The invention provides an automatic driving lane changing decision and model training method, device and equipment and a vehicle, and relates to the technical field of artificial intelligence, in particular to the technical fields of automatic driving, decision planning and the like. The automatic driving lane changing decision-making method comprises the following steps: carrying out encoding processing on modal data of a main vehicle to obtain encoding features; obtaining position coordinates of a plurality of preset candidate anchor points, and determining anchor point features of the candidate anchor points based on the position coordinates of the candidate anchor points; wherein each candidate anchor point is in one-to-one correspondence with each candidate lane changing decision result; and decoding processing is carried out on the coding features and the anchor point features of the candidate anchor points to obtain a decoding result, and the decoding result comprises a target lane changing decision result determined in the candidate lane changing decision results. According to the invention, the generalization of the automatic driving lane changing decision can be improved.

    本公开提供了一种自动驾驶变道决策及模型训练方法、装置、设备和车辆,涉及人工智能技术领域,具体涉及自动驾驶、决策规划等技术领域。自动驾驶变道决策方法包括:对主车的模态数据进行编码处理,以获得编码特征;获取预设多个候选锚点的位置坐标,并基于所述候选锚点的位置坐标确定所述候选锚点的锚点特征;其中,每个候选锚点与每个候选变道决策结果一一对应;对所述编码特征和所述候选锚点的锚点特征进行解码处理,以获得解码结果,所述解码结果包括:在所述候选变道决策结果中确定的目标变道决策结果。本公开可以提高自动驾驶变道决策的泛化性。


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    Title :

    Automatic driving lane changing decision-making and model training method, device, equipment and vehicle


    Additional title:

    自动驾驶变道决策及模型训练方法、装置、设备和车辆


    Contributors:
    PAN AN (author) / WANG ZEXU (author) / LIU JINGKAI (author) / XUE JINGJING (author)

    Publication date :

    2024-02-06


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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