Patent attributes
A parking system for autonomous driving vehicles (ADV) is disclosed that utilizes the perception, planning, and prediction modules of ADV driving logic to more safely and accurately park an ADV. An ADV scans a parking lot for an available space, then determines a sequence of portions or segments of a parking path from the ADV's location to a selected parking space. The sequence of segments involves one or more forward driving segments and one or more reverse driving segments. During the forward driving segments, the ADV logic uses the perception, planning, and prediction modules to identify one or more obstacles to the ADV parking path, and speed and direction of those obstacles. During a reverse driving segment, the ADV logically inverts the orientation of the perception, planning, and prediction modules to continue to track the one or more obstacles and their direction and speed while the ADV is driving in a reverse direction. For each parking path portion, the planning module generates a smooth reference line for the portion, taking into account the one or more obstacles, and their speed and direction.
