| CPC B60W 30/06 (2013.01) [B60W 50/00 (2013.01); G01C 21/3453 (2013.01); B60W 2050/0022 (2013.01)] | 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 a location of an autonomous vehicle in an environment;
receiving, based at least in part on the location being within a threshold distance of a destination, a parking space associated with a target pose indicating one or more of a target position or target orientation for the autonomous vehicle;
generating a trajectory associated with navigating the autonomous vehicle to the parking space;
determining, as a pose, one or more of a position or orientation of the autonomous vehicle within the environment;
determining, based at least in part on the pose of the autonomous vehicle and the target pose of the parking space, a relative heading associated with the autonomous vehicle;
determining a relative lateral offset associated with the autonomous vehicle and a relative longitudinal offset associated with the autonomous vehicle;
accessing, based at least in part on the relative heading, a layer of a three-dimensional grid, the three-dimensional grid comprising a plurality of layers that are organized by relative heading angles;
determining, based at least in part on the relative lateral offset and the relative longitudinal offset, a region within the layer;
receiving, based at least in part on the region, a cost associated with parking in the parking space;
determining, based at least in part on the cost, to follow the trajectory; and
controlling the autonomous vehicle based at least in part on the trajectory.
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