| CPC B60W 60/0025 (2020.02) [G06N 5/01 (2023.01); G06Q 30/0284 (2013.01); G06Q 50/30 (2013.01); B60W 2554/406 (2020.02); G06Q 2240/00 (2013.01)] | 18 Claims |
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1. A method, by a processor, for dynamic parking for autonomous vehicles, comprising:
receiving input, by an autonomous vehicle, instructing the autonomous vehicle to travel from an initial location to a selected location, wherein the autonomous vehicle carries at least one passenger from the initial location to the selected location;
determining a dynamic parking plan for the autonomous vehicle to travel from the selected location at a first time and return to the selected location at a second time according to a transportation network and one or more variable parking functions, wherein the at least one passenger is unloaded at the selected location such that, subsequent to unloading the at least one passenger at the selected location at the first time, the autonomous vehicle autonomously travels from the selected location at the first time, on a determined route of a sequence of vehicle movements computed prior to departing the selected location at the first time, and back to the selected location at the second time in lieu of waiting at the selected location;
in conjunction with the determining of the dynamic parking plan according to the one or more variable parking functions, defining the one or more variable parking functions according to a congestion cost function that minimizes a total congestion cost by the autonomous vehicle, wherein the total congestion costs is a sum of a plurality of congestion costs respectively associated with each of a plurality of trip segments of the determined route;
determining, for the dynamic parking plan, a transition plan of one or more transitions equal to traversing one or more edges of the transportation network on the determined route according to a search space built containing all possible combinations of trip segments, including the plurality of trip segments, able to be used to return to the selected location at the second time, wherein the determined route is identified by relaxing an admissible estimation of an acceptable heuristic of the search space, and, commencing with the selected location, pruning those trip segments of all possible combinations of trips segments that do not comply with the acceptable heuristic as compared to the relaxed admissible estimation, wherein determining the transition plan for the dynamic parking plan includes causing the autonomous vehicle to perform one or more actions on the determined route, and wherein the one or more actions include traversing the one or more edges and waiting at one of the one or more transitions of one or more of the plurality of trip segments for one time step according to the congestion cost associated therewith and the total congestion cost.
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