Robust Parking Path Planning with Error-Adaptive Sampling under Perception Uncertainty

In automated parking systems, a path planner generates a path to reach the vacant parking space detected by a perception system. To generate a safe parking path, accurate detection performance is required. However, the perception system always includes perception uncertainty, such as detection errors due to sensor noise and imperfect algorithms. If the parking path planner generates the parking path under uncertainty, problems may arise that cause the vehicle to collide due to the automated parking system. To avoid these problems, it is a challenging problem to generate the parking path from the erroneous parking space. To solve this conundrum, it is important to estimate the perception uncertainty and adapt the detection error in the planning process. This paper proposes a robust parking path planning that combines an error-adaptive sampling of generating possible path candidates with a utility-based method of making an optimal decision under uncertainty.By integrating the sampling-based method and the utility-based method, the proposed algorithm continuously generates an adaptable path considering the detection errors. As a result, the proposed algorithm ensures that the vehicle is safely located in the true position and orientation of the parking space under perception uncertainty.