US 12,434,689 B2
Automated vehicle parking
Baoping Yuan, Sunnyvale, CA (US); and Yaoming Shen, Sunnyvale, CA (US)
Assigned to Apollo Autonomous Driving USA LLC, Sunnyvale, CA (US)
Filed by Apollo Autonomous Driving USA LLC, Sunnyvale, CA (US)
Filed on Oct. 11, 2023, as Appl. No. 18/484,814.
Application 18/484,814 is a continuation in part of application No. 18/349,912, filed on Jul. 10, 2023.
Prior Publication US 2025/0018932 A1, Jan. 16, 2025
Int. Cl. B60W 30/06 (2006.01); B60W 10/18 (2012.01); B60W 40/076 (2012.01); B60W 40/13 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/06 (2013.01) [B60W 10/182 (2013.01); B60W 40/076 (2013.01); B60W 40/13 (2013.01); B60W 60/001 (2020.02); B60W 2520/30 (2013.01); B60W 2530/10 (2013.01); B60W 2552/15 (2020.02); B60W 2554/60 (2020.02); B60W 2710/207 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A processor-implemented method for autonomously operating a vehicle that is on a road, the method comprising:
determining a target wheel angle using a controller unit and a set of inputs related to the vehicle;
determining a wheel direction given road conditions obtained using one or more inputs;
causing front wheels of the vehicle to be moved in the wheel direction;
monitoring, using one or more sensors, an angle of at least one of the front wheels and torque of at least one of the front wheels;
responsive to the front wheels of the vehicle reaching, with a threshold level, the target wheel angle while maintaining a torque below a target torque value:
causing the front wheels of the vehicle to stop being moved in the wheel direction; and
causing one or more braking systems of the vehicle to be set for a parked mode; and
responsive to detecting that at least one of the front wheels of the vehicle has reached the target torque value before the target wheel angle has been reached:
causing the front wheels to be moved in an opposite direction to the wheel direction; and
responsive to a stop condition not being met, returning to the step of causing, via the controller system, the front wheels of the vehicle to be moved in the wheel direction.