 108. Parking system 112 can measure the width 202 associated with available space 108 as an approximate distance between other vehicles 106 parked in adjacent parking spaces. If another vehicle 106 is not parked in an adjacent parking space, the parking system can use a predetermined distance offset from the parking space line as the endpoint for measuring width 202.

[0033] The entrance turning radius 204 represents the radius of the travel path from the current lateral position of vehicle 102 into available space 108. The entrance turning radius 204 can be defined, for example, using the longitudinal center of vehicle 102 and the lateral center 208 of available space. The entrance turning radius 204 can depend on width 202 and longitudinal distance 206. Longitudinal distance 206 can also represent the distance from the front of vehicle 102 to the lateral center 208 of available space 108. Longitudinal distance 206 can also be measured as the distance from the longitudinal position of the rear axle of vehicle 102 to the left edge of the intended parking position of vehicle 102 within available space 108. An intended parking position can be defined to place vehicle 102 within the longitudinal and lateral centers 208 of available space 108. Parking system 112 can use different reference points to define or measure the width 202, entrance turning radius 204, and longitudinal distance 206 associated with available space 108.

[0034] Parking system 112 can also determine other parking-space characteristics associated with available space 108. For example, parking system 112 can determine a lateral distance 210 associated with a parking space. Lateral distance 210 can indicate the distance between another vehicle 106 and vehicle 102 in adjacent parking spaces. Specifically, parking system 112 can measure the distance from the inner edge 212 of the rear axle (e.g., the outer edge of the rear axle closest to available space 108) to the closest portion of another vehicle 106 in the adjacent parking space. Lateral distance 210 can also be measured from a predetermined offset 214 (e.g., a safety distance) from the edge of parking space 104. Alternatively, lateral distance 210 can be measured as an offset distance from the inner edge 212 of the rear axle to the closest portion of another vehicle 106 in the adjacent parking space (e.g., the longitudinal distance between the front and rear axles of vehicle 102).

[0035] Parking system 112 can also determine spatial depth (e.g., longitudinal depth of each available space 108), space type (e.g., accessible for disabled persons, compact car, reserved, electric vehicle only, autonomous vehicle only), adjacent vehicle classification, and shading classification. Adjacent vehicle classification can identify the type of vehicle in adjacent parking spaces (e.g., luxury or expensive vehicles, compact vehicles). Shading classification can indicate whether any shading is currently available or will be available during the expected parking duration. Parking system 112 may also consider other characteristics (e.g., distance to buildings associated with the parking lot or programmed destination, distance to parking lot entrance or exit, parking space slope).

[0036] As described in more detail below, the parking space selector 114 can use parking-space characteristics to determine the selected parking space among a plurality of available spaces 108. Similarly, the parking maneuver selector 116 can use parking-space characteristics to determine the maneuver type and maneuver path for controlling the operation of the vehicle 102 to park in the selected parking space.

[0037] Transportation configuration

[0038] Figure 3 An example configuration of a vehicle is shown, featuring a parking system that allows for the selection of parking spaces using probabilistic methods. For example, for... Figure 1 As described, vehicle 102 includes sensors 110 and a parking system 112, which includes a parking space selector 114 and a parking maneuver selector 116. Furthermore, vehicle 102 may include one or more communication devices 302, one or more processors 304, a computer-readable storage medium (CRM) 306, and a control interface 312 to one or more vehicle-based systems (including one or more driver assistance systems 314 and one or more autonomous driving systems 316).

[0039] The communication device 302 may include a sensor interface and a vehicle-based system interface. For example, when the various components of the sensor 110 and / or the parking system 112 are integrated within the vehicle 102, the sensor interface and the vehicle-based system interface may transmit data (e.g., radar data, distance calculations, and other parking-space characteristics associated with the available space 108) via the communication bus of the vehicle 102.

[0040] Processor 304 (e.g., an energy processing unit or electronic control unit) may be a microprocessor or a system-on-a-chip. Processor 304 may execute instructions stored in CRM 306, one or more disks, memories, or other non-transient computer-readable storage media. For example, processor 304 may process sensor data from sensor 110 and execute instructions loaded from CRM 306 to cause processor 304 to determine the parking-space characteristics of available space 108. Instructions may configure processor 304 to select a parking space using parking system 112 and / or generate parking maneuvers (including maneuver type and maneuver path) for at least one vehicle system. For example, processor 304 may execute instructions on CRM 306 to configure processor 304 for controlling an autonomous or semi-autonomous driving system of vehicle 102 based on sensor data to park vehicle 102 in a selected parking space.

[0041] Parking system 112 can be stored in CRM 306. (For example, regarding...) Figure 1As described, the parking system 112 may include a parking space selector 114 and a parking maneuver selector 116. The parking space selector 114 may identify available space 108 and select a parking space (e.g., the optimal parking space) for the vehicle 102. The selected parking space may be presented to the driver of the vehicle 102 on a display (e.g., an overlay on a photographic or video feed of the parking environment or a graphical representation of the parking environment). The driver can then navigate to and park in the selected parking space. The driver may also provide input to the parking system 112 (e.g., via voice or touch input) to cause the driver assistance system 314 or the autonomous driving system 316 to perform parking maneuvers. In this way, the parking space selector 114 can identify parking spaces in a congested parking lot and enable the vehicle 102 to perform more natural and practical parking maneuvers without having to navigate to the selected parking space.

[0042] The parking maneuver selector 116 includes a maneuver type selector 308 and a maneuver path selector 310. The maneuver type selector 308 can determine the maneuver type (e.g., forward parking, reverse parking, single-turn maneuver, double-turn maneuver) for parking in a selected parking space. For example, the maneuver type selector 308 can determine, based on parking-space characteristics, that the vehicle 102 cannot perform a single-turn maneuver to enter the selected parking space because the entrance turning radius 204 is smaller than the minimum inner turning radius of the vehicle 102. The maneuver type selector 308 can also determine, based on driver preference or input, whether to perform a single-turn or double-turn maneuver, followed by reversing to park in the selected parking space.

[0043] The maneuvering path selector 310 can determine the maneuvering path for parking in the selected parking space. As described in more detail below, the maneuvering path selector 310 can determine the turning radius of the maneuvering path to safely park the vehicle 102. In some implementations, the maneuvering path selector 310 can output a suggested maneuvering path to a display for the driver to follow to enter the selected parking space. In this way, the maneuvering type selector 308 and the maneuvering path selector 310 can control the vehicle 102 to perform parking maneuvers in congested or crowded parking lots.

[0044] Vehicle 102 also includes a control interface 312 to one or more vehicle-based systems, which individually or in combination provide a manner for receiving parking space selection and parking maneuvers to control vehicle 102. Some examples of vehicle-based systems to which control interface 312 provides parking information include driver assistance system 314 and autonomous driving system 316; each system may rely on information output from parking system 112.

[0045] For example, a vehicle-based system may rely on data transmitted via communication device 302 and obtained from sensor 110 to operate vehicle 102 (e.g., perform single-turn or double-turn parking maneuvers). Generally, control interface 312 may use data provided by parking system 112 and / or sensor 110 to control the operation of vehicle 102 to park in a selected parking space. Driver assistance system 314 may prompt the driver for the selected parking space via a display and / or perform parking maneuvers to enter the selected parking space. As another example, autonomous driving system 316 may navigate vehicle 102 to park it in a selected parking space.

[0046] Example method for selecting a parking space

[0047] Figure 4 An example method 400 for a parking system to select a parking space using a probabilistic method is illustrated. Method 400 is shown as operations (or actions) to be performed, but is not limited to the order or combination of operations shown herein. Furthermore, any one or more operations may be repeated, combined, or rearranged to provide other methods. References may be made in the sections discussed below. Figure 1 Environment 100 and Figures 1 to 3 The entities detailed herein are for illustrative purposes only. This technique is not limited to being performed by one or more entities.

[0048] At 402, sensor data obtained from sensors on the main vehicle is used to determine whether a parking space in front of the main vehicle is available. For example, parking system 112 and parking space selector 114 can determine whether there is available space 108 in front of vehicle 102 among parking spaces 104 within environment 100. Available space 108 can be identified using sensor data obtained from sensor 110. Sensor 110 may include radar systems, lidar systems, ultrasonic systems, or vision-based systems. Available space 108 can also be identified based on data obtained from external sensors, including infrastructure sensors, drone-based sensors, or sensors mounted on other vehicles 106 near vehicle 102 or within environment 100.

