The embodiment of the invention relates to the technical field of vehicle control, and discloses a vehicle control method and device and a control prediction model training method and device. The method comprises the following steps: firstly, acquiring scene image information and control information of a vehicle; wherein the control information is used for representing controllable items of the vehicle. Then, inputting the scene image information into a first input sub-model in the control prediction model to obtain scene features; meanwhile, the control information is input into a second input sub-model in the control prediction model, and control features are obtained. And then, processing the scene features and the control features based on an output sub-model in the control prediction model to obtain a target control decision. And finally, the vehicle can be controlled according to the target control decision. By applying the technical scheme of the invention, the control decision of the vehicle can be predicted for automatic driving more accurately.
本申请实施例涉及车辆控制技术领域,公开了一种车辆控制方法和装置、控制预测模型训练方法和装置。该方法包括:先获取车辆的场景图像信息和控制信息。其中,控制信息用于表征车辆的可控制项目。然后,将场景图像信息输入控制预测模型中的第一输入子模型,得到场景特征;同时,将控制信息输入控制预测模型中的第二输入子模型,得到控制特征。再之后,基于控制预测模型中的输出子模型对场景特征和控制特征进行处理,得到目标控制决策。最后,便可以根据目标控制决策对车辆进行控制。应用本发明的技术方案,能够更准确的为自动驾驶预测车辆的控制决策。
Vehicle control method and device and control prediction model training method and device
车辆控制方法和装置、控制预测模型训练方法和装置
17.01.2023
Patent
Elektronische Ressource
Chinesisch
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