Optimized path planner for an autonomous valet parking system for a motor vehicle

A method for autonomously parking or un-parking a motor vehicle, the method comprising:

• locating the motor vehicle relative to a parking area;
• setting a destination location within the parking area;
• generating a path comprising the steps of:
• (a) generating a first set of nodes from the location of the motor vehicle;
• (b) assigning a cost to each node in the first set of nodes;
• (c) selecting a lowest cost node from the first set of nodes;
• (d) generating another set of nodes from the selected node;
• (e) assigning a cost to each of the newly generated nodes, wherein the cost is equal to an inherited cost plus a base cost and a change cost, wherein the change cost is a function of a previously generated node;
• (f) selecting a lowest cost node from all of the nodes;
• (g) repeating steps (d)-(f) until a lowest cost node is located at the destination location;
• and
• (h) setting a path from the location of the motor vehicle to the destination location comprising the last selected lowest cost node and parent nodes connected to the last selected lowest cost node;
• and
• autonomously driving the motor vehicle along the path from the location of the motor vehicle to the destination location.

A method for autonomously parking or un-parking a motor vehicle, the method comprising:

• locating the motor vehicle relative to a parking area;
• setting a destination location within the parking area;
• generating a path comprising the steps of:
• (a) generating a first set of nodes from the location of the motor vehicle;
• (b) assigning a cost to each node in the first set of nodes;
• (c) selecting a lowest cost node from the first set of nodes;
• (d) generating another set of nodes from the selected node;
• (e) assigning a cost to each of the newly generated nodes, wherein the cost is equal to an inherited cost plus a base cost and a change cost, wherein the change cost includes a turning cost and a direction cost, and the turning cost is zero if the newly generated node has the same heading as the selected lowest cost node, the turning cost is increased if a difference between a heading of the selected lowest cost node and the newly generated node is greater than a predetermined amount, and the direction cost is increased if the selected lowest cost node required a gear change between forward and reverse the newly generated node also requires a gear change between forward and reverse;
• (f) selecting a lowest cost node from all of the nodes;
• (g) repeating steps (d)-(f) until a lowest cost node is located at the destination location;
• and
• (h) setting a path from the location of the motor vehicle to the destination location comprising the last selected lowest cost node and parent nodes connected to the last selected lowest cost node;
• and
• autonomously driving the motor vehicle along the path from the location of the motor vehicle to the destination location.