Programming complex parking maneuvers for driverless vehicles

Patent metadata

Field	Value
Publication number	US-2019016331-A1
Application number	US-201715650763-A
Country	US
Kind code	A1
Filing date	Jul 14, 2017
Priority date	Jul 14, 2017
Publication date	Jan 17, 2019
Grant date	—

Abstract

Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computing software, including autonomy applications, image processing applications, etc., computing systems, and wired and wireless network communications to facilitate autonomous control of vehicles, and, more specifically, to systems, devices, and methods configured to control driverless vehicles to facilitate complex parking maneuvers with, for example, optional modification of a preprogrammed path of travel responsive to characteristics of an autonomous vehicle. In some examples, a method may be configured to localize an autonomous vehicle relative to a first geographical location, capture vehicular drive parameter data as the autonomous vehicle transits via a path of travel, localize the autonomous vehicle relative to a second geographical location, store data representing the vehicular drive parameters, and compute a reverse path of travel over the path of travel based on data representing one or more vehicular drive parameters.

First claim

1 . A method comprising:
localizing an autonomous vehicle relative to a first geographical location at which the autonomous vehicle is disposed relative to a first path portion of a path of travel; capturing data representing vehicular drive parameters at units of time as the autonomous vehicle transits via the path of travel; determining the autonomous vehicle is adjacent to a parking zone; localizing the autonomous vehicle relative to a second geographical location at which the autonomous vehicle is disposed relative to a second path portion of the path of travel; storing the data representing the vehicular drive parameters; and computing a reverse path of travel in a reverse direction of travel over the path of travel based on the data representing the vehicular drive parameters.

2 . The method of claim 1 wherein capturing the data representing the vehicular drive parameters comprises:
accepting control signals from a subset of user control devices; and
initiating data capture to form a programmed path of travel.

3 . The method of claim 2 wherein the subset of the user control devices comprises one or more of a steering mechanism, a throttle, a braking device, and a transmission shifting control.

4 . The method of claim 2 wherein initiating the data capture comprises:
receiving an initiation signal originating at a user interface.

5 . The method of claim 1 wherein localizing the autonomous vehicle relative to the first path portion and the second path portion comprises:
localizing the autonomous vehicle at a boundary and a parking zone, respectively, during ingress of the parking zone,
wherein the reverse path of travel is computed to cause the autonomous vehicle to exit the parking zone automatically.

6 . The method of claim 1 wherein localizing the autonomous vehicle relative to the first path portion and the second path portion comprises:
localizing the autonomous vehicle at a parking zone and a boundary respectively, during egress of the parking zone,
wherein the reverse path of travel is computed to cause the autonomous vehicle to enter the parking zone automatically.

7 . The method of claim 1 wherein capturing the data representing the vehicular drive parameters comprises:
determining a vehicle drive parameter indicative of a transmission configured in a first drive state in association with the first path portion; and
determining the vehicle drive parameter indicative of the transmission configured in a second drive state in association with the second path portion.

8 . The method of claim 1 wherein the second path portion is disposed at a location coinciding with a parking port including a number of objects as obstacles.

9 . The method of claim 8 further comprising:
executing instructions of a programmed parking application to propel the autonomous vehicle via the reverse path of travel to terminate transit of the autonomous vehicle at a pre-determined pose.

10 . The method of claim 9 wherein executing instructions of the programmed parking application comprises:
identifying an image target; and
determining a position and orientation relative to the image target.

11 . The method of claim 9 wherein executing instructions of the programmed parking application comprises:
executing a first subset of instructions to position a side surface portion of the autonomous vehicle at a distance that optimizes spatial dimensions adjacent another side surface portion.

12 . The method of claim 9 wherein executing instructions of the programmed parking application comprises:
executing a second subset of instructions to detect absence of a passenger at an exit associated with a side surface;
calibrating a distance between the side surface and an object in the parking port; and
controlling the autonomous vehicle to terminate transit at a modified pose at the distance.

13 . The method of claim 9 wherein executing instructions of the programmed parking application comprises:
executing a third subset of instructions to detect absence of passengers;
calibrating the pose to form a modified pose in the parking port; and
controlling the autonomous vehicle to terminate transit at the modified pose.

14 . The method of claim 1 further comprising:
detecting an impeding object on the second path portion disposed at a location coinciding with a parking port.

15 . The method of claim 14 further comprising:
receiving data representing a modified path of travel at the second path portion to automatically terminate transit at an alternate pose in the parking port.

16 . An apparatus comprising:
a memory including executable instructions; and a processor, responsive to executing the instructions, is configured to:
localize an autonomous vehicle relative to a first geographical location at which the autonomous vehicle is disposed relative to a first path portion of a path of travel;
capture data representing vehicular drive parameters at units of time as the autonomous vehicle transits via the path of travel;
determine the autonomous vehicle is adjacent to a parking zone;
localize the autonomous vehicle relative to a second geographical location at which the autonomous vehicle is disposed relative to a second path portion of the path of travel;
store the data representing the vehicular drive parameters; and
compute a reverse path of travel in a reverse direction of travel over the path of travel based on the data representing the vehicular drive parameter.

17 . The apparatus of claim 16 , wherein the processor is further configured to:
accept control signals from one or more of a steering mechanism, a throttle, a braking device, and a transmission shifting control; and initiate data capture to form a programmed path of travel.

18 . The apparatus of claim 17 , wherein the processor is further configured to:
localize the autonomous vehicle relative to the first path portion at a boundary; and localize the autonomous vehicle relative to the second path portion at a parking zone, wherein the reverse path of travel is computed to cause the autonomous vehicle to exit the parking zone automatically.

19 . The apparatus of claim 16 , wherein the processor is further configured to:
localize the autonomous vehicle relative to the first path portion at a parking zone; and localize the autonomous vehicle relative to the second path portion at a boundary, wherein the reverse path of travel is computed to cause the autonomous vehicle to enter the parking zone automatically.

20 . The apparatus of claim 16 , wherein the processor is further configured to:
activate driverless recharging in accordance with a schedule; and execute instructions of a programmed parking application to propel the autonomous vehicle to terminate transit of the autonomous vehicle at a predetermined pose at a battery charging station.

Assignees

• Nio Usa Inc

Inventors

• Carlson Jamie P
• Yellambalase Yadunandana

Classifications

• B62D15/0285

  Parking performed automatically · CPC title

• B60W30/06 Primary

  Automatic manoeuvring for parking · CPC title

• G06K9/00812

  Physics · mapped topic

• G05D2201/0213

  Physics · mapped topic

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title