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Automatic parking method and system based on generative adversarial imitation learning

An automatic parking and parking technology, applied in machine learning, computing models, instruments, etc., can solve the problems of inflexible parking and complex computing, and achieve the effect of improving the utilization rate and solving the problem of automatic parking.

Active Publication Date: 2020-06-30
POLIXIR TECH LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the existing problems of complex calculation and insufficient flexibility of parking, thereby providing an automatic parking method and system based on generative confrontation imitation learning with simple calculation and flexible parking

Method used

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  • Automatic parking method and system based on generative adversarial imitation learning
  • Automatic parking method and system based on generative adversarial imitation learning

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Embodiment 1

[0025] Such as figure 1As shown, this embodiment provides an automatic parking method based on generative adversarial imitation learning, including step S1: obtaining expert sample data for successful parking and first-round sample data for parking failure; step S2: using strategy The generator in the learning unit interacts with the environment, collects the first round of sample data in the learning process, samples the first round of sample data and processes and extracts the first round of sample feature data, and at the same time, the expert The sample data is sampled and processed to extract the feature data of the successful sample, and the first round of failed sample data is sampled and processed to extract the feature data of the first round of failed samples; Step S3: the first round of sample feature data, the successful sample feature The data and the feature data of the first round of failed samples are respectively input into the discriminator for judgment, and ...

Embodiment 2

[0053] Based on the same inventive concept, this embodiment provides an automatic parking system based on generative adversarial imitation learning, the problem-solving principle of which is similar to the above-mentioned automatic parking method based on generative adversarial imitation learning, and repeated descriptions will not be repeated.

[0054] This embodiment provides an automatic parking system based on generative confrontation imitation learning, including:

[0055] A storage unit, the storage unit includes an expert sample storage unit and a failure sample storage unit, wherein the expert sample storage unit is used to store expert sample data of successful parking, and the failure sample storage unit is used to store parking failure samples data;

[0056] The image processing unit is used to process high-dimensional image data and extract features from the parking trajectory image;

[0057] The strategy learning unit learns a parking strategy similar to an exper...

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Abstract

The invention relates to an automatic parking method and system based on generative adversarial imitation learning, and the method comprises the steps: generating a corresponding parking strategy based on the generative adversarial imitation learning through the original image data of a parking track, and enabling the parking track generated by the generated parking strategy in an actual parking process to be similar to a successful parking track. Due to the fact that the method is an online learning algorithm, multiple experiments can be carried out while learning is carried out, multiple failures can be experienced before an excellent parking strategy is successfully learned, but the failed parking track data can be stored for further learning, and therefore the learning speed can be increased, and the sample utilization rate can be increased. The learned intelligent parking strategy is not based on rules, but is a relatively intelligent strategy, so that the intelligent parking strategy can be qualified for automatic parking in different scenes.

Description

technical field [0001] The present invention relates to the technical field of intelligent parking in automatic driving, in particular to an automatic parking method and system based on generative confrontation imitation learning. Background technique [0002] Standardized parking of vehicles according to the parking space line is conducive to the rational use of urban resource space, the safety of vehicle start and stop, and the planning of city appearance. Due to the huge number of modern cars and the wide variety of actual environments, parking problems often consume people's time and energy, and even cause safety accidents such as friction and collision between vehicles. Therefore, automatic parking systems have room for their existence and development. [0003] At present, most of the parking methods in the field of automatic parking are implemented in a rule-based manner with a large number of hardware support. In the field of artificial intelligence, such as reinforc...

Claims

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Application Information

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IPC IPC(8): B60W30/06G06N20/00
CPCB60W30/06B60W2900/00G06N20/00
Inventor 朱佳成章宗长
Owner POLIXIR TECH LTD
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