The invention provides a model training method and device, and a data processing method and device, and the method comprises the steps: determining the number of current target domain data, screening out the target domain data through a discriminator if the number of the current target domain data meets a preset training condition, and carrying out the data reasoning and pseudo-label fusion of the target domain data through a pre-training model group, and performing model fine tuning on the pre-trained model group and the discriminator through a preset model training mode and the pseudo-label data, and returning to execute the determination of the number of the current target domain data until the number of the current target domain data does not meet the preset training condition, thereby obtaining a target model, and obtaining the target domain data through the target model. Processing the point cloud data to obtain a reasoning result, sorting the reasoning result through a preset sorting mode to obtain a sorting result, selecting false label data from the sorting result through a preset selection mode, and feeding back the false label data to a decision-making end of the vehicle so as to realize perception, decision making and control execution of automatic driving.
本申请提供一种模型训练方法、数据处理方法和装置,确定当前目标域数据的数量,若当前目标域数据的数量符合预设训练条件,通过判别器筛选出目标域数据,通过预训练模型组对目标域数据进行数据推理和伪标签融合,得到融合后的伪标签数据,通过预设模型训练方式和伪标签数据,对预训练模型组和判别器进行模型微调,并返回执行确定当前目标域数据的数量,直至当前目标域数据的数量不符合预设训练条件,得到目标模型,通过目标模型,对点云数据进行处理,得到推理结果,通过预设排序方式将推理结果进行排序,得到排序结果,通过预设选取方式从排序结果中选取得到伪标签数据,将伪标签数据反馈至车辆的决策端,以实现自动驾驶的感知、决策和控制执行。
Model training method, data processing method and device
一种模型训练方法、数据处理方法和装置
2024-04-19
Patent
Electronic Resource
Chinese
IPC: | G06V / 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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