# US 11,999,344 B2 · System and method for selecting an intermediate parking goal in autonomous delivery > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,344 B2 - Document ID: US11999344B2 - Status: Granted - Kind: B2 - Application number: 17/676,178 - Filed: 2022-02-20 - Published: 2023-08-24 - Granted: 2024-06-04 - Earliest claimed: 2022-02-20 - Assignees: Beijing Jingdong Qianshi Technology Co., Ltd. - Applicants: Beijing Jingdong Qianshi Technology Co., Ltd. - Inventors: Haiming Wang; Liangliang Zhang; Qi Kong - Web page: https://patentgrep.com/patent/US11999344B2 ## CPC - B60W 30/06: Automatic manoeuvring for parking - B60W 40/105: Speed - B60W 40/12: related to parameters of the vehicle itself {, e.g. tyre models} - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - B62D 15/0285: {Parking performed automatically} - G06N 5/01: Dynamic search techniques; Heuristics; Dynamic trees; Branch-and-bound - G06Q 10/047: Optimisation of routes or paths, e.g. travelling salesman problem - G06Q 50/40: Business processes related to the transportation industry (shipping G06Q10/083) - G08G 1/146: {where the parking area is a limited parking space, e.g. parking garage, restricted space} - G06Q 2240/00: Transportation facility access, e.g. fares, tolls or parking - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/096844: {where the complete route is dynamically recomputed based on new data} - G08G 1/096861: {where the immediate route instructions are output to the driver, e.g. arrow signs for next turn} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A system and a method for determining an intermediate parking goal of an autonomous vehicle. The autonomous vehicle includes a controller, the controller has a processor and a storage device storing computer executable code. The computer executable code, when executed at the processor, is configured to: prepare a driving plan toward a final parking goal and a parking plan to park at the final parking goal; drive the autonomous vehicle toward the final parking goal according to the driving plan; switch from the driving plan to the parking plan when the autonomous vehicle is within a predetermined distance to the final parking goal; and when the final parking goal is inaccessible: determine the intermediate parking goal, drive and park the autonomous vehicle at the intermediate parking goal. ## Claims ### Claim 1 A system for determining an intermediate parking goal of an autonomous vehicle, wherein the autonomous vehicle comprises a controller, the controller comprises a processor and a storage device storing computer executable code, and the computer executable code, when executed at the processor, is configured to: prepare a driving plan toward a final parking goal and a parking plan to park at the final parking goal; drive the autonomous vehicle toward the final parking goal according to the driving plan; switch from the driving plan to the parking plan when the autonomous vehicle is within a predetermined distance to the final parking goal; and when the final parking goal is inaccessible: determine the intermediate parking goal, and park the autonomous vehicle to the intermediate parking goal; wherein the computer executable code is configured to, when driving the autonomous vehicle to the intermediate parking goal: monitor the final parking goal, and drive the autonomous vehicle to the final parking goal when the final parking goal is accessible. ### Claim 2 (depends on 1) The system of claim 1, wherein the final parking goal is inaccessible when both the final parking goal and extended parking goals are inaccessible, and the extended parking goals at least comprise parking spaces neighboring the final parking goal. ### Claim 3 (depends on 2) The system of claim 2, wherein the predetermined distance is determined based on speed and size of the autonomous vehicle, and the extended parking goals comprise the parking spaces within a predetermined radius to the final parking goal. ### Claim 4 (depends on 1) The system of claim 1, wherein the computer executable code is configured to determine the intermediate parking goal when the parking plan has been failed for a predetermined number of times. ### Claim 5 (depends on 1) The system of claim 1, wherein the intermediate parking goal is determined by: searching candidate nodes for the intermediate parking goal; calculating cost for each of the candidate nodes; and selecting one of the candidate nodes that has the lowest cost as the intermediate parking goal. ### Claim 6 (depends on 5) The system of claim 5, wherein the candidate nodes form a tree data structure, and the intermediate parking goal is determined from the tree data structure using breadth-first-search (BFS). ### Claim 7 (depends on 1) The system of claim 1, wherein current location of the autonomous vehicle is defined as an initial candidate nodes, and the computer executable code is configured to determine candidate nodes by: defining a current location of the autonomous vehicle as an initial candidate node; extending the initial candidate node forward and backward to obtain neighboring candidate nodes from the initial candidate node; defining each of the neighboring candidate nodes as a current node, and extending the neighboring candidate nodes from the current node to obtain neighboring candidate nodes from the current node; and combining the initial candidate node and the neighboring candidate nodes within a predetermined area around the autonomous vehicle to obtain the candidate nodes. ### Claim 8 (depends on 5) The system of claim 5, wherein the cost for each of the candidate nodes is calculated by: node cost=Cgoal+Cvehicle+Cboundary+Clane+Cobs, Cgoal=Wgoal*D(node-parking_goal)2, Cvehicle=Wvehicle*D(node-vehicle_position)2, Cboundary=Wboundary*D(node project to boundary)2, Clane=Wlane*(1/D(node project to lane center))2, Cobs=Wobs*(1/D(node distance to obs))2, D(node-parking_goal) is a distance from the candidate node to the final parking goal, D(node-vehicle, position) is a distance from the candidate node to the autonomous vehicle, D(node project to boundary) is a distance from the candidate node to a closest