| CPC B60W 30/06 (2013.01) [B60W 60/0011 (2020.02); B60W 2510/20 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2552/05 (2020.02); B60W 2554/80 (2020.02); B60W 2556/10 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
determining that an autonomous vehicle is within a threshold distance from a destination;
receiving, based at least in part on being within the threshold distance, a set of parking locations;
identifying for a parking location of the set of parking locations a parking characteristic;
determining, based at least in part on the parking characteristic, whether to include the parking location in a subset of parking locations;
determining, based at least in part on the subset of parking locations, a plurality of trajectories that include vehicle acceleration data or vehicle steering angle data and at least two of the plurality of trajectories configured to control the autonomous vehicle to enter a same parking location of the subset of parking locations;
determining a control trajectory from the plurality of trajectories; and
controlling the autonomous vehicle based at least in part on the control trajectory.
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