The invention discloses a model training method and device, and the method comprises the steps: obtaining sensing data and map data corresponding to specified equipment at a first historical moment, inputting the sensing data and the map data into a coding layer contained in a to-be-trained prediction model, and determining an obstacle feature corresponding to an obstacle at the first historical moment as a basic obstacle feature; secondly, performing feature fusion on the basic obstacle feature and a historical obstacle feature of a historical obstacle matched with the obstacle determined from each historical obstacle, and inputting the fused obstacle feature into a decoding layer of a prediction model to predict a prediction track of the obstacle at a second historical moment, and training the prediction model by taking minimization of the deviation between the prediction track and the actual driving track of the obstacle at the second historical moment as an optimization target. According to the method, errors in tracking of the motion trail can be avoided, and the accuracy of the predicted trail is improved, so that the motion trail planned by the unmanned equipment is safer and more reasonable.

    本说明书公开了一种模型训练的方法及装置,获取指定设备在第一历史时刻对应的传感数据以及地图数据,并输入到待训练预测模型包含的编码层中,确定该障碍物在第一历史时刻对应的障碍物特征,作为基础障碍物特征。其次,将基础障碍物特征与从各历史障碍物确定出与该障碍物相匹配的历史障碍物的历史障碍物特征进行特征融合,将融合后障碍物特征输入到预测模型的解码层中,以预测该障碍物在第二历史时刻的预测轨迹,并以最小化预测轨迹与该障碍物在第二历史时刻的实际行驶轨迹之间的偏差为优化目标,对预测模型进行训练。本方法能够避免运动轨迹的跟踪出现错误,并提高预测出的预测轨迹的准确性,进而使无人驾驶设备规划的运动轨迹更加安全、合理。


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    Title :

    Model training method and device


    Additional title:

    一种模型训练的方法及装置


    Contributors:
    DAI YAXUAN (author) / QIAN DEHENG (author) / REN DONGCHUN (author)

    Publication date :

    2021-04-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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



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