boundary of a road, D(node project to lane center) is a distance from the candidate node to a center of a lane neighboring the candidate node, D(node distance to obs) is a distance from the candidate node to a closest obstacle, and Wgoal, Wvehicle, Wboundary, Wlane, and Wobs are corresponding weights. ### Claim 9 (depends on 8) The system of claim 8, wherein the weights are set as follows: Wgoal=5.0, Wvehicle=0.2, Wboundary=10.0, Wlane=5.0, and Wobs=5.0. ### Claim 10 (depends on 1) The system of claim 1, wherein the controller is an embedded device. ### Claim 11 A method for determining an intermediate parking goal of an autonomous vehicle, comprising: preparing, by a controller of the autonomous vehicle, a driving plan toward a final parking goal and a parking plan to park at the final parking goal; driving, by the controller, the autonomous vehicle toward the final parking goal according to the driving plan; switching, by the controller, the driving plan to the parking plan when the autonomous vehicle is within a predetermined distance to the final parking goal; and determining the intermediate parking goal and driving the autonomous vehicle to the intermediate parking goal when the final parking goal is inaccessible; wherein the method further comprises: monitoring the final parking goal when driving the autonomous vehicle to the intermediate parking goal; and driving the autonomous vehicle to the final parking goal when the final parking goal is accessible. ### Claim 12 (depends on 11) The method of claim 11, wherein the intermediate parking goal is determined by: searching candidate nodes for the intermediate parking goal; calculating cost for each of the candidate nodes; and selecting one of the candidate nodes that has the lowest cost as the intermediate parking goal. ### Claim 13 (depends on 12) The method of claim 12, wherein the candidate nodes form a tree data structure, and the intermediate parking goal is determined from the tree data structure using breadth-first-search (BFS). ### Claim 14 (depends on 12) The method of claim 12, wherein the cost for each of the candidate nodes is calculated by: node cost=Cgoal Cvehicle Cboundary Clane+Cobs, Cgoal=Wgoal*D(node-parking_goal)2, Cvehicle=Wvehicle*D(node-vehicle_position)2, Cboundary=Wboundary*D(node project to boundary)2, Clane=Wlane*(1/D(node project to lane center))2, Cobs=Wobs*(1/D(node distance to obs))2, D(node-parking_goal) is a distance from the candidate node to the final parking goal, D(node-vehicle_poistion) is a distance from the candidate node to the autonomous vehicle, D(node project to boundary) is a distance from the candidate node to a closest boundary of a road, D(node project to lane center) is a distance from the candidate node to a center of a lane neighboring the candidate node, D(node distance to obs) is a distance from the candidate node to a closest obstacle, and Wgoal, Wvehicle, Wboundary, Wlane, and Wobs are corresponding weights. ### Claim 15 (depends on 11) A non-transitory computer readable medium storing computer executable code, wherein the computer executable code, when executed at a processor of a controller in an autonomous vehicle, is configured to perform the method of claim 11. ### Claim 16 (depends on 15) The non-transitory computer readable medium of claim 15, wherein the intermediate parking goal is determined by: searching candidate nodes for the intermediate parking goal; calculating cost for each of the candidate nodes; and selecting one of the candidate nodes that has the lowest cost as the intermediate parking goal. ### Claim 17 (depends on 16) The non-transitory computer readable medium of claim 16, wherein the cost for each of the candidate nodes is calculated by: node cost=Cgoal Cvehicle Cboundary Clane+Cobs, Cgoal=Wgoal* D(node-parking_goal)2, Cvehicle=Wvehicle* D(node-vehicle_position)2, Cboundary=Wboundary* D(node project to boundary)2, ClaneWlane*(1/D(node project to lane center))2, Cobs=Wobs(1/D(node distance to obs))2, D(node-parking_goal) is a distance from the candidate node to the final parking goal, D(node-vehicle_position) is a distance from the candidate node to the autonomous vehicle, D(node project to boundary) is a distance from the candidate node to a closest boundary of a road, D(node project to lane center) is a distance from the candidate node to a center of a lane neighboring the candidate node, D(node distance to obs) is a distance from the candidate node to a closest obstacle, and Wgoal, Wvehicle, Wboundary, Wlane, and Wobs are corresponding weights. ### Claim 18 A system for determining an intermediate parking goal of an autonomous vehicle, wherein the autonomous vehicle comprises a controller, the controller comprises a processor and a storage device storing computer executable code, and the computer executable code, when executed at the processor, is configured to: prepare a driving plan toward a final parking goal and a parking plan to park at the final parking goal; drive the autonomous vehicle toward the final parking goal according to the driving plan; switch from the driving plan to the parking plan when the autonomous vehicle is within a predetermined distance to the final parking goal; and when the final parking goal is inaccessible: determine the intermediate parking goal, and park the autonomous vehicle to the intermediate parking goal; wherein the intermediate parking goal is determined by: searching candidate nodes for the intermediate parking goal; calculating cost for each of the candidate nodes; and selecting one of the candidate nodes that has the lowest cost as the intermediate parking goal. ### Claim 19 (depends on 18) The system of claim 18, wherein the final parking goal is inaccessible when both the final parking goal and extended parking goals are inaccessible, and the extended parking goals at least comprise parking spaces neighboring the final parking goal. ### Claim 20 (depends on 19) The system of claim 19, wherein the predetermined distance is determined based on speed and size of the autonomous vehicle, and the extended parking goals comprise the parking spaces within a predetermined radius to the final parking goal.