[0049] Parking space 104 may be substantially perpendicular to the path of travel of vehicle 102, or at an angle to the path of travel of vehicle 102. In other environments, parking space 104 may be substantially parallel to the path of travel of vehicle 102.

[0050] At 404, the parking-space characteristics of each available parking space are determined. For example, parking system 112 or parking space selector 114 can use sensor data to determine the parking-space characteristics of available space 108. Parking-space characteristics include width, entrance turning radius, and longitudinal distance to available space 108. Parking-space characteristics may also include at least one of the following: spatial depth of available space 108, space type, adjacent vehicle classification, or shading classification.

[0051] At 406, the selected parking space is determined from among the parking spaces based on parking-space characteristics. For example, parking system 112 or parking space selector 114 can determine the selected parking space in available space 108 based on parking-space characteristics. (See also: Regarding...) Figure 5 In more detail, the selected parking space can be determined using the conditional probability distribution of parking-space characteristics and the application of Bayes' theorem to the conditional probability distribution of parking-space characteristics. The selected parking space can be determined using machine learning models, reinforcement learning models, or deep learning models.

[0052] At point 408, an assisted driving system or an autonomous driving system is used to control the operation of the primary vehicle to park it in the selected parking space. For example, parking system 112 or parking maneuver selector 116 can control the operation of vehicle 102 to park it in the selected parking space. Assisted driving system 314 or autonomous driving system 316 can be used to control vehicle 102. Vehicle 102 can be parked via a forward parking maneuver, which can include a single-turn or double-turn maneuver path. Alternatively, vehicle 102 can be parked in the selected parking space by performing a reverse parking maneuver that is substantially mirrored to the forward parking maneuver for the parking space opposite the selected parking space.

[0053] Figure 5 Example flowchart 500 shows the described technique and system for selecting parking spaces using probabilistic methods. Figure 5 The parking system can be, for example, Figure 1 and Figure 3 The parking system 112 and / or parking space selector 114. The output of flowchart 500 is the selected parking space 512. The selected parking space 512 can be displayed to the driver of vehicle 102 and / or provided as input to parking system 112 to determine parking maneuvers, which will be related to... Figures 7 to 9 To describe in more detail.

[0054] At point 502, parking system 112 can determine the number of available spaces 108 ahead of vehicle 102 along its current travel path. The number n of available spaces 108 can be identified using sensor data from sensor 110. As described above, sensor 110 may include radar systems, lidar systems, ultrasonic systems, vision-based systems, or other types of sensor systems.

[0055] At point 504, parking system 112 can determine parking-space characteristics associated with each available space 108. Parking-space characteristics can be determined using sensor data from sensor 110 or data from external sensors. Parking-space characteristics include width 202 (W), entrance turning radius 204 (TR), and longitudinal distance 206 (Dis) to the available space 108. In other implementations, parking system 112 can determine and utilize other parking-space characteristics (e.g., space depth, space type, adjacent vehicle classification, or shading classification).

[0056] Parking system 112 may store conditional probability distributions 506 associated with parking-space characteristics in CRM 306. Conditional probability distribution 506 identifies how likely an available space 108 is to be selected as the chosen parking space 512 (Sel) given its parking-space characteristics. For example, width 202 may have a conditional probability distribution with a mean of 4.7 and a variance of 1.0 (e.g., P(W|Sel)). Entrance turning radius 204 may have a conditional probability distribution with a mean of 5.0 and a variance of 1.0 (e.g., P(TR|W, Dis, Sel)). As mentioned above, entrance turning radius 204 may depend on width 202 and longitudinal distance 206. Longitudinal distance 206 may have a conditional probability distribution with a mean of 6.0 and a variance of 5.0 (e.g., P(Dis|Sel)). If additional parking-space characteristics are used to determine the selected parking space 512, parking system 112 may store conditional probability distributions 506 associated with these characteristics. In addition, user preferences can be incorporated into the parking system 112 by adjusting the conditional probability distribution 506 accordingly.

[0057] At 508, parking system 112 can use parking-space characteristics and conditional probability distribution 506 to determine the probability associated with each available space 108. Parking system 112 can use the application of Bayes' theorem to determine the probability that a particular available space 108 is the selected parking space 512 (Sel). Given width 202 (W), entrance turning radius 204 (TR), and longitudinal distance 206 (Dis), the probability that a particular available space 108 (e.g., the i-th available space) is the selected parking space 512 among the n available spaces is expressed by equation (1):

[0058]

[0059] Based on the conditional probability distribution 506 of width 202 (W), entrance turning radius 204 (TR), and longitudinal distance 206 (Dis), Equation 1 can be rewritten as Equation (2):

[0060]

[0061] In some implementations, parking system 112 can set an upper limit on the conditional probability of a particular parking-space characteristic. For example, if the width 202 (e.g., W(i)) of a particular available space 108 is greater than the mean of its associated conditional probability distribution, then the width 202 can be set to be equal to the mean. Similarly, if the entrance turning radius 204 (e.g., TR(i)) of a particular available space 108 is greater than the mean of its associated conditional probability distribution, then the entrance turning radius can be set to be equal to the mean.

[0062] At 510, parking system 112 can compare the probabilities of available spaces 108 and select the available space 108 with the highest probability as the selected parking space 512. Parking system 112 can use a probability threshold (e.g., 0.5) as a lower minimum value for the selected parking space 512. In other implementations, the selected parking space 512 can be the nearest available space 108 with a probability value higher than the probability threshold. If parking system 112 does not identify the selected parking space 512, parking system 112 can allow vehicle 102 to continue moving in environment 100 (e.g., along the current parking row or into an adjacent parking row) until the selected parking space 512 is identified. Regarding Figures 6-1 to 6-3 A sample implementation of flowchart 500 is described.

[0063] Figures 6-1 to 6-3 An example selection of parking spaces using a probability-based method according to the technology of this disclosure is illustrated. In the illustrated environments 600-1 to 600-3, a vehicle (e.g., vehicle 102) is located in a parking environment (e.g., a grocery store parking lot) with several available spaces 108. Specifically, environments 600-1 to 600-3 include six available parking spaces 108, which are designated in this example as: available spaces 108-1, 108-2, 108-3, 108-4, 108-5, and 108-6.

[0064] exist Figure 6-1In this configuration, six available spaces 108 are potential parking spaces 104. Vehicle 102 can use parking system 112 to identify or determine the selected parking space 512. For example, the selected parking space 512 can be identified using... Figure 4 and Figure 5 The described technologies and systems are used for identification. In the depicted implementation, the selected parking space 512 is determined based on the space width 202 (e.g., the space width 202-1 of available space 108-1), entrance turning radius 204, and longitudinal distance 206 associated with each available space 108. In the depicted environment 600-1, each available space 108 has a corresponding space width 202, a corresponding entrance turning radius 204, and a corresponding longitudinal distance 206, as listed in Table 1:

[0065] space Space width 202 Entrance turning radius 204 Longitudinal distance 206 108-1 3 m 5.0m 2m 108-2 4m 3.5m 4m 108-3 5m 5.0m 6m 108-4 4m 3.5m 8m 108-5 4m 5.0m 15m 108-6 4m 3.5m 17m

[0066] Table 1

[0067] The parking system 112 can determine the space width 202 as the distance between other vehicles 106 in adjacent parking spaces based on sensor data from sensor 110. In environment 600-1, the available space 108-1 has a minimum space width 202-1 of 3 meters, and the available space 108-3 has a maximum space width 202-3 of 5 meters.

[0068] The parking system 112 can determine the entrance turning radius 204 as the turning radius required to enter the available space 108. In this example, the entrance turning radius 204 is determined based on the lateral distance to the available space 108 determined from sensor data. For example, the available spaces 108-1, 108-3, and 108-5 on the left side of the vehicle 102 each have an entrance turning radius of 5 meters; in contrast, the available spaces 108-2, 108-4, and 108-6 each have an entrance turning radius of 3.5 meters.

[0069] The parking system 112 can determine the longitudinal distance as the distance to the available space 108 based on sensor data from the sensor 110. In this example, the available spaces 108-1, 108-2, 108-3, 108-4, 108-5, and 108-6 have longitudinal distances of 2 meters, 4 meters, 6 meters, 8 meters, 15 meters, and 17 meters, respectively.

