Model-Based Predictive Control and Reinforcement Learning for Planning Vehicle-Parking Trajectories for Vertical Parking Spaces

Model-Based Predictive Control and Reinforcement Learning for Planning Vehicle-Parking Trajectories for Vertical Parking Spaces

This paper proposes a vehicle-parking trajectory planning method that addresses the issues of a long trajectory planning time and difficult training convergence during automatic parking. The process involves two stages: finding a parking space and parking planning. The first stage uses model predict...

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Bibliographic Details
Main Authors: Junren Shi, Kexin Li, Changhao Piao, Jun Gao, Lizhi Chen
Format: Article
Language:English
Published: MDPI AG 2023-08-01
Series:Sensors
Subjects:
reinforcement learning
PPO
MPC
autoparking
Online Access:https://www.mdpi.com/1424-8220/23/16/7124

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