The invention relates to an automatic parking learning method and device, a cloud server and a storage medium, and the method comprises the steps: calculating an evaluator network model and an executor network model, respectively obtaining a first initial weight parameter and a second initial weight parameter, controlling at least one to-be-trained vehicle to carry out the training according to the first and second initial weight parameters, a parking output action is generated; receiving a first model weight parameter of the evaluator network model, a second model weight parameter of the executor network model and parking evaluation data, determining a first weight of the first model weight parameter and a second weight of the second model weight parameter, carrying out weighted calculation on the first model weight parameter and the second model weight parameter, and obtaining parking evaluation data; the first initial weight parameter and the second initial weight parameter are updated, and the trained evaluator and executor network model is used for controlling at least one to-be-trained vehicle to execute the parking action. Therefore, the problems that the trained network model is easy to fall into a local optimal solution, data privacy leakage is easy to cause, the training process is lengthy and the like are solved.

    本申请涉及一种自动泊车的学习方法、装置、云服务器及存储介质,包括:计算评价者网络模型和执行者网络模型,分别得到第一初始权重参数和第二初始权重参数,控制至少一个待训练车辆分别根据第一和第二初始权重参数进行训练,生成泊车输出动作;接收评价者网络模型的第一模型权重参数、执行者网络模型的第二模型权重参数和泊车评价数据,确定第一模型权重参数的第一权重和第二模型权重参数的第二权重,对第一和第二模型权重参数加权计算,以更新第一和第二初始权重参数,利用训练完成的评价者和执行者网络模型控制至少一个待训练车辆执行泊车动作。由此,解决了训练后的网络模型易陷入局部最优解、易导致数据隐私泄露以及训练过程冗长等问题。


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    Title :

    Automatic parking learning method and device, cloud server and storage medium


    Additional title:

    自动泊车的学习方法、装置、云服务器及存储介质


    Contributors:

    Publication date :

    2023-09-15


    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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