The invention discloses a hybrid A * automatic driving connection vehicle parking path planning method, which comprises the following steps of 1, establishing a parking environment model according to a Markov decision process, and defining transition probabilities of vehicle states, actions and environment states; 2, performing initial path planning by adopting a mixed A * algorithm, and predicting results and costs of various actions in combination with a parking environment model and a vehicle state; 3, learning the influence of environment change on path planning by using a gated loop unit network (GRU network), adaptively adjusting a path search strategy, and optimizing a path planning result; and step 4, dynamically updating a parking path according to the environment change and the learning result, and realizing rapid adaptation and optimization decision for a complex environment. According to the invention, the traditional A search algorithm is combined with the Markov decision process and the gated circulation unit neural network, so that the dynamic prediction of the parking environment and the adaptive optimization of the path planning are realized.
本发明公开了一种混合A*自动驾驶接驳车泊车路径规划方法,包括以下步骤:步骤1,根据马尔可夫决策过程建立泊车环境模型,定义车辆状态、动作和环境状态的转移概率;步骤2,采用混合A*算法进行初始路径规划,结合泊车环境模型和车辆状态,预测各种动作的结果和成本;步骤3,利用门控循环单元网络(GRU网络)学习环境变化对路径规划的影响,自适应调整路径搜索策略,优化路径规划结果;步骤4,根据环境变化和学习结果动态更新泊车路径,实现对复杂环境的快速适应和优化决策。本发明通过将传统的A搜索算法与马尔可夫决策过程和门控循环单元神经网络相结合,实现了对泊车环境的动态预测和路径规划的自适应优化。
Hybrid A* automatic driving connection vehicle parking path planning method
一种混合A*自动驾驶接驳车泊车路径规划方法
2024-09-03
Patent
Electronic Resource
Chinese
IPC: | 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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