| TRAJECTORY PLANNING FOR AUTOMATED PARKING SYSTEMS USING DEEP REINFORCEMENT LEARNING |
| Zhuo Du1, Qiheng Miao1, Changfu Zong2 |
1Leapmotor Technology Co. Ltd.
2Jilin University |
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| ABSTRACT |
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Deep reinforcement learning (DRL) has been successfully adopted in many tasks, such as autonomous driving and gaming, to achieve or surpass human-level performance. This paper proposes a DRL-based trajectory planner for automated parking systems (APS). A thorough review of literature in this field is presented. A simulation study is conducted to investigate the trajectory planning performance of the parking agent for: (i) different neural-network architectures; (ii) different training set-ups; (iii) efficacy of human-demonstration. Real-time capability of the proposed planner on various embedded hardware platforms is also discussed by the paper, showing promising performance. Insights of the use of DRL for APS are concluded at the end of the paper. |
| Key Words:
Deep reinforcement learning, Automated parking systems, Trajectory planning |
Corresponding Author.
Qiheng Miao , Email. 
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