Automated vehicle parking
AssigneeApollo Autonomous Driving USA LLC
InventorsBaoping YUAN, Yaoming SHEN
Life of this patent
Estimating the term…
Abstract
Embodiments herein relate to robust methodologies for autonomous parking. In one or more embodiments, an autonomous vehicle may determine the slope of a road based upon one or more inputs and a pre-defined slope definition and may also determine curb/no curb status of a parking location. Given the determined road conditions, such as slope and no curb/curb, embodiments determine wheel direction and angle that the vehicle should achieve to properly park. Embodiments also include countermeasures if one or more issues prohibit the vehicle from achieving a desired parking condition.
Claims20
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.
A system comprising:
- one or more processors;
- and
- a non-transitory computer-readable medium or media comprising one or more sets of instructions which, when executed by at least one of the one or more processors, causes steps to be performed comprising:
- determining a target wheel angle using a controller unit and a set of inputs related to a vehicle or a road;
- 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.
A non-transitory computer-readable medium or media comprising one or more sequences of instructions which, when executed by at least one processor, causes steps to be performed comprising:
- determining a target wheel angle using a controller unit and a set of inputs related to a vehicle that is on a road;
- 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.
Dependencies are inferred from the claim text.