US 12,459,496 B2
Method and system of creating parking motion for autonomous vehicles
Yutaka John Kanayama, Dexter, MI (US)
Filed by Yutaka John Kanayama, Dexter, MI (US)
Filed on Feb. 26, 2025, as Appl. No. 19/063,651.
Application 19/063,651 is a continuation in part of application No. 18/759,555, filed on Jun. 28, 2024, abandoned.
Application 18/759,555 is a continuation in part of application No. 18/605,385, filed on Mar. 14, 2024, abandoned.
Prior Publication US 2025/0289413 A1, Sep. 18, 2025
Int. Cl. B60W 30/06 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/06 (2013.01) [B60W 60/001 (2020.02)] 9 Claims
OG exemplary drawing
 
1. A method for controlling an autonomous vehicle during a parking motion, comprising:
receiving, via a processor onboard the vehicle, a starting vehicle position and a starting vehicle direction as q0=(p0, θ0)=((x0=0, y0=0), 0);
receiving, via the processor onboard the vehicle, a goal parking position and a goal parking direction as q1=(p1, θ1)=((x1, y1), θ1), wherein x1 is not equal to 0;
receiving a predefined vehicle velocity, v;
comparing a geometric relationship between q0, the starting vehicle position and the starting vehicle direction, with q1, the goal parking position and a goal parking direction;
determining whether q0 and q1 are a mate, parallel, or a general case;
calculating, via the processor onboard the vehicle, a continuous-curvature motion, which comprises either a single arch (S, K) or a double arch motion (S0, K0) and (S1, K1) based upon:
the geometric relationship between q0, and q1, wherein the geometric relationship is either a mate, parallel, or a general case, the starting vehicle position, the starting vehicle direction, the goal parking position, and the goal parking direction; and
controlling the vehicle, which comprises a pair of front wheels and a pair of rear wheels, via instructions provided by the processor onboard the vehicle, based upon the calculated single arch or double arch motion, represented by:

OG Complex Work Unit Math
wherein s is arc length, S is the total arc length, and K is the maximum curvature, by controlling the rear wheels to a velocity v, and
controlling a left, front wheel direction according to:
ψL=tan (κ(s)L/(1−κ(s)W))
and controlling a right, front wheel direction according to:
ψR=tan (κ(s)L/(1+κ(s)W))
wherein
W is half a distance between a centerpoint of the front wheels,
L represents a distance between a centerpoint of the front and rear wheels,
k represents a curvature defined as dθ/ds, where θ is a vehicle's direction, and
s represents an arc length along either the single arch or the double arch motion.