[0070] Based on parking-space characteristics, parking system 112 determines that the probabilities of available spaces 108-1, 108-2, 108-3, 108-4, 108-5, and 108-6 being selected parking spaces 512 are 0.277, 0.108, 0.614, 0.001, 0, and 0, respectively. As a result, parking system 112 identifies available space 108-2 as the selected parking space 512. If the parking system has a selection threshold (e.g., 0.7) greater than the selection probability of each available space 108, parking system 112 can continue along environment 600-1 until the available spaces 108 satisfy the selection threshold.

[0071] In this implementation, the selection threshold can be set to 0.5, and the parking system 112 can cause the driver assistance system 314 or the autonomous driving system 316 to park in the selected parking space 512. Alternatively, the parking system 112 can provide the driver of the vehicle 102 with the option to overtake or reject the selected parking space 512, and continue along environment 600-1 until another selected parking space 512 is identified. For example, the driver can reject the selected parking space 512 based on personal preference.

[0072] exist Figure 6-2 In this context, three available spaces 108 (e.g., available spaces 108-4, 108-5, and 108-6) are potential parking spaces 104 for vehicle 102. Vehicle 102 has already passed through other available spaces (e.g., available spaces 108-1 and 108-2), or the longitudinal distance is less than the minimum inner turning radius of the vehicle, which is consistent with available space 108-3.

[0073] Vehicle 102 can use parking system 112 to identify a selected parking space 512 in environment 600-2. Specifically, parking system 112 can update the probability associated with available space 108 as the selected parking space 512. In environment 600-2, parking system 112 determines that available spaces 108-4, 108-5, and 108-6 are selected parking spaces 512 with probabilities of 0.215, 0.686, and 0.099, respectively. As a result, parking system 112 identifies available space 108-5 as the selected parking space 512 in environment 600-2.

[0074] Parking system 112 can use error codes or similar techniques to exclude available space 108. Error codes may include, for example, space width too small, entrance turning radius too small, or longitudinal distance too small. Error codes can allow parking system 112 to filter available space 108 as vehicle 102 travels through parking environment 600-2. In this way, parking system 112 can effectively determine the probability associated with available space 108 that meets the filter.

[0075] exist Figure 6-3 In environment 600-3, a single available space 108 (e.g., available space 108-6) is a potential parking space 104 for vehicle 102. Vehicle 102 has passed through other available spaces (e.g., available spaces 108-1, 108-2, 108-3, and 108-4), or the longitudinal distance is less than the minimum inner turning radius of vehicle 102, which is consistent with available space 108-5.

[0076] Vehicle 102 can use parking system 112 to identify the selected parking space 512 in environment 600-3. Specifically, parking system 112 can update the probability associated with available space 108 as the selected parking space 512. Parking system 112 determines that the probability of available space 108-6 being the selected parking space 512 is 1.0. As a result, parking system 112 identifies available space 108-6 as the selected parking space 512 in environment 600-3.

[0077] Example methods for determining parking operations

[0078] Figure 7 An example method 700 for a parking system to determine parking maneuvers for a selected parking space is illustrated. Method 700 is shown as multiple sets of operations (or actions) to be performed, but is not limited to the order or combination of operations shown herein. Furthermore, any one or more operations may be repeated, combined, or rearranged to provide other methods. References may be made in the sections discussed below. Figure 1 Environment 100 and Figures 1 to 6-3 The entities detailed herein are for illustrative purposes only. This technique is not limited to being performed by one or more entities.

[0079] At point 702, using sensor data obtained from one or more sensors on the main vehicle, the selected parking space is identified among one or more available parking spaces in front of the main vehicle. For example, parking system 112 or parking space selector 114 can identify the selected parking space 512 from the available space 108 in front of vehicle 102. (See also: Regarding...) Figures 4 to 6-3 As described, the parking system 112 or parking space selector 114 can use sensor data from sensor 110 to identify the selected parking space 512. Alternatively, the user can identify the selected parking space 512 from the available space 108 using an interactive display in vehicle 102.

[0080] Parking system 112 can identify a selected parking space 512 by using sensor data to determine whether multiple parking spaces in front of vehicle 102 are available. The parking-space characteristics of each available parking space can then be determined. Parking system 112 can then determine the selected parking space 512 based on the parking-space characteristics. Alternatively, the selected parking space 512 can be identified by receiving a selection of the selected parking space 512 from the driver of vehicle 102.

[0081] At point 704, sensor data can be used to determine the lateral and longitudinal distances associated with the selected parking space. The lateral distance indicates the distance between another vehicle in an adjacent parking space and the main vehicle in the lateral direction from the main vehicle. The longitudinal distance indicates the distance between the selected parking space and the main vehicle. For example, parking system 112 can determine the lateral distance 210 and longitudinal distance 206 associated with the selected parking space 512. (See also: Regarding...) Figures 8-1 to 8-3 In more detail, sensor data can be used to define and determine lateral distance (D). y ) and longitudinal distance (D x ).

[0082] At point 706, it can be determined whether the lateral and longitudinal distances are greater than the minimum inner turning radius of the main vehicle. For example, parking system 112 can determine the lateral distance (D y Is it greater than the minimum inner turning radius of vehicle 102?

[0083] At 708, in response to determining that the lateral and longitudinal distances are greater than the minimum inner turning radius, the driver assistance system or autonomous driving system controls the primary vehicle to park in the selected parking space using a single-turn maneuver. For example, parking system 112 may determine an entrance turning radius 204 for single-turn maneuvering in response to determining that the lateral distance 210 is greater than the minimum inner turning radius. The driver assistance system 314 or autonomous driving system 316 may then control vehicle 102 to park in the selected parking space 512 using a single-turn maneuver.

[0084] Parking system 112 can determine the entry turning radius 204 for single-turn maneuvering based on longitudinal distance 206 and lateral distance 210. If the longitudinal distance 206 and lateral distance 210 are less than the configurable or optimal inner turning radius (R... 2,opt If the inlet turning radius 204 is the minimum of the lateral distance 210 and the longitudinal distance 206, then the optimal inner turning radius (R) is... 2,opt The longitudinal distance 206 can be predetermined by the driver, vehicle manufacturer, or parking system 112. If the longitudinal distance 206 is less than the optimal inner turning radius (R... 2,opt And the lateral distance 210 is greater than or equal to the optimal inner turning radius (R).2,opt If the inlet turning radius 204 is equal to the longitudinal distance 206, then the inlet turning radius 204 is equal to the longitudinal distance 206. If the longitudinal distance 206 is greater than or equal to the optimal inner turning radius (R... 2,opt And the lateral distance of 210 is less than the optimal inner turning radius (R). 2,opt If the longitudinal distance 206 and the lateral distance 210 are both greater than or equal to the optimal inner turning radius (R), then the entrance turning radius 204 is the lateral distance. 2,opt If the inlet turning radius 204 is configurable or the optimal inner turning radius (R), then the inlet turning radius 204 is the configurable or optimal inner turning radius. 2,opt ).

[0085] The parking system 112 can then determine whether the entry turning radius 204 for the single-turn maneuver is greater than the longitudinal distance 206. In response to determining that the entry turning radius 204 for the single-turn maneuver is greater than the longitudinal distance 206, the vehicle 102 can be controlled by the driver assistance system 314 or the autonomous driving system 316 to drive a straight distance before performing the single-turn maneuver. This straight distance is approximately equal to the longitudinal distance 206 minus the entry turning radius 204 for the single-turn maneuver.

[0086] At point 710, in response to determining that the lateral distance is not greater than the minimum inner turning radius, it can be determined whether the longitudinal distance is greater than a longitudinal threshold. The longitudinal threshold is based on either the minimum inner turning radius or the optimal inner turning radius (R). 2,opt Optimal inner turning radius (R) 2,opt The lateral distance 206 is greater than the minimum inner turning radius. For example, parking system 112 can determine whether longitudinal distance 206 is greater than a longitudinal threshold in response to determining that the lateral distance is not greater than the minimum inner turning radius. In other words, parking system 112 can determine whether double-turn maneuvering is available to control vehicle 102 to park in the selected parking space 512.

[0087] The parking system 112 can use or define longitudinal thresholds in several ways, including using multiple longitudinal thresholds. For example, the parking system 112 can define a minimum turning radius threshold. Configurable or optimal inner turning radius threshold And configurable or optimal turning radius threshold The minimum turning radius threshold is based on the minimum inner turning radius, the minimum outer turning radius, and a lateral distance of 210. The minimum outer turning radius is approximately equal to the sum of the minimum inner turning radius and the rear track width of vehicle 102. The optimal inner turning radius threshold is based on the optimal inner turning radius, the minimum outer turning radius, and a lateral distance of 210. The optimal inner turning radius threshold is greater than the minimum turning radius threshold. The optimal turning radius threshold is based on the optimal inner turning radius, the optimal outer turning radius, and a lateral distance of 210. The optimal outer turning radius is greater than the minimum outer turning radius, and the optimal turning radius threshold is greater than the optimal inner turning radius threshold.

