The invention relates to an automatic parking method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps: obtaining a return value of completing a parking training process of an automatic driving vehicle; according to the distance between the autonomous vehicle and the target parking space, determining an effective range of priori knowledge; when the prior knowledge with different probabilities in the effective range takes effect, the effective prior knowledge is followed, a turning angle strategy range corresponding to the prior knowledge is generated, and the automatic driving automobile is controlled to be automatically parked at the center of the rear axle according to the turning angle strategy range and the turning angle strategy between the right turning limit point and the left turning limit point. Therefore, the problems that in related technologies, the action space is small and discrete, the steering wheel rotation angle control in the parking process is likely to be unsmooth, priori knowledge is not added in the training process, the training convergence speed is affected, and in the related technologies, the deep reinforcement learning performance effect is low, the local optimal solution is likely to be trapped, the search range is likely to be wide, and the training efficiency is poor are solved. And the training speed is slow.
本申请涉及一种车辆的自动泊车方法、装置、车辆及存储介质,其中,方法包括:获取自动驾驶汽车完成一次泊车训练过程的回报值;根据自动驾驶汽车与目标泊车位的距离,以确定先验知识的生效范围;根据不同概率在生效范围内的先验知识生效时,遵循生效的先验知识,生成先验知识对应的转角策略范围,控制自动驾驶汽车按照转角策略范围在后轴中心处根据右转极限点和左转极限点之间的转角策略进行自动泊车。由此,解决了相关技术动作空间少且是离散的,易导致泊车过程中的方向盘转角控制不平顺,未在训练过程中增加先验知识,影响了训练的收敛速度,且相关技术中的深度强化学习性能效果低,容易陷入局部最优解,易面临搜索范围广,训练速度慢等问题。
Automatic parking method and device of vehicle, vehicle and storage medium
车辆的自动泊车方法、装置、车辆及存储介质
2024-03-08
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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