Vehicle automatic parking method based on DQN

Abstract

The invention discloses a vehicle automatic parking method based on a DQN. The vehicle automatic parking method based on the DQN comprises the following steps of 1, obtaining vehicle position, obstacle information and parking space information at the current time and parking a vehicle to a comparatively reasonable parking initial position; 2, using the well-trained DQN to calculate an expected vehicle front wheel tilt angle according to the vehicle position, the obstacle information and the parking space information at the current time; 3, controlling front wheels of the vehicle to rotate according to the expected vehicle front wheel tilt angle and moving the vehicle; and 4, updating the position of the vehicle at the current time, judging whether the vehicle enters a parking space or not,and if the vehicle reaches the parking space, finishing the parking, and otherwise, updating the obstacle information and returning to the step 2 to recalculate the vehicle front wheel tilt angle. According to the vehicle automatic parking method based on the DQN, by using the DQN to calculate the expected vehicle front wheel tilt angle, related parameters can be automatically learned to greatlyreduce parameter debugging works of a parking system; and the system realizes better fault-tolerant ability and robustness, and the one-time parking success rate of the vehicle is greatly increased.

Description

technical field [0001] The invention belongs to the technical field of intelligent driving and its control, and particularly designs a DQN-based vehicle automatic parking method. Background technique [0002] With the development of the economy, people's living standards are increasing year by year, and cars are gradually entering more people's lives. However, when parking, some drivers, especially novice drivers and drivers of large vehicles such as buses, have limited vision and Insufficient proficiency makes it more difficult to park. Although the current reversing radar and reversing images are very popular, the final operator is still the driver, who can only observe a certain area, which has great limitations. . At present, the vehicle positioning technology and sensor system are very mature, enabling automatic parking technology to go out of the laboratory and become an important component of advanced assisted driving. However, the efficiency of existing automatic p...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to propose a DQN-based vehicle automatic parking method, which can complete parking better and faster process, reduce the driver's parking burden and improve parking efficiency

Images