[0088] At 712, in response to determining that the longitudinal distance is greater than a longitudinal threshold, the driver assistance system or autonomous driving system controls the primary vehicle to use double-turn maneuvers to park in the selected parking space. For example, parking system 112 may determine a first turning radius (R1) (e.g., away from the selected parking space 512) and a second turning radius (R1) (e.g., toward the selected parking space) for the double-turn maneuver in response to determining that the longitudinal distance 206 is greater than the longitudinal threshold. The driver assistance system 314 or autonomous driving system 316 may then control vehicle 102 to use double-turn maneuvers to park in the selected parking space 512.

[0089] If the longitudinal distance 206 is greater than or equal to the minimum turning radius threshold and less than the optimal inner turning radius threshold, the parking system 112 can apply the following settings: The parking system 112 can set the first turning radius (R1) to the minimum outer turning radius and determine the second turning radius (R2) based on the lateral distance 210, the longitudinal distance 206, and the first turning radius (R1). If the longitudinal distance 206 is greater than or equal to the optimal inner turning radius threshold and less than the optimal turning radius threshold, the parking system 112 can apply different settings. The parking system 112 can set the second turning radius (R2) to the optimal inner turning radius and determine the first turning radius (R1) based on the lateral distance 210, the longitudinal distance 206, and the second turning radius (R2). If the longitudinal distance 206 is greater than or equal to the optimal turning radius threshold, the parking system 112 can apply other different settings. The parking system 112 can set the first turning radius (R1) to the optimal outer turning radius and set the second turning radius (R2) to the optimal inner turning radius. In this scenario, when these other different settings are applied, if the longitudinal distance 206 is greater than or equal to the optimal turning radius threshold, the parking system 112 can use the driver assistance system 314 or the autonomous driving system 316 to control the vehicle 106 to drive a straight distance before performing a double-turn maneuver. The straight distance is approximately equal to the longitudinal distance 206 minus the optimal turning radius threshold.

[0090] The parking system 112 can also determine whether the longitudinal distance 206 is greater than a minimum turning radius threshold, and whether the lateral distance 210 is greater than a minimum inner turning radius but less than an optimal inner turning radius. In response to determining that the lateral distance 210 is greater than the minimum inner turning radius but less than the optimal inner turning radius, and that the longitudinal distance 206 is greater than the minimum turning radius threshold but less than the optimal inner turning radius threshold, the parking system 112 can set a first turning radius (R1) as the minimum outer turning radius and determine a second turning radius (R2) based on the lateral distance 210, the longitudinal distance 206, and the first turning radius (R1). In response to determining that the longitudinal distance 206 is greater than the optimal inner turning radius threshold but less than the optimal turning radius threshold, the parking system 112 can set the second turning radius (R2) as the optimal inner turning radius and determine the first turning radius (R1) based on the lateral distance 210, the longitudinal distance 206, and the second turning radius (R2). In response to determining that the longitudinal distance 206 is greater than or equal to the optimal turning radius threshold, the parking system 112 may set the first turning radius (R1) as the optimal outer turning radius and the second turning radius (R2) as the optimal inner turning radius. The parking system 112 may also use the driver assistance system 314 or the autonomous driving system 316 to control the vehicle 102 to drive a straight distance before performing a double-turn maneuver. The straight distance is approximately equal to the longitudinal distance 206 minus the optimal turning radius threshold.

[0091] Single-turn and double-turn maneuvers can be forward parking maneuvers. In other implementations, single-turn and double-turn maneuvers can be reverse parking maneuvers that are approximately mirror images of the forward parking maneuvers for the parking space opposite the selected parking space 512.

[0092] Figure 8-1 An example environment 800-1 is shown in which the parking system can perform a single-turn maneuver for a selected parking space 802-1. In the illustrated environment 800-1, a vehicle (e.g., vehicle 102) is located in a parking environment (e.g., a grocery store parking lot) with several available spaces. The parking system 112 can use the above-described... Figures 1 to 6-3 The method described herein is used to select the chosen parking space 802-1. Alternatively, the driver of vehicle 102 may select the chosen parking space 802-1 via an input device (e.g., a display) that identifies available space.

[0093] Parking system 112 can determine the longitudinal distance 804 (D) associated with the selected parking space 802-1. x ) and lateral distance 806 (D y Longitudinal distance 804 (D) x ) and lateral distance 806 (D yThis can be determined using sensor data from sensor 110.

[0094] Longitudinal distance 804 (D) x This indicates the distance between the selected parking space 802-1 and the vehicle 102 (e.g., in a stopped position). If the vehicle 102 is still moving, the longitudinal distance 804 (D) indicates the distance between the selected parking space 802-1 and the vehicle 102 (e.g., in a stopped position). x The distance 804 is generally defined as the distance from the stopping position of the vehicle 102 to the selected parking space 802-1. For example, the parking system 112 can define the longitudinal distance 804 as the distance from the stopping position of the vehicle 102 to the selected parking space 802-1. x The distance 804 is defined as the distance from (a) the rear axle of vehicle 102 at its current location (e.g., represented by line 812) to (b) the inner edge of the rear axle of vehicle 102 when it is centered in the selected parking space 802-1 (e.g., represented by line 814). In other implementations, parking system 112 may use different reference points to define the longitudinal distance 804. x ).

[0095] Lateral distance 806 (D) y This indicates the lateral distance between another vehicle 808 and vehicle 102 in adjacent parking spaces. For example, parking system 112 can use the entrance lateral distance 806-1 to define the lateral distance 806(D). y The lateral distance 806-1 at the entrance can represent the lateral distance required to enter the selected parking space 802-1 without colliding with vehicles parked in adjacent parking spaces. Consequently, the lateral distance 806-1 at the entrance is generally based on the width associated with the selected parking space 802-1, the width between vehicles parked in adjacent parking spaces, or the offset of vehicles in further adjacent parking spaces from the edge of those spaces. Lateral distance 806(D) y The lateral distance 806-1 can be defined as (a) the distance between the rear tires of the vehicle 102 closest to the selected parking space 802-1 (e.g., represented by line 816) and (b) the lateral distance 806-1 to the entrance (e.g., represented by line 818). In other implementations, the parking system 112 may use different reference points to define the lateral distance 806-1. y ).

[0096] Parking system 112 can then determine the longitudinal distance 804 (D) x ) and lateral distance 806 (D y Is it greater than the minimum inner turning radius (R) of vehicle 102? 2,min For reference, the minimum outer turning radius (R) 1,min It is approximately equal to the minimum inner turning radius (R) 2,minAdd the rear track width or axle width. If the minimum inner turning radius (R) of vehicle 102... 2,min () less than the longitudinal distance 804 (D) x ) and lateral distance 806 (D y If both are true, then parking system 112 can determine a single-turn maneuver to park vehicle 102 in the selected parking space 802-1. The single-turn maneuver includes an entrance turning radius 810(R). Parking system 112 can determine the entrance turning radius 810(R) as a longitudinal distance 804(D). x ) and lateral distance 806 (D y The minimum value in ) is represented by equation (3):

[0097] R = min(D) x D y )

[0098] Equation (3)

[0099] In some implementations, the configurable or optimal outer turning radius (R) 1,opt ) and configurable or optimal inner turning radius (R) 2,opt The outer turning radius (R) can be defined as the radius required for safe and comfortable cornering maneuvers. 1,opt ) and optimal inner turning radius (R) 2,opt The optimal outer turning radius (R) can be predetermined by the parking system 112, by the vehicle manufacturer, or by the driver. 1,opt ) and optimal inner turning radius (R) 2,opt ) are respectively greater than the minimum outer turning radius (R) 1,min ) and minimum inner turning radius (R 2,min ).

