US 12,103,516 B2
Parking-trajectory generation method combined with offline and online solutions
Xin Xu, Beijing (CN); Fan Zhu, Sunnyvale, CA (US); Dongchun Yao, Beijing (CN); and Ning Yu, Beijing (CN)
Assigned to BAIDU USA LLC, Sunnyvale, CA (US); and Baidu.com Times Technology (Beijing) Co., Ltd., Beijing (CN)
Appl. No. 16/759,062
Filed by Baidu USA LLC, Sunnyvale, CA (US); and Baidu.com Times Technology (Beijing) Co., Ltd., Beijing (CN)
PCT Filed Mar. 31, 2020, PCT No. PCT/CN2020/082398
§ 371(c)(1), (2) Date Apr. 24, 2020,
PCT Pub. No. WO2021/195951, PCT Pub. Date Oct. 7, 2021.
Prior Publication US 2021/0300333 A1, Sep. 30, 2021
Int. Cl. B60W 30/06 (2006.01); B60W 60/00 (2020.01); G05D 1/00 (2024.01); G06V 20/58 (2022.01); G08G 1/14 (2006.01)
CPC B60W 30/06 (2013.01) [B60W 60/0011 (2020.02); G05D 1/0274 (2013.01); G06V 20/58 (2022.01); G06V 20/586 (2022.01); G08G 1/141 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A computer-implemented method for operating an autonomous driving vehicle (ADV), the method comprising:
in response to a request to park the ADV in a parking lot, obtaining a set of parking-trajectories associated with a set of predetermined locations in proximity to one or more parking spots within the parking lot based on a predetermined threshold distance to the one or more parking spots, wherein, for each parking spot of the one or more parking spots, one or more of the set of predetermined locations in proximity to a parking spot are determined based on the predetermined threshold distance to the parking spot and a resolution of a grid of a digital map, wherein the set of parking-trajectories was previously generated based on prior planning and control data of the parking lot by using a hybrid A* search algorithm, each of the parking-trajectories corresponding to one of the one or more parking spots within the parking lot;
comparing a current location of the ADV with the set of predetermined locations associated with the set of parking-trajectories corresponding to the one or more parking spots within the parking lot;
determining that the current location of the ADV does not include one of the set of predetermined locations associated with the set of parking-trajectories corresponding to the one or more parking spots;
generating a trajectory from the current location to a predetermined location of the set of predetermined locations nearest to the current location without using a previously generated parking-trajectory of the set of previously generated parking-trajectories;
selecting a previously generated parking-trajectory from the set of previously generated parking-trajectories based on the predetermined location nearest to the current location of the ADV; and
controlling the ADV to drive from the current location to the predetermined location nearest to the current location according to the generated trajectory and park in a corresponding parking spot according to the selected previously generated parking-trajectory.