Enhanced slam-based parking assist with reusable training outcome for near-identical parking slots

A system for SLAM-based parking assist, comprising:

• a plurality of sensors;
• a controller in communication with the plurality of sensors, wherein the controller is programmed to:
• determine that a host vehicle is entering a corridor adjacent a target parking slot;
• in response to determining that the host vehicle entered the corridor adjacent the target parking slot, determine a potential reusability of a plurality of training outcomes of a training process for the target parking slot, wherein each of the plurality training outcomes includes training identifying data of a potential parking slot;
• in response to determining a potential reusability of the plurality training outcomes of the training process for the target parking slot, receive identifying data of the target parking slot;
• identify which of the plurality of training outcomes is reusable based on the identifying data of the target parking slot to select an identified training outcome;
• compare the identifying data of the target parking slot with the identifying data of the potential parking slot of the identified training outcome to determine whether differences between the identifying data of the target parking slot and the identifying data of the potential parking slot of the identified training outcome are within predetermined thresholds;
• and
• in response to determining that the differences between the identifying data of the target parking slot and the identifying data of the potential parking slot of the identified training outcome are within predetermined thresholds, load the identifying data of the target parking slot into a SLAM-based parking assist.

A tangible, non-transitory, machine-readable medium, comprising machine-readable instructions, that when executed by a processor, cause the processor to:

• determine that a host vehicle is entering a corridor adjacent a target parking slot;
• in response to determining that the host vehicle entered the corridor adjacent the target parking slot, determine a potential reusability of a plurality of training outcomes of a training process for the target parking slot, wherein each of the plurality of training outcomes includes training identifying data of a potential parking slot;
• in response to determining a potential reusability of the plurality of training outcomes of the training process for the target parking slot, receive identifying data of the target parking slot;
• identify which of the plurality of training outcomes is reusable based on the identifying data of the target parking slot to select an identified training outcome;
• compare the identifying data of the target parking slot with the identifying data of the potential parking slot of the identified training outcome to determine whether differences between the identifying data of the target parking slot and the identifying data of the potential parking slot of the identified training outcome are within predetermined thresholds;
• and
• in response to determining that the differences between the identifying data of the target parking slot and the identifying data of the potential parking slot of the identified training outcome are within predetermined thresholds, load the identifying data of the target parking slot into a SLAM-based park assist.