[0100] In such an implementation, if the vertical distance is 804(D) x () greater than the optimal inner turning radius (R) 2,opt And the lateral distance is 806 (D) y () smaller than the optimal inner turning radius (R) 2,opt If the parking system 112 can set the entrance turning radius 810(R) to the lateral distance 806(D), then the parking system 112 can set the entrance turning radius 810(R) to the lateral distance 806(D). y ), which is represented by equation (4):

[0101] ifD x >R 2,opt andR 2,min <D y <R 2,opt ,thenR=D y Equation (4)

[0102] If the lateral distance is 806(D) y () greater than the optimal inner turning radius (R) 2,opt And the longitudinal distance is 804 (D) x () smaller than the optimal inner turning radius (R) 2,opt If the parking system 112 selects the entrance turning radius 810(R) as the longitudinal distance 804(D), then the parking system 112 can select the entrance turning radius 810(R) as the longitudinal distance 804(D). x ), which is represented by equation (5):

[0103] if D y >R 2,opt and R 2,min <D x <R 2,opt ,then R=D x Equation (5)

[0104] If the lateral distance is 806 (D) y ) and longitudinal distance 804 (D x All are greater than the optimal inner turning radius (R) 2,opt If the parking system 112 can select the entrance turning radius 810(R) as the optimal inner turning radius (R), then the parking system 112 can select the entrance turning radius 810(R) as the optimal inner turning radius (R). 2,opt ), which is represented by equation (6):

[0105] if D y >R 2y,opt and D x >R 2,opt ,then R=R 2,opt Equation (6)

[0106] Figure 8-2 An example environment 800-2 is shown in which the parking system can perform single and double turn maneuvers for a selected parking space 802-2. In the illustrated environment 800-2, a vehicle (e.g., vehicle 102) is located in a parking environment (e.g., a grocery store parking lot) with several available spaces. The parking system 112 can use the above-described... Figures 1 to 6-3 The method described herein is used to select the chosen parking space 802-2. Alternatively, the driver of vehicle 102 may select the chosen parking space 802-2 via an input device (e.g., a display) that identifies available space.

[0107] Environment 800-2 includes the effective road boundary represented by lines 822 and 824. Lines 822 and 824 provide the offset or safety distance between parking space 104 and vehicles therein and vehicles 102.

[0108] Such as about Figure 8-1As described, parking system 112 can determine the longitudinal distance 804 (D) associated with the selected parking space 802-2. x ) and lateral distance 806 (D y Longitudinal distance 804 (D) x ) and lateral distance 806 (D y This can be determined using sensor data from sensor 110.

[0109] Parking system 112 can then determine the longitudinal distance 804 (D) x ) and lateral distance 806 (D y Is it greater than the minimum inner turning radius (R) of vehicle 102? 2,min If the minimum inner turning radius of vehicle 102 (R) 2,min ) greater than the lateral distance 806 (D y If the vehicle 102 cannot use a single-turn maneuver to park in the selected parking space 802-2, then the parking system 112 can determine whether a double-turn maneuver is available to park the vehicle 102 in the selected parking space 802-2. The double-turn maneuver includes a first turning radius 826 (R1) and a second turning radius 830 (R2).

[0110] The first turning radius 826 (R1) and line 812 define the first angle 828 (θ1). The second turning radius 830 (R2) and line 818 define the second angle 832 (θ2), where the second angle 832 (θ2) is equal to the first angle 828 (θ1) plus 90 degrees (e.g., θ2 = θ1 + 90°). Note that the first turning radius 826 (R1), the second turning radius 830 (R2), and the lateral distance 806 (D) are... y ) and longitudinal distance 804 (D x Define a right triangle, where (a) the first side is equal to the first turning radius 826 (R1) and the lateral distance 806 (D). y (a) The sum of ) and (b) The second side is equal to the longitudinal distance 804 (D) x Subtract the second turning radius 830(R2), and (c) the hypotenuse is equal to the sum of the first turning radius 826(R1) and the second turning radius 830(R2). As a result, the cosine and sine of the first angle 828(θ1) are expressed by equations (7) and (8), respectively:

[0111]

[0112]

[0113] Using the Pythagorean equation, the first turning radius is 826 (R1), the second turning radius is 830 (R2), and the lateral distance is 806 (D).y ) and longitudinal distance 804 (D x The relationship between the two equations can be expressed by equations (9) and (10):

[0114]

[0115]

[0116] If the parking system 112 determines, selects, or predefines the value of the first turning radius 826 (R1) or the second turning radius 830 (R2), then equations (7), (8), (9) and / or (10) can be used to determine another turning radius value, the first angle 828 (θ1), and the second angle 832 (θ2).

[0117] If the values ​​of the first turning radius 826 (R1) and the second turning radius 830 (R2) are determined, selected, or predefined, then the longitudinal threshold (D) can be determined using equation (11). x,thresh ):

[0118]

[0119] In response to determining the lateral distance 806(D) y Not greater than the minimum inner turning radius (R) 2,min The parking system 112 can determine the longitudinal distance 804 (D). x Is it greater than the longitudinal threshold (D)? x,thresh As reflected in equation (11), the longitudinal threshold (D) x,thresh It can be based on the first turning radius (R1), the second turning radius (R2), and the lateral distance 806 (D). y Parking system 112 can, for example, define several different potential longitudinal thresholds (D). x,thresh (including minimum turning radius threshold) Configurable or optimal inner turning radius threshold And / or configurable or optimal turning radius threshold

[0120] If parking system 112 uses the minimum turning radius threshold Then the longitudinal threshold (D) x,thresh Use equation (12) to calculate:

[0121]

[0122] If the lateral distance is 806 (D) y The minimum inner turning radius (R) of vehicle 102 is greater than or equal to that of vehicle 102. 2,minIf the lateral distance 806(D) is specified, then single-turn maneuvering or double-turn maneuvering is an option for parking in the selected parking space 802-2. In some implementations, single-turn maneuvering may be preferred in this case. y () is less than the minimum inner turning radius (R) of vehicle 102 2,min If a single turn is not possible, then single-turn maneuvering is not an option, but as discussed above, double-turn maneuvering is possible (e.g., Specifically, the first turning radius 826(R1) can be set equal to the minimum outer turning radius (R). 1,min The second turning radius 830(R2) can be determined using equation (9) or (10). Alternatively, the parking system 112 can set the second turning radius 830(R2) to be equal to the minimum inner turning radius (R... 2,min And use equation (9) or (10) to determine the first turning radius 826 (R1). Furthermore, if the longitudinal distance is 804 (D) x Less than the minimum turning radius threshold Therefore, double-turn maneuvering is not an available option.

[0123] If parking system 112 uses the optimal inner turning radius threshold Then the longitudinal threshold (D) x,thresh Use equation (13) to calculate:

[0124]

[0125] If the lateral distance is 806 (D) y ) is greater than or equal to the optimal inner turning radius (R) 2,opt If the longitudinal distance 804 (D) is specified, then single-turn maneuvering or double-turn maneuvering is an option for parking in the selected parking space 802-2. In some implementations, single-turn maneuvering may be preferred in this case. Specifically, if the longitudinal distance 804 (D) is specified, then single-turn maneuvering or double-turn maneuvering is preferred for parking in the selected parking space 802-2. x () Greater than or equal to the optimal inner turning radius threshold Then the second turning radius 830 (R2) can be set to be equal to the optimal inner turning radius (R 2,opt The first turning radius 826(R1) can be determined using equation (9) or (10). Alternatively, if the longitudinal distance 804(D) x () Greater than or equal to the minimum turning radius threshold But less than the optimal inner turning radius threshold Then the parking system 112 can set the first turning radius 826(R1) to be equal to the outer turning radius (R 1,min ), and use equation (9) or (10) to determine the second turning radius 830 (R2).

[0126] If parking system 112 uses the optimal turning radius threshold Then the longitudinal threshold (D) x,thresh Use equation (14) to calculate:

[0127]

[0128] If the lateral distance is 806 (D) y () greater than or equal to the optimal inner turning radius (R) 2,opt If the longitudinal distance 804(D) is within the selected parking space 802-2, then single-turn maneuvering or double-turn maneuvering is an option. In some implementations, single-turn maneuvering may be preferred in this case. x (Greater than or equal to the optimal turning radius threshold) Then the second turning radius 830 (R2) and the first turning radius 826 (R1) are set as the optimal inner turning radius (R2, R2, R3, R4). 2,opt ) and optimal outer turning radius (R) 1,opt In this case, a longitudinal straight-line distance (D) is required. straight It can be calculated using equation (15):

[0129]

[0130] Figure 8-3 An example environment 800-3 is shown in which the parking system can perform a double-turn maneuver to reverse into a selected parking space 802-3. In the illustrated environment 800-3, a vehicle (e.g., vehicle 102) is located in a parking environment (e.g., a grocery store parking lot) with several available spaces. The parking system 112 can use the above-described... Figures 1 to 6-3 The method described herein is used to select the chosen parking space 802-3. Alternatively, the driver of vehicle 102 may select the chosen parking space 802-3 via an input device (e.g., a display) that identifies available space.

