Vehicle automatic parking method based on DQN

• Main Authors: ZHOU KAIJUN, YAN XIAOXIN, SHAO XUANYA, KUANG ZONGXU, KONG DECHENG, JIN MINGYUE, YU LINGLI, WEI YADONG
• Format: Patent
• Language: Chinese; English
• Published: 17.08.2018
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; COUNTING; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

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 au