{
  "$type": "site.standard.document",
  "coverImage": {
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  "description": "In one embodiment, a path for parking is planned in operating an autonomous driving vehicle (ADV). The operations comprises: determining a plurality of sample points; determining a plurality of candidate paths connecting a start point and an end point for parking, each of the candidate paths…",
  "path": "/patents/1293661",
  "publishedAt": "2021-06-24T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/001",
    "Baidu USA LLC"
  ],
  "textContent": "In one embodiment, a path for parking is planned in operating an autonomous driving vehicle (ADV). The operations comprises: determining a plurality of sample points; determining a plurality of candidate paths connecting a start point and an end point for parking, each of the candidate paths passing through one of the sample points; determining a cost associated with each of the plurality of candidate paths; determining one or more candidate paths from the plurality of candidate paths that meet a boundary check requirement; selecting as the planned path a candidate path associated with a lowest cost that meets the boundary check requirement; determining a speed profile based on the planned path and an environment of the ADV; and generating driving signals based at least in part on the speed profile to control operations of the ADV to perform parking along the planned path.",
  "title": "SPIRAL CURVE BASED VERTICAL PARKING PLANNER SYSTEM FOR AUTONOMOUS DRIVING VEHICLES"
}