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Collision-free trajectory planning in narrow spaces has become one of the most challenging tasks in automated parking scenarios. Previous optimization-based approaches can generate accurate parking trajectories, but these methods cannot compute feasible solutions with extremely complex constraints in a limited time. Recent research uses neural-network-based approaches that can generate time-optimized parking trajectories in linear time. However, the generalization of these neural network models in different parking scenarios has not been considered thoroughly and the risk of privacy compromise exists in the case of centralized training. To address the above issues, this paper proposes a h ierarchical tr a jectory p l anning method with deep reinf o rcement learning in the f e derated learning s cheme (HALOES) to rapidly and accurately generate collision-free automated parking trajectories in multiple narrow spaces. HALOES is a federated learning based hierarchical trajectory planning method to fully exert high-level deep reinforcement learning and the low-level optimization-based approach. HALOES further fuse the deep reinforcement learning model parameters to improve the generalization capabilities with a decentralized training scheme. The federated learning scheme in HALOES aims to protect the privacy of the vehicle's data during model parameter aggregation. Simulation results show that the proposed method can achieve efficient automatic parking in multiple narrow spaces, improve planning time from 12.15% to 66.02% compared to other state-of-the-art methods (e.g., hybrid A*, OBCA) and maintain the same level of trajectory accuracy while having great model generalization.

Hierarchical Trajectory Planning for Narrow-Space Automated Parking with Deep Reinforcement Learning: A Federated Learning Scheme