The invention provides a risk early warning model training method, a risk early warning method and an automatic driving vehicle, and relates to the technical field of artificial intelligence such as deep learning, model training and automatic driving. The method comprises the following steps: acquiring a risk image of a vehicle, and marking information of a scene type to which the vehicle belongs and included risk obstacles; feature coding is carried out on feature information of obstacles and vehicles in the risk image before the risk occurs through a historical information coding network, and obstacle information codes and vehicle information codes corresponding to the risk occurrence moment are obtained; performing feature interaction on the road network information codes and the vehicle information codes through a first interaction network to obtain vehicle-road interaction features; performing feature interaction on the vehicle-road interaction features and the obstacle information codes through a second interaction network to obtain a risk scene prediction probability and a risk obstacle prediction probability; and constructing a target risk early warning model based on the historical information coding network, the first interaction network and the second interaction network.
本公开提供了风险预警模型训练方法、风险预警方法及自动驾驶车辆,涉及深度学习、模型训练、自动驾驶等人工智能技术领域。该方法包括:获取车辆的风险图像、对其所属场景类型和所包含风险障碍物的标注信息;将风险图像中的障碍物和车辆在风险发生前的特征信息,通过历史信息编码网络进行特征编码,得到与风险发生时刻对应的障碍物信息编码和车辆信息编码;将路网信息编码和车辆信息编码通过第一相互作用网络进行特征交互,得到车路交互特征;将车路交互特征和障碍物信息编码通过第二相互作用网络进行特征交互,得到风险场景预测概率和风险障碍物预测概率;基于历史信息编码网络、第一相互作用网络和第二相互作用网络,构建得到目标风险预警模型。
Risk early warning model training method, risk early warning method and autonomous vehicle
风险预警模型训练方法、风险预警方法及自动驾驶车辆
2024-01-09
Patent
Electronic Resource
Chinese
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