Abstract: An auto parking system of a vehicle is disclosed. The auto parking system includes a planner initialization module configured to perform sampling of both a start state representing a state of the vehicle and an end state representing a state of the parking target; a path planning module configured to perform tree iteration of a start tree from the start state and an end tree from the end state and connect nodes from the start tree and the end tree to generate path data; and a trajectory planning module configured to receive the path data from the path planning module and construct a trajectory of the vehicle based on the path data; where the start tree and end tree comprise two different types of tree structures.

Abstract: A computer-implemented method of performing an autonomous lane merging of a vehicle. The method includes: identifying one or more objects in a plurality of lanes in the vicinity of the vehicle; identifying one or more gaps among the one or more objects; determining a mode of the vehicle; determining a terminal state of a planned trajectory of the vehicle based on the identified objects, gaps, and the mode of the vehicle; performing a sanity check based on the terminal state of the planned trajectory; generating the planned trajectory of the vehicle if the sanity check passes; providing the planned trajectory to a controller of the vehicle to autonomously move the vehicle according to the planned trajectory.