The invention provides an airport guide vehicle automatic parking method based on reinforcement learning. The airport guide vehicle automatic parking method comprises the steps that 1, vehicle contour coordinates and a parking coordinate system of an airport guide vehicle are set; 2, establishing a vehicle kinematics model in combination with the parking coordinate system; 3, establishing a vehicle collision judgment mechanism; 4, setting a state space and an action space of the intelligent agent; 5, setting an instant reward return mechanism of the intelligent agent in the movement process; 6, improving an experience playback mechanism and an intelligent agent exploration mechanism in the algorithm; and 7, training the improved automatic parking algorithm framework in combination with the airport apron layout, and inputting the obtained real-time acceleration and steering angle into a vehicle kinematic model to realize automatic parking control. The method has the advantages that the training period is short, the learning effect is excellent, the vehicle can be automatically parked in a limited space under the complex environment of the airport apron, the burden of ground crew is reduced, and safety accidents are avoided.
本发明提出基于强化学习的机场引导车自动泊车方法,包括:步骤1:设定机场引导车的车辆轮廓坐标和泊车坐标系;步骤2:结合泊车坐标系,建立车辆运动学模型;步骤3:建立车辆碰撞判定机制;步骤4:设定智能体的状态空间和动作空间;步骤5:设定智能体在运动过程中的即时奖励回报机制;步骤6:对算法中经验回放机制和智能体探索机制进行改进;步骤7:结合机坪布局对改进后的自动泊车算法框架进行训练,将获取的实时加速度和转向角输入车辆运动学模型,实现自动泊车控制。本发明具备较短的训练周期以及较优的学习效果,使车辆在机坪的复杂环境下能在有限空间内进行自主泊车,进而减少地勤人员负担,避免造成安全事故。
Airport guide vehicle automatic parking method based on reinforcement learning
基于强化学习的机场引导车自动泊车方法
2025-02-11
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 |
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