Path planning for the automatic parking of a motor vehicle and training a path planning agent and automatic parking of a motor vehicle through reinforcement learning

Abstract

For path planning for the automatic parking of a motor vehicle (1), environmental data representing the environment of the motor vehicle (1) is received, and a target vehicle state for the motor vehicle (1) is determined based on this environmental data. A first path for the motor vehicle (1) from its current state to the target vehicle state is determined, where an initial driving maneuver according to the first path is a forward driving maneuver of the motor vehicle (1), and a second path for the motor vehicle (1) from its current state to the target vehicle state is determined, where an initial driving maneuver according to the second path is a reverse driving maneuver of the motor vehicle (1). Based on at least one predefined rule, a path for use in the automatic parking of the motor vehicle (1) is selected from the first path and the second path.

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