The invention provides a cross-country environment automatic driving perception model training and automatic driving perception method, and the method comprises the steps: inputting an exogenous perceptual image, a driving control signal and endogenous perceptual data into a coding module, carrying out the coding, and outputting an exogenous perceptual image feature, a driving control signal feature and an endogenous perceptual feature; inputting the exogenous feeling image features and the driving control signal features into a fusion module for feature fusion to obtain fusion features; determining a target loss function value based on the difference between the fusion feature corresponding to the first sample and the endogenous perception features of all other samples in the same sampling batch of the first sample and the difference between the endogenous perception feature corresponding to the second sample and the fusion features of all other samples in the same sampling batch of the second sample, and performing parameter iteration on the initial automatic driving perception model based on the target loss function value to obtain an automatic driving perception model, thereby improving accuracy and reliability of automatic driving perception.

    本发明提供一种越野环境自动驾驶感知模型的训练及自动驾驶感知方法,方法包括:将外源感受性图像、驾驶控制信号和内源感受性数据输入至编码模块中分别进行编码,输出外源性感受图像特征、驾驶控制信号特征和内源性感受特征;将外源性感受图像特征和驾驶控制信号特征输入至融合模块中进行特征融合得到融合特征;基于第一样本对应的融合特征与第一样本同一抽样批次内所有其他样本的内源性感受特征之间的差异,以及第二样本对应的内源性感受特征与第二样本同一抽样批次内所有其他样本的融合特征之间的差异,确定目标损失函数值,基于目标损失函数值对初始自动驾驶感知模型进行参数迭代得到自动驾驶感知模型,从而提高自动驾驶感知的准确性和可靠性。


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    Titel :

    Cross-country environment automatic driving perception model training and automatic driving perception method


    Weitere Titelangaben:

    越野环境自动驾驶感知模型的训练及自动驾驶感知方法


    Beteiligte:
    WANG LIANG (Autor:in) / ZHANG ZHANG (Autor:in) / YANG YI (Autor:in)

    Erscheinungsdatum :

    2024-05-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06V




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