[0131] Such as about Figure 8-1 and Figure 8-2 As described, parking system 112 can determine the longitudinal distance 804 (D) associated with the selected parking space 802-3. x ) and lateral distance 806 (D y Longitudinal distance 804 (D) x ) and lateral distance 806 (D y This can be determined using sensor data from sensor 110. Based on the longitudinal distance 804 (D) x ) and lateral distance 806 (D yThe parking system 112 can then determine whether single-turn or double-turn operation is suitable for parking in the selected parking space 802-3, as per the relevant information. Figure 8-1 and Figure 8-2 As described.

[0132] In certain situations, reversing is preferred. For example, the driver can select to reverse into the selected parking space 802-3 via an input device, the driver can configure the parking system 112 to reverse when available, or the parking system 112 can determine that reversing is required in environment 800-3. The reversing parking operation begins with a single-turn or double-turn parking operation for the parking space opposite the selected parking space 802-3, followed by a straight reversing operation 834 into the selected parking space 802-3.

[0133] Figure 9 An example figure 900 is shown illustrating available parking maneuvers for parking in a selected parking space. In the figure 900 shown, a vehicle (e.g., vehicle 102) is in a parking environment (e.g., a grocery store parking lot), and one of the available spaces 108 has been identified as a selected parking space (e.g., selected parking space 802-1, 802-2, or 802-3). Parking system 112 can use the above-described... Figures 1 to 6-3 The method described herein is used to select the chosen parking space 802. Alternatively, the driver of vehicle 102 may select the chosen parking space 802 via an input device (e.g., a display) that identifies available space.

[0134] Figure 900 includes the longitudinal distance 804 (D) as the first axis. x ) and the lateral distance 806 (D) as the second axis y The first axle has a minimum inner turning radius of 902 (R). 2,min ), Optimal inner turning radius 904 (R) 2,opt Minimum turning radius threshold 906 Optimal inner turning radius threshold: 908 And the optimal turning radius threshold of 910 Subdivision. The second axle is defined by a minimum inner turning radius of 902 (R). 2,min ) and the optimal inner turning radius 904 (R) 2,opt (Details)

[0135] Such as about Figure 8-1 and Figure 8-2 As described, parking system 112 can determine the longitudinal distance 804 (D) associated with the selected parking space 802. x ) and lateral distance 806 (D y Based on longitudinal distance 804(D) x) and lateral distance 806 (D y The parking system 112 can then determine whether single-turn or double-turn operation is suitable for parking in the selected parking space 802, as per relevant information. Figure 8-1 and Figure 8-2 As described.

[0136] If the vertical distance is 804(D) x Less than the minimum inner turning radius 902 (R) 2,min If the lateral distance 806 (D) is not available, parking maneuvering is unavailable, indicated by a dashed filled pattern, and another available space 108 is marked as the selected parking space 802. y Less than the minimum inner turning radius 902 (R) 2,min And the longitudinal distance is 804 (D) x Less than the minimum turning radius threshold of 906 Then parking is unavailable, and another available space 108 is marked as the selected parking space 802.

[0137] If the vertical distance is 804(D) x Less than the minimum turning radius threshold of 906 And the lateral distance is 806 (D) y ) Greater than or equal to the minimum inner turning radius 902 (R) 2,min If the turn is 100°, then single-turn maneuvering is available. Figure 9 In the diagram, single-turn maneuvering is represented by a horizontally filled pattern. Specifically, if the longitudinal distance is 804 (D x Less than the optimal inner turning radius 904 (R) 2,opt And the lateral distance is 806 (D) y ) Greater than or equal to the minimum inner turning radius 902 (R) 2,min However, it is less than the optimal inner turning radius of 904 (R) 2,opt If the parking system 112 can perform a single-turn maneuver 912, the entrance turning radius 810(R) is set to be equal to the longitudinal distance 804(D). x ) and lateral distance 806 (D y The minimum value in ). Depending on the entrance turning radius 810, the parking system 112 may need to operate the vehicle 102 to travel straight forward before performing a single turn maneuver, as indicated by the dashed line 926.

[0138] If the vertical distance is 804(D) x Less than the optimal inner turning radius 904 (R) 2,opt And the lateral distance is 806 (D) y ) is greater than or equal to the optimal inner turning radius of 904 (R) 2,optIf the parking system 112 can perform a single-turn maneuver 914, the entrance turning radius 810(R) is set to be equal to the longitudinal distance 804(D). x If the vertical distance is 804 (D) x Less than the minimum turning radius threshold of 906 But greater than or equal to the optimal inner turning radius of 904 (R) 2,opt ), and the lateral distance is 806 (D) y ) Greater than or equal to the minimum inner turning radius 902 (R) 2,min However, it is less than the optimal inner turning radius of 904 (R) 2,opt If the parking system 112 can perform a single-turn maneuver 916, the entrance turning radius 810(R) is set to be equal to the lateral distance 806(D). y Because the longitudinal distance is 804 (D) x Since the radius of the entrance turning radius is greater than 810, the parking system 112 operates the vehicle 102 to travel in a straight line before performing a single turn maneuver, which is represented by the solid line 928.

[0139] If the vertical distance is 804(D) x Less than the minimum turning radius threshold of 906 But greater than or equal to the optimal inner turning radius of 904 (R) 2,opt ), and the lateral distance is 806 (D) y ) is greater than or equal to the optimal inner turning radius of 904 (R) 2,opt If the parking system 112 can perform a single-turn maneuver 918, the entrance turning radius 810(R) is set to be equal to the optimal inner turning radius 904(R). 2,opt Similarly, if the longitudinal distance is 804(D) x ) is greater than or equal to the optimal inner turning radius of 904 (R) 2,opt ), and the lateral distance is 806 (D) y ) is greater than or equal to the optimal inner radius of 904 (R) 2,opt If the parking system 112 can perform a single-turn maneuver 918, even if a double-turn maneuver is available (e.g., Because the longitudinal distance is 804 (D) x Since the radius of the entrance turning radius is greater than 810, the parking system 112 operates the vehicle 102 to travel in a straight line before performing a single turn maneuver, which is represented by the solid line 928.

[0140] If the vertical distance is 804(D) x () Greater than or equal to the minimum turning radius threshold of 906 And the lateral distance is 806 (D) y Less than the minimum inner turning radius 902 (R)2,min If the single-turn maneuver is not available, then the double-turn maneuver is available. Figure 9 In the diagram, double-turn maneuvering is represented by a pattern filled with intersecting lines. Specifically, if the longitudinal distance is 804 (D x () Greater than or equal to the minimum turning radius threshold of 906 But less than the optimal inner turning radius threshold of 908 And the lateral distance is 806 (D) y Less than the minimum inner turning radius 902 (R) 2,min If the parking system 112 can perform a double-turn maneuver 920, the first turning radius 826(R1) is set to be equal to the minimum outer turning radius (R). 1,min If the vertical distance is 804 (D) x (Greater than or equal to the optimal inner turning radius threshold of 908) But less than the optimal turning radius threshold of 910 And the lateral distance is 806 (D) y () Less than the inner turning radius 902 (R) 2,min If the parking system 112 can perform a double-turn maneuver 922, the second turning radius 830(R2) is set to be equal to the optimal inner turning radius 904(R2). 2,opt If the vertical distance is 804 (D) x (Greater than or equal to the optimal turning radius threshold of 910) And the lateral distance is 806 (D) y Less than the minimum inner turning radius 902 (R) 2,min If the parking system 112 can perform dual-turn maneuver 924, the first turning radius 826 (R1) and the second turning radius 830 (R2) are respectively set to be equal to the optimal outer turning radius (R2). 1,opt ) and the optimal inner turning radius 904 (R) 2,opt Because the longitudinal distance is 804 (D) x () greater than the optimal outer turning radius (R) 1,opt ) and the optimal inner turning radius 904 (R) 2,opt The sum of ) means that the parking system 112 operates the vehicle 102 to travel in a straight line before performing the double turn maneuver 924, which is represented by the solid line 928.

