A method for operating a first vehicle (100) with a parking assistance system (110) is proposed, comprising: a) sensing an obstructing parked position (BP) of the first vehicle (100) by means of the parking assistance system (110), wherein the obstructing parked position (BP) is a parked position which adjoins a parking space (PP) occupied by a parked second vehicle (150), b) reception of a sensor signal, acquired by a sensor apparatus (120, 130) of the vehicle (100), by means of the parking assistance system (110), c) detecting a request to exit a parking space of the parked second vehicle (150) in accordance with the received sensor signal by means of the parking assistance system (110), and d) autonomously driving the first vehicle (100) from the obstructing parked position (BP) into a position which is different from the obstructing parked position (BP) in accordance with the detected request to exit a parking space by means of the parking assistance system (110).

A method for operating a first vehicle (100) with a parking assistance system (110) is proposed, comprising: a) sensing an obstructing parked position (BP) of the first vehicle (100) by means of the parking assistance system (110), wherein the obstructing parked position (BP) is a parked position which adjoins a parking space (PP) occupied by a parked second vehicle (150), b) reception of a sensor signal, acquired by a sensor apparatus (120, 130) of the vehicle (100), by means of the parking assistance system (110), c) detecting a request to exit a parking space of the parked second vehicle (150) in accordance with the received sensor signal by means of the parking assistance system (110), and d) autonomously driving the first vehicle (100) from the obstructing parked position (BP) into a position which is different from the obstructing parked position (BP) in accordance with the detected request to exit a parking space by means of the parking assistance system (110).

Example data processing methods and apparatus are provided. One example method includes obtaining an image captured by an in-vehicle camera. A to-be-detected target in the image is determined. A feature region corresponding to the to-be-detected target in the image is further determined based on a location of the to-be-detected target in the image. A first parking state is determined based on the image and wheel speedometer information. A first homography matrix corresponding to the first parking state is determined from a prestored homography matrix set, where different parking states correspond to different homography matrices. Image information of the feature region is processed based on the first homography matrix to obtain a detection result.

Example data processing methods and apparatus are provided. One example method includes obtaining an image captured by an in-vehicle camera. A to-be-detected target in the image is determined. A feature region corresponding to the to-be-detected target in the image is further determined based on a location of the to-be-detected target in the image. A first parking state is determined based on the image and wheel speedometer information. A first homography matrix corresponding to the first parking state is determined from a prestored homography matrix set, where different parking states correspond to different homography matrices. Image information of the feature region is processed based on the first homography matrix to obtain a detection result.

A control device for an automated valet parking lot includes: a travel path determination unit determining a travel path to one of a plurality of parking sections defined in the parking lot; a travel path transmission unit transmitting the travel path to a vehicle having a function of estimating an own position; and an accuracy evaluation unit evaluating an accuracy of the own position estimated by the vehicle. The accuracy evaluation unit is further configured to: recognize a position of the vehicle in the automated valet parking lot based on information from a sensor disposed in the automated valet parking lot; and evaluate the accuracy of the own position by determining whether the recognized position of the vehicle exceeds a preset allowable range that is a range including the travel path with a predetermined margin.

A control device for an automated valet parking lot includes: a travel path determination unit determining a travel path to one of a plurality of parking sections defined in the parking lot; a travel path transmission unit transmitting the travel path to a vehicle having a function of estimating an own position; and an accuracy evaluation unit evaluating an accuracy of the own position estimated by the vehicle. The accuracy evaluation unit is further configured to: recognize a position of the vehicle in the automated valet parking lot based on information from a sensor disposed in the automated valet parking lot; and evaluate the accuracy of the own position by determining whether the recognized position of the vehicle exceeds a preset allowable range that is a range including the travel path with a predetermined margin.

In one embodiment, when an autonomous driving vehicle (ADV) is parked, the ADV can determine, based on criteria, whether to operate in an open-space mode or an on-lane mode. The criteria can include whether the ADV is within a threshold distance and threshold heading relative to a vehicle lane. If the criteria are not satisfied, then the ADV can enter the open-space mode. While in the open-space mode, the ADV can maneuver it is within the threshold distance and the threshold heading relative to the vehicle lane. In response to the criteria being satisfied, the ADV can enter and operate in the on-lane mode for the ADV to resume along the vehicle lane.

A parking control system for an autonomous vehicle is provided. The parking control system includes a parking control device configured to monitor a location and movement of an autonomous vehicle which enters a parking lot, based on a 3D electronic map, calculate a driving trajectory to a parking space selected by a driver of the autonomous vehicle based on sensor data collected from various sensor in the parking lot and vehicle information received from the autonomous vehicle, and provide information about the calculated driving trajectory to the autonomous vehicle. The autonomous vehicle travels to the parking space based on the driving trajectory received from the parking control device and parks in the parking space.

A parking control system for an autonomous vehicle is provided. The parking control system includes a parking control device configured to monitor a location and movement of an autonomous vehicle which enters a parking lot, based on a 3D electronic map, calculate a driving trajectory to a parking space selected by a driver of the autonomous vehicle based on sensor data collected from various sensor in the parking lot and vehicle information received from the autonomous vehicle, and provide information about the calculated driving trajectory to the autonomous vehicle. The autonomous vehicle travels to the parking space based on the driving trajectory received from the parking control device and parks in the parking space.

A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.