Autonomously parking a semi-trailer based on a memorized representation of a scanned parking area

A computerized system for autonomously parking a vehicle comprising a combination of a tractor truck and a trailer, wherein the tractor truck includes an exteroceptive sensor system, and wherein the computerized system includes processing means configured to:

• autonomously steer the vehicle based on an updated representation of surroundings of the exteroceptive sensor system, for the vehicle to
• drive in a traffic aisle adjacent a parking area, towards a target parking space in the parking area, and
• autonomously park in reverse in the target parking space based on the updated representation and an updated position of the vehicle relative to said representation;
• and
• repeatedly process signals obtained from the exteroceptive sensor system while steering the vehicle to repeatedly update said representation and said position of the vehicle, wherein
• the representation is an occupancy grid of cells, and
• the representation is updated by updating occupancy states of the cells based on actionable information derived from the signals processed last and based on memorized occupancy states as previously updated for at least some of the cells.

A vehicle comprising:

• a combination of a tractor truck and a trailer, wherein the tractor truck includes a motion control unit and an exteroceptive sensor system, and
• a computerized system, which is interfaced with each of the exteroceptive sensor system and the motion control unit to autonomously steer the vehicle through processing means, in operation,
• wherein the processing means are configured to:
• autonomously steer the vehicle based on an updated representation of surroundings of the exteroceptive sensor system, for the vehicle to
• drive in a traffic aisle adjacent a parking area, towards a target parking space in the parking area, and
• autonomously park in reverse in the target parking space based on the updated representation and an updated position of the vehicle relative to said representation;
• and
• repeatedly process signals obtained from the exteroceptive sensor system while steering the vehicle to repeatedly update said representation and said position of the vehicle, wherein
• the representation is an occupancy grid of cells, and
• the representation is updated by updating occupancy states of the cells based on actionable information derived from the signals processed last and based on memorized occupancy states as previously updated for at least some of the cells.

A computer program product for autonomously parking a vehicle comprising a combination of a tractor truck and a trailer, wherein the tractor truck includes an exteroceptive sensor system, the program instructions executable by processing means of a computerized device interfaced with each of the exteroceptive sensor system and a motion control unit of the tractor truck, to cause the processing means to

• autonomously steer the vehicle based on an updated representation of surroundings of the exteroceptive sensor system, for the vehicle to
• drive in a traffic aisle adjacent a parking area, towards a target parking space in the parking area, and
• autonomously park in reverse in the target parking space based on the updated representation and an updated position of the vehicle relative to said representation;
• and
• repeatedly process signals obtained from the exteroceptive sensor system while steering the vehicle to repeatedly update said representation and said position of the vehicle, wherein
• the representation is an occupancy grid of cells, and
• the representation is updated by updating occupancy states of the cells based on actionable information derived from the signals processed last and based on memorized occupancy states as previously updated for at least some of the cells.