[0141] If the vertical distance is 804(D) x () Greater than or equal to the minimum turning radius threshold of 906 And the lateral distance is 806 (D) y ) Greater than or equal to the minimum inner turning radius 902 (R) 2,min However, it is less than the optimal inner turning radius of 904 (R) 2,optIf the parking system 112 can perform a single-turn maneuver 916 as described above, then both single-turn and double-turn maneuvers are available. For example, parking system 112 can perform a single-turn maneuver 916 as described above. This depends on the longitudinal distance 804 (D). x Parking system 112 can perform double-turn maneuvers 920, 922, or 924 as described above. In this scenario, parking system 112 can determine that double-turn maneuver is preferred because the second turning radius 830 (R2) is greater than the entrance turning radius 810 (R). In other implementations, parking system 112 can determine that single-turn maneuver 916 is preferred based on driver preference or another reason.

[0142] If the vertical distance is 804(D) x () Greater than or equal to the minimum turning radius threshold of 906 And the lateral distance is 806 (D) y ) is greater than or equal to the optimal inner turning radius of 904 (R) 2,opt If the parking system 112 can perform a single-turn maneuver 918 as described above, then both single-turn and double-turn maneuvers are available. For example, parking system 112 can perform a single-turn maneuver 918 as described above. This depends on the longitudinal distance 804 (D). x The parking system 112 can perform double-turn maneuvers 920, 922, or 924 as described above. In this scenario, the parking system 112 can determine that a single-turn maneuver 918 is preferred because the entrance turning radius 810(R) is set equal to the optimal inner turning radius 904(R). 2,opt ).

[0143] Example

[0144] Examples are provided in the following sections.

[0145] Example 1. A method comprising: determining, using sensor data obtained from one or more sensors of a primary vehicle, whether a plurality of parking spaces in front of the primary vehicle are available; determining, using the sensor data, parking-space characteristics of each available parking space among the plurality of parking spaces, the parking-space characteristics including width, entrance turning radius, and longitudinal distance to the available parking space; determining a selected parking space among the plurality of parking spaces based on the parking-space characteristics; and controlling the operation of the primary vehicle using an assisted driving system or an autonomous driving system to park in the selected parking space.

[0146] Example 2. The method of Example 1, wherein one or more sensors include at least one of a radar system, a lidar system, an ultrasonic system, or a vision-based system.

[0147] Example 3. A method in any of the preceding examples, wherein determining whether multiple parking spaces in front of the main vehicle are available is also based on data obtained from external sensors, including at least one of infrastructure sensors, drone-based sensors, or sensors mounted on other vehicles near the main vehicle.

[0148] Example 4. A method of any of the preceding examples, wherein the parking-space characteristics include at least one of space depth, space type, adjacent vehicle classification, or shading classification.

[0149] Example 5. The method of Example 4, wherein at least one of the parking-space characteristics is configurable based on the driver's preference for the selected parking space.

[0150] Example 6. The method of any of the previous examples, where the selected parking space is determined using a conditional probability distribution of parking-space characteristics.

[0151] Example 7. The method of Example 6, in which the selected parking space is determined by applying Bayes' theorem to the conditional probability distribution of parking-space characteristics.

[0152] Example 8. A method from any of the preceding examples, wherein the selected parking space is determined using a machine learning model, reinforcement learning model, or deep learning model configured to receive sensor data as input to infer parking-space characteristics used to determine the selected parking space.

[0153] Example 9. A method from any of the previous examples where multiple parking spaces are approximately perpendicular or at an angle to the path of the main vehicle.

[0154] Example 10. A method from any of the previous examples where multiple parking spaces are roughly parallel to the travel path of the main vehicle.

[0155] Example 11. A method in any of the previous examples, wherein controlling the main vehicle to park in the selected parking space includes performing a forward parking maneuver.

[0156] Example 12. The method of Example 11, wherein the forward parking maneuver includes a double-turn maneuver path.

[0157] Example 13. A method in any of the preceding examples, wherein controlling the main vehicle to park in the selected parking space includes performing a reverse parking maneuver that is substantially mirror-image of a forward parking maneuver for a parking space opposite the selected parking space.

[0158] Example 14. A system comprising one or more processors, the one or more processors being configured to perform any of the methods in the preceding examples.

[0159] Example 15. A computer-readable storage medium including computer-executable instructions that, when executed, cause a processor to perform a method of any one of Examples 1 to 13.

[0160] Example 16. A method comprising: identifying a selected parking space among one or more available parking spaces in front of a primary vehicle using sensor data obtained from one or more sensors of a primary vehicle; determining, using the sensor data, a lateral distance and a longitudinal distance associated with the selected parking space, the lateral distance indicating the distance between the primary vehicle and another vehicle in an adjacent parking space in a lateral direction from the primary vehicle, and the longitudinal distance indicating the distance between the selected parking space and the primary vehicle; determining whether the lateral distance and the longitudinal distance are greater than a minimum inner turning radius of the primary vehicle; and, in response to determining that the lateral distance and the longitudinal distance are greater than the minimum inner turning radius, controlling the primary vehicle to park in the selected parking space using a single-turn maneuver using a driver assistance system or an autonomous driving system; or, in response to determining that the lateral distance is not greater than the minimum inner turning radius: determining whether the longitudinal distance is greater than a longitudinal threshold, the longitudinal threshold being based on the minimum inner turning radius of the primary vehicle or a configurable inner turning radius greater than the minimum inner turning radius; and, in response to determining that the longitudinal distance is greater than the longitudinal threshold, controlling the primary vehicle to park in the selected parking space using a double-turn maneuver using a driver assistance system or an autonomous driving system.

[0161] Example 17. The method of Example 16, wherein the entry turning radius for single-turn maneuvering includes: the minimum of the longitudinal and lateral distances if the longitudinal and lateral distances are less than the configurable inner turning radius; the longitudinal distance if the longitudinal distance is less than the configurable inner turning radius and the lateral distance is greater than or equal to the configurable inner turning radius; the lateral distance if the longitudinal distance is greater than or equal to the configurable inner turning radius and the lateral distance is less than the configurable inner turning radius; or the configurable inner turning radius if the longitudinal and lateral distances are greater than or equal to the configurable inner turning radius.

[0162] Example 18. The method of Example 18 further includes: determining whether the entry turning radius of a single turn maneuver is greater than the longitudinal distance; and in response to determining that the entry turning radius of a single turn maneuver is greater than the longitudinal distance, using an assisted driving system or an autonomous driving system to control the primary vehicle to drive a straight distance before performing the single turn maneuver, the straight distance being approximately equal to the longitudinal distance minus the entry turning radius of the single turn maneuver.

[0163] Example 19. A method of any one of Examples 15 to 18, wherein the longitudinal threshold includes at least one of the following: a minimum turning radius threshold, the minimum turning radius threshold being based on a minimum inner turning radius, a minimum outer turning radius, and a lateral distance, the minimum outer turning radius being approximately equal to the sum of the minimum inner turning radius and the rear wheel track width of the main vehicle; a configurable inner turning radius threshold, the configurable inner turning radius threshold being based on a configurable inner turning radius, a minimum outer turning radius, and a lateral distance, the configurable inner turning radius threshold being greater than the minimum turning radius threshold; or a configurable turning radius threshold, the configurable turning radius threshold being based on a configurable inner turning radius, a configurable outer turning radius, and a lateral distance, the configurable outer turning radius being greater than the minimum outer turning radius, and the configurable turning radius threshold being greater than the configurable inner turning radius threshold.

[0164] Example 20. The method of Example 19, wherein: the dual-turn maneuver includes a first turning radius away from the selected parking space, followed by a second turning radius toward the selected parking space; and if the longitudinal distance is greater than or equal to a minimum turning radius threshold and less than a configurable inner turning radius threshold, the first turning radius includes a minimum outer turning radius, and the second turning radius is determined based on the lateral distance, the longitudinal distance, and the first turning radius; if the longitudinal distance is greater than or equal to a configurable inner turning radius threshold and less than a configurable turning radius threshold, the second turning radius includes a configurable inner turning radius, and the first turning radius is determined based on the lateral distance, the longitudinal distance, and the second turning radius; or if the longitudinal distance is greater than or equal to a configurable turning radius threshold, the first turning radius includes a configurable outer turning radius, and the second turning radius includes a configurable inner turning radius.

[0165] Example 21. The method of Example 20, wherein the method further includes: if the longitudinal distance is greater than or equal to a configurable turning radius threshold, then using an assisted driving or autonomous driving system to control the primary vehicle to drive a straight distance approximately equal to the longitudinal distance minus the configurable turning radius threshold before performing a double-turn maneuver.

