System for parking an autonomous vehicle
The subject disclosure relates to features that improve safety for autonomous vehicle (AV) maneuvers and in particular, that improve safety for parallel parking. A process of the disclosed technology includes steps for initiating a parking maneuver, navigating the AV into a parking location, and detecting a roadway grade with respect to a direction of the AV. In some aspects, the process can further include steps for automatically adjusting a wheel angle of the AV based on the roadway grade with respect to the direction of the AV. Systems and machine-readable media are also provided.
1. A computing system comprising:
one or more processors; and
a computer-readable medium comprising instructions stored therein, which when executed by the one or more processors, cause the one or more processors to:
while an autonomous vehicle (AV) is in a parking location, detect a roadway grade of a roadway with respect to a direction of the AV, the roadway grade comprising a roadway incline or a roadway decline with respect to the direction of the AV;
determine a threshold roadway grade comprising a threshold incline or a threshold decline with respect to the direction of the AV, the threshold roadway grade being determined based on at least one of a map location associated with the roadway and one or more AV characteristics; and
automatically adjust a wheel angle of the AV based on a determination that the roadway grade exceeds the threshold roadway grade.
2. The computing system of claim 1 , wherein the one or more processors are further configured to:
initiate one or more parking maneuver operations.
3. The computing system of claim 1 , wherein the threshold roadway grade is further based on weather conditions.
4. The computing system of claim 1 , wherein the one or more processors are further configured to:
determine whether the roadway grade exceeds the threshold roadway grade.
5. The computing system of claim 1 , wherein to detect the roadway grade, the one or more processors are further configured to:
collect environmental data using one or more AV sensors; and
determine the roadway grade based on the environmental data.
6. The computing system of claim 1 , wherein to detect the roadway grade, the one or more processors are further configured to:
determine the roadway grade based on a location of the AV and a map database.
7. The computing system of claim 4 , wherein to automatically adjust the wheel angle of the AV, the one or more processors are further configured to:
adjust the wheel angle toward a curb that is adjacent to the AV based on the determination that the roadway grade exceeds the threshold roadway grade.
8. A computer-implemented method comprising:
while an autonomous vehicle (AV) is in a parking location, detecting a roadway grade of a roadway with respect to a direction of the AV, the roadway grade comprising a roadway incline or a roadway decline with respect to the direction of the AV;
determining a threshold roadway grade comprising a threshold incline or a threshold decline with respect to the direction of the AV, the threshold roadway grade being determined based on at least one of a map location associated with the roadway and one or more AV characteristics; and
automatically adjusting a wheel angle of the AV based on a determination that the roadway grade exceeds the threshold roadway grade.
9. The computer-implemented method of claim 8 , further comprising:
initiating one or more parking maneuver operations.
10. The computer-implemented method of claim 8 , wherein the threshold roadway grade is further based on weather conditions.
11. The computer-implemented method of claim 8 , further comprising:
determining whether the roadway grade exceeds the threshold roadway grade.
12. The computer-implemented method of claim 8 , wherein detecting the roadway grade includes:
collecting environmental data using one or more AV sensors; and
determining the roadway grade based on the environmental data.
13. The computer-implemented method of claim 8 , wherein detecting the roadway grade includes:
determining the roadway grade based on a location of the AV and a map database.
14. The computer-implemented method of claim 11 , wherein automatically adjusting the wheel angle of the AV includes:
adjusting the wheel angle toward a curb that is adjacent to the AV based on the determination that the roadway grade exceeds the threshold roadway grade.
15. A non-transitory computer-readable storage medium comprising instructions stored therein, which when executed by one or more processors, cause the one or more processors to perform operations comprising:
while an autonomous vehicle (AV) is in a parking location, detecting a roadway grade of a roadway with respect to a direction of the AV, the roadway grade comprising a roadway incline or a roadway decline with respect to the direction of the AV;
determining a threshold roadway grade comprising a threshold incline or a threshold decline with respect to the direction of the AV, the threshold roadway grade being determined based on at least one of a map location associated with the roadway and one or more AV characteristics; and
automatically adjusting a wheel angle of the AV based on a determination that the roadway grade exceeds the threshold roadway grade.
16. The non-transitory computer-readable storage medium of claim 15 , wherein the one or more processors are further configured to perform operations comprising:
initiating one or more parking maneuver operations.
17. The non-transitory computer-readable storage medium of claim 15 , wherein the threshold roadway grade is further based on weather conditions.
18. The non-transitory computer-readable storage medium of claim 15 , wherein the one or more processors are further configured to perform operations comprising:
determine whether the roadway grade exceeds the threshold roadway grade.
19. The non-transitory computer-readable storage medium of claim 15 , detecting the roadway grade, includes:
collecting environmental data using one or more AV sensors; and
determining the roadway grade based on the environmental data.
20. The non-transitory computer-readable storage medium of claim 18 , wherein automatically adjusting the wheel angle of the AV includes:
adjusting the wheel angle toward a curb that is adjacent to the AV based on the determination that the roadway grade exceeds the threshold roadway grade.