Samsung patents AI system for real-time autonomous parking

1. A method comprising: obtaining, by a processor, initial information comprising map information including obstacle information, departure information of an autonomous driving device, and destination information of the autonomous driving device; obtaining, by the processor, paths through which the autonomous driving device is movable in real time, by inputting the initial information to the path distribution estimation model which outputs a path distribution corresponding to the paths based on a sampling probability distribution of an optimized path; and training, by the processor, the path distribution estimation model to output the path distribution corresponding to the paths, which includes an optimal committed trajectory targeting a destination location based on the initial information wherein the path distribution estimation model comprises a convolutional neural network (CNN) model, wherein the path distribution estimation model is configured to input the initial information in a form of a 5-channel grid map, which comprising (i) an unknown grid map associated with a trajectory of the autonomous driving device, (ii) an occupancy grid map in which a path may be generated, (iii) tree route information including an information on the path through which the autonomous driving device is to move, (iv) the destination information of the autonomous driving device, and (v) a committed trajectory information that the autonomous driving device is currently following, and wherein the path distribution estimation model is configured to output the path distribution in a form of a 4-channel grid map, which comprising (i, ii) a respective path distribution of the paths output by the path distribution estimation model based on the initial information of the unknown grid map and the occupancy grid map, (iii) sine information of departure posture information of the autonomous driving device, and (iv) cosine information of the departure posture information of the autonomous driving device as a recurrent result.