Reinforcement Learning-Based End-to-End Parking for Automatic Parking System.

Clicks: 249
ID: 55291
2019
Article Quality & Performance Metrics
Overall Quality
Not rated
Combines reader engagement with the AI quality analysis. This article has not been analysed, so there is no overall score — reader engagement is measured and shown alongside.
AI Quality Assessment
Not analyzed
Readership in this journal
Steady

Ranked #1,032 of 1,694 articles by views in sensors

Most read Least read

Bar heights use a square-root scale. Only the 120 most-read articles are drawn; the journal has 1,694 in total.

Mint this article as an NFT
Not yet minted

Create a permanent, verifiable on-chain record of this article on the Scimatic Network. The NFT is held in your Journament account, and you can withdraw it to your own wallet at any time.

5 SUSD one-off · no wallet required
Sign in to mint
Abstract
According to the existing mainstream automatic parking system (APS), a parking path is first planned based on the parking slot detected by the sensors. Subsequently, the path tracking module guides the vehicle to track the planned parking path. However, since the vehicle is non-linear dynamic, path tracking error inevitably occurs, leading to inclination and deviation of the parking. Accordingly, in this paper, a reinforcement learning-based end-to-end parking algorithm is proposed to achieve automatic parking. The vehicle can continuously learn and accumulate experience from numerous parking attempts and then learn the command of the optimal steering wheel angle at different parking slots. Based on this end-to-end parking, errors caused by path tracking can be avoided. Moreover, to ensure that the parking slot can be obtained continuously in the process of learning, a parking slot tracking algorithm is proposed based on the combination of vision and vehicle chassis information. Furthermore, given that the learning network output is hard to converge, and it is easy to fall into local optimum during the parking process, several reinforcement learning training methods in terms of parking conditions are developed. Lastly, by the real vehicle test, it is proved that using the proposed method can achieve a better parking attitude than using the path planning and path tracking-based method.
Reference Key
zhang2019reinforcementsensors Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Zhang, Peizhi;Xiong, Lu;Yu, Zhuoping;Fang, Peiyuan;Yan, Senwei;Yao, Jie;Zhou, Yi;
Journal sensors
Year 2019
DOI
E3996
URL
Keywords
reinforcement learning automatic parking system (aps) end-to-end parking parking slot tracking

Citations

No citations found. To add a citation, contact the admin at info@scimatic.org

Comments

No comments yet. Be the first to comment on this article.