Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios
文献类型：期刊论文
| 作者 | Xiaolin Tang; Yuyou Yang; Teng Liu; Xianke Lin; Kai Yang; Shen Li |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2024 |
| 卷号 | 11期号:1页码:181-195 |
| ISSN号 | 2329-9266 |
| 关键词 | Automatic parking control strategy parking deviation (APS) soft actor-critic (SAC) |
| DOI | 10.1109/JAS.2023.123975 |
| 英文摘要 | Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot (PDEVNTPL) on the automatic ego vehicle (AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework (SPTF) based on soft actor-critic (SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning (DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26% respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43 degrees. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54502]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Xiaolin Tang,Yuyou Yang,Teng Liu,et al. Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(1):181-195. |
| APA | Xiaolin Tang,Yuyou Yang,Teng Liu,Xianke Lin,Kai Yang,&Shen Li.(2024).Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios.IEEE/CAA Journal of Automatica Sinica,11(1),181-195. |
| MLA | Xiaolin Tang,et al."Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios".IEEE/CAA Journal of Automatica Sinica 11.1(2024):181-195. |
入库方式： OAI收割
来源：自动化研究所
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