US 11,987,287 B2
Autonomous truck-trailer maneuvering and parking
Eduardo Jose Ramirez Llanos, Rochester, MI (US); Dhiren Verma, Farmington Hills, MI (US); Xin Yu, Rochester Hills, MI (US); Matthew Donald Berkemeier, Beverly Hills, MI (US); Julien Ip, Royal Oak, MI (US); Kyle P Carpenter, Clarkston, MI (US); Francisco Alejandro Fuentes Perez, Queretaro (MX); Joseph Zagroba, Auburn Hills, MI (US); Victor Manuel Camacho Ruiz, Queretaro (MX); Andrew Phillip Bolduc, Rochester Hills, MI (US); Erick Daniel Rivera Gutierrez, Queretaro (MX); William Nichols, Troy, MI (US); and Isemany Angelica Leal Martinez, Queretaro (MX)
Assigned to Continental Autonomous Mobility US, LLC, Auburn Hills, MI (US)
Appl. No. 17/594,290
Filed by Continental Autonomous Mobility US, LLC, Auburn Hills, MI (US)
PCT Filed Apr. 13, 2020, PCT No. PCT/US2020/027950
§ 371(c)(1), (2) Date Oct. 8, 2021,
PCT Pub. No. WO2020/210808, PCT Pub. Date Oct. 15, 2020.
Claims priority of provisional application 62/833,357, filed on Apr. 12, 2019.
Prior Publication US 2022/0161853 A1, May 26, 2022
Int. Cl. B62D 15/02 (2006.01); B60D 1/24 (2006.01); B60W 30/06 (2006.01); B60W 30/09 (2012.01); B62D 13/06 (2006.01); G05D 1/00 (2006.01); G06V 20/58 (2022.01)
CPC B62D 15/0285 (2013.01) [B60D 1/245 (2013.01); B60W 30/06 (2013.01); B60W 30/09 (2013.01); B62D 13/06 (2013.01); G05D 1/0038 (2013.01); G05D 1/0044 (2013.01); G06V 20/586 (2022.01); B60W 2300/14 (2013.01); B60W 2420/42 (2013.01); G05D 2201/0213 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method for autonomously parking a vehicle-trailer system, the method comprising:
receiving, at data processing hardware supported by a vehicle of the vehicle-trailer system, sensor system data from a sensor system supported by the vehicle, the sensor system data including images of surroundings along a driving path of the vehicle-trailer system;
determining, at the data processing hardware, a three-dimensional local map based on the sensor system data, the local map being a map of a parking lot including surroundings along the driving path of the vehicle-trailer system in the parking lot, the three-dimensional local map including point clouds;
determining, at the data processing hardware, a three-dimensional pose of the vehicle in the three-dimensional local map;
assigning, by the data processing hardware, a label to each point of the point clouds of the three-dimensional local map and each pixel in the images;
fusing, by the data processing hardware, the images with the labeled three-dimensional local map;
sending, from the data processing hardware, instructions causing the display to display the fused, labeled local map showing available parking spaces;
receiving, at the data processing hardware, a user selection of an image location within the displayed fused, labeled local map, the image location representing a position in the three-dimensional local map associated with a selected location within the surroundings;
determining, at the data processing hardware, a parking path from a current location of the vehicle-trailer system based on the three-dimensional pose of the vehicle to the position based on the three-dimensional local map; and
sending, from the data processing hardware to a drive system, instructions to execute an autonomous parking behavior causing the vehicle-trailer system to autonomously drive along the parking path and autonomously park in the selected location.