The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 26, 2023
Filed:
Sep. 04, 2020
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Yebin Wang, Acton, MA (US);
Siyu Dai, Boston, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A control system for parking a vehicle uses a directed graph representing a traffic network within parking space to determine a coarse path subsequently refined to control the vehicle according to refined path. The directed graph includes waypoints connected by edges, a waypoint defines a position and an orientation, while edge defines a collision free path for the vehicle. The coarse path is selected as a shortest route of waypoints connecting an initial waypoint on the directed graph closest to the initial state of the vehicle with a target waypoint on the directed graph closest to the target state of the vehicle. The refined path is a path on a tree constructed to reduce a deviation of a cost of a motion defined by a refined path connecting the initial node with the target node of the tree from a cost of the coarse path defining the route of waypoints.