The invention provides a method for determining a planned trajectory, and relates to the technical field of artificial intelligence, in particular to the technical field of automatic driving, intelligent traffic and deep learning. According to the specific implementation scheme, the method comprises the steps of determining features of a current scene according to current scene data of a current vehicle and historical information associated with the current scene data; according to the features of the current scene, future trajectories of multiple reference scenes are determined from a reference scene database to serve as candidate trajectories of the current vehicle, and the future trajectories comprise trajectory information of the reference vehicle in a future time period under the reference scene; for each candidate track, determining the feature of the candidate track, and determining the evaluation value of the candidate track according to the feature of the current scene and the feature of the candidate track; and determining a target trajectory from the plurality of candidate trajectories according to the evaluation value, and taking the target trajectory as a planned trajectory of the current vehicle. The invention further provides a deep learning model training method and device, electronic equipment and a storage medium.

    本公开提供了一种确定规划轨迹的方法,涉及人工智能技术领域,尤其涉及自动驾驶、智能交通、深度学习技术领域。具体实现方案为:根据当前车辆的当前场景数据以及与当前场景数据关联的历史信息,确定当前场景的特征;根据当前场景的特征从参考场景数据库中确定多个参考场景各自的未来轨迹,作为当前车辆的候选轨迹,未来轨迹包括参考车辆在参考场景下的未来时段内的轨迹信息;针对每个候选轨迹,确定候选轨迹的特征,并根据当前场景的特征和候选轨迹的特征,确定候选轨迹的评估值;根据评估值从多个候选轨迹中确定目标轨迹,作为当前车辆的规划轨迹。本公开还提供了一种深度学习模型的训练方法、装置、电子设备和存储介质。


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    Title :

    Method for determining planned trajectory, model training method and autonomous vehicle


    Additional title:

    确定规划轨迹的方法、模型训练方法和自动驾驶车辆


    Contributors:
    SONG ZELIANG (author) / LIU CHANGCHUN (author) / SU YABO (author)

    Publication date :

    2023-07-07


    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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