The invention provides an automatic driving model, a training method, an automatic driving method and a vehicle. Relates to the technical field of automatic driving. The automatic driving model comprises a multi-mode coding layer and a decision control layer which are used for connecting to form an end-to-end neural network model, and the decision control layer obtains automatic driving strategy information directly based on output of the multi-mode coding layer. First input information of the multi-mode coding layer comprises navigation information of the vehicle and perception information of the surrounding environment of the vehicle obtained by utilizing a sensor, the multi-mode coding layer is used for obtaining implicit representation corresponding to the first input information, and the decision control layer is used for obtaining automatic driving strategy information at least based on the input implicit representation. Therefore, the perception-decision-making integrated automatic driving technology can be realized, perception is directly responsible for decision making, dependence on a high-precision map is avoided, error accumulation is reduced, the problem of coupling between prediction and decision making is solved, and the problem that structured prediction information is likely to cause planning failure is solved.

    本公开提供了一种自动驾驶模型、训练方法、自动驾驶方法和车辆。涉及自动驾驶技术领域。自动驾驶模型包括用于连接组成端到端神经网络模型的多模态编码层和决策控制层,决策控制层直接基于多模态编码层的输出获取自动驾驶策略信息,多模态编码层的第一输入信息包括车辆的导航信息和利用传感器所获得的车辆周围环境的感知信息,多模态编码层用于获取与第一输入信息相对应的隐式表示,决策控制层用于至少基于输入的隐式表示获取自动驾驶策略信息。由此,能够实现感知‑决策一体化的自动驾驶技术,使得感知直接对决策负责,摆脱对高精地图的依赖,减少误差累积,解决预测和决策之间的耦合问题,并且克服结构化的预测信息容易导致规划失败的问题。


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    Title :

    Automatic driving model, training method, automatic driving method and vehicle


    Additional title:

    自动驾驶模型、训练方法和自动驾驶方法和车辆


    Contributors:
    HUANG JIZHOU (author) / WANG FAN (author)

    Publication date :

    2023-10-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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