[0166] Example 22. The method of Example 20, wherein the method further includes: determining whether a longitudinal distance is greater than a minimum turning radius threshold, and whether a lateral distance is greater than a minimum inner turning radius but less than a configurable inner turning radius; and in response to determining that the lateral distance is greater than the minimum inner turning radius but less than the configurable inner turning radius, and: in response to determining that the longitudinal distance is greater than the minimum turning radius threshold and less than the configurable inner turning radius threshold, setting a first turning radius to a minimum outer turning radius, and determining a second turning radius based on the lateral distance, the longitudinal distance, and the first turning radius; in response to determining that the longitudinal distance is greater than the configurable inner turning radius threshold and less than the configurable turning radius threshold, setting the second turning radius to a configurable inner turning radius, and determining the first turning radius based on the lateral distance, the longitudinal distance, and the second turning radius; or in response to determining that the longitudinal distance is greater than or equal to the configurable turning radius threshold, setting the first turning radius to a configurable outer turning radius, and setting the second turning radius to a configurable inner turning radius.

[0167] Example 23. The method of Example 22, wherein the method further includes: in response to determining that the longitudinal distance is greater than or equal to a configurable turning radius threshold, using an assisted driving or autonomous driving system to control the primary vehicle to drive a straight distance approximately equal to the longitudinal distance minus the configurable turning radius threshold before performing a double-turn maneuver.

[0168] Example 24. A method of any one of Examples 15 to 23, wherein identifying a selected parking space among one or more available parking spaces in front of the main vehicle comprises: using sensor data to determine whether a plurality of parking spaces in front of the main vehicle are available; using sensor data to determine parking-space characteristics of each available parking space among the plurality of parking spaces, the parking-space characteristics including width, entrance turning radius, and distance to the available parking space; and determining the selected parking space among the plurality of parking spaces based on the parking-space characteristics.

[0169] Example 25. A method of any of Examples 15 to 24, wherein identifying a selected parking space among one or more available parking spaces in front of the main vehicle includes receiving a selection of the selected parking space from the driver of the main vehicle.

[0170] Example 26. The method of any one of Examples 15 to 25, wherein the configurable inner turning radius is predetermined by the driver of the main vehicle.

[0171] Example 27. A method of any of Examples 15 to 26, wherein a single-turn maneuver or a double-turn maneuver includes a forward-stop maneuver.

[0172] Example 28. A method of any of Examples 15 to 27, wherein a single-turn maneuver or a double-turn maneuver includes a reverse parking maneuver that is substantially mirror-image of a forward parking maneuver for a parking space opposite the selected parking space.

[0173] Example 29. A system comprising one or more processors configured to perform a method of any one of Examples 15 to 28.

[0174] Example 30. A computer-readable storage medium including computer-executable instructions that, when executed, cause a processor to perform a method of any one of Examples 15 to 28.

[0175] Conclusion

[0176] While various embodiments of the present disclosure have been described in the foregoing description and illustrated in the accompanying drawings, it should be understood that the present disclosure is not limited thereto, but can be practiced in various ways within the scope of the following claims. It will be apparent from the foregoing description that various modifications can be made without departing from the scope of the present disclosure as defined by the following claims.

Claims

1. A method for selecting a parking space, the method comprising: determining, using sensor data obtained from one or more sensors of a host vehicle, whether a plurality of parking spaces ahead of the host vehicle are available; determining, using the sensor data, parking-space characteristics of each available parking space of the plurality of parking spaces, the parking-space characteristics comprising a width, an entry turning radius, and a longitudinal distance to the available parking space; determining, based on the parking-space characteristics, a selected parking space among the plurality of parking spaces using an application of Bayes’ theorem to conditional probability distributions of the parking-space characteristics, each conditional probability distribution identifying how likely a respective available space is to be selected as the selected parking space given the respective parking-space characteristics, each conditional probability distribution of each parking-space characteristic having a respective predetermined mean and a respective predetermined variance value, the selected parking space being the respective available space having a highest probability value; and controlling an operation of the host vehicle to park in the selected parking space using an assisted driving system or an autonomous driving system. The one or more sensors comprise at least one of a radar system, a lidar system, an ultrasonic system, or a vision-based system.

2. The method of claim 1, wherein, Determining whether a plurality of parking spaces ahead of the host vehicle are available is further based on data obtained from external sensors, the external sensors comprising at least one of infrastructure sensors, drone-based sensors, or sensors mounted on other vehicles in a vicinity of the host vehicle.

3. The method of claim 1, wherein, The parking-space characteristics comprise at least one of a space depth, a space type, a neighboring vehicle classification, or a sunshade classification.

4. The method of claim 1, wherein, At least one of the parking-space characteristics is configurable based on a driver’s preference for the selected parking space.

5. The method of claim 4, wherein, The selected parking space is determined using a machine learning model, a reinforcement learning model, or a deep learning model configured to receive the sensor data as input to infer the parking-space characteristics for determining the selected parking space.

6. The method of claim 1, wherein, The plurality of parking spaces are perpendicular or angled to a travel path of the host vehicle.

7. The method of claim 1, wherein, The plurality of parking spaces are parallel to a travel path of the host vehicle.

8. The method of claim 1, wherein, Controlling the host vehicle to park in the selected parking space comprises performing a forward parking maneuver.

9. The method of claim 1, wherein, The forward parking maneuver comprises a double-turning maneuver path.

10. The method of claim 9, wherein, Controlling the host vehicle to park in the selected parking space comprises performing a reverse parking maneuver, the reverse parking maneuver being a mirror image of a forward parking maneuver for a parking space opposite the selected parking space.

11. The method of claim 1, wherein, The controlling the operation of the host vehicle to park in the selected parking space comprises:

12. The method of claim 1, wherein, ​ determining, using the sensor data, a lateral distance associated with the selected parking space, the lateral distance indicating a distance between another vehicle in an adjacent parking space and the host vehicle in a lateral direction from the host vehicle, and a longitudinal distance indicating a distance between the selected parking space and the host vehicle; determining whether the lateral distance and the longitudinal distance are greater than a minimum inside turning radius of the host vehicle; and in response to determining that the lateral distance and the longitudinal distance are greater than the minimum inside turning radius, controlling, using the assisted driving system or the autonomous driving system, the host vehicle to park in the selected parking space using a single-turn maneuver; or in response to determining that the lateral distance is not greater than the minimum inside turning radius: determining whether the longitudinal distance is greater than a longitudinal threshold, the longitudinal threshold based on the minimum inside turning radius of the host vehicle or a configurable inside turning radius, the configurable inside turning radius greater than the minimum inside turning radius; and in response to determining that the longitudinal distance is greater than the longitudinal threshold, controlling, using the assisted driving system or the autonomous driving system, the host vehicle to park in the selected parking space using a double-turn maneuver.

13. A system for selecting a parking space, the system comprising one or more processors configured to: determine, using sensor data obtained from one or more sensors of a host vehicle, whether a plurality of parking spaces ahead of the host vehicle are available; determine, using the sensor data, parking-space characteristics of each available parking space of the plurality of parking spaces, the parking-space characteristics comprising a width, an entry turning radius, and a longitudinal distance to the available parking space; determine, based on the parking-space characteristics, a selected parking space of the plurality of parking spaces using an application of Bayes’ theorem to conditional probability distributions of the parking-space characteristics, each conditional probability distribution identifying how likely a respective available space is to be selected as the selected parking space given the respective parking-space characteristics, each conditional probability distribution of each parking-space characteristic having a respective predetermined mean value and a respective predetermined variance value, the selected parking space being the respective available space having a highest probability value; and control, using an assisted driving system or an autonomous driving system, the host vehicle to park in the selected parking space. The one or more sensors comprise at least one of a radar system, a lidar system, an ultrasonic system, or a vision-based system.

14. The system of claim 13, wherein, The one or more processors are further configured to determine whether a plurality of parking spaces ahead of the host vehicle are available further based on data obtained from external sensors, the external sensors comprising at least one of infrastructure sensors, drone-based sensors, or sensors mounted on other vehicles in a vicinity of the host vehicle.

15. The system of claim 13, wherein, The parking-space characteristics comprise at least one of a space depth, a space type, a neighboring vehicle classification, or a shade classification.

16. The system of claim 13, wherein, ​ 17. The system of claim 14, wherein, At least one of the parking-space characteristics is configurable based on a driver's preference for the selected parking space.

Images