A variable step and multi-constraint vehicle’s trajectory generation algorithm based on deep deterministic policy gradient network

Abstract

Abstract Aiming at the problem that the traditional vehicle’s trajectory generation method takes a long time and is difficult to calculate in real time, a variable step and multi-constraint trajectory generation algorithm based on a deep deterministic policy gradient (DDPG) network is proposed. Firstly, the dynamic model and constraint conditions of the vehicle are analyzed. On this basis, the reinforcement learning training model is constructed based on DDPG, and the state, action, and reward design of the training model are defined. At the same time, the variable step is introduced into the action model to improve the generated trajectory’s navigation precision. Finally, the proposed method is verified under different cases, and according to the results, the proposed method can realize quick generation of multi-constraint guidance trajectories.