The invention provides a vehicle control model training method and device, a vehicle control method and device, a storage medium, a computer program product and an autonomous vehicle. The training method comprises the steps of obtaining a plurality of first training samples; extracting a first environment feature by using a pre-trained feature extraction model and based on the first historical environment video frame and the first historical environment point cloud data; generating environment feature prediction information corresponding to the first environment feature by using a feature prediction model and based on the first environment feature; and generating vehicle control prediction data by using the deep reinforcement learning model and based on the environment feature prediction information and the historical vehicle operation data, and performing training processing on the feature prediction model and the deep reinforcement learning model to obtain a trained vehicle control model. According to the invention, the training efficiency can be improved, the adaptive ability to the dynamic environment can be improved, the accuracy of the vehicle control prediction data is improved, and the driving safety and comfort of the automatic driving vehicle are improved.
本公开提供了一种车辆控制模型训练、车辆控制方法、装置、存储介质、计算机程序产品以及自动驾驶车辆,其中的训练方法包括:获取多个第一训练样本;利用预训练的特征提取模型并基于第一历史环境视频帧和第一历史环境点云数据,提取第一环境特征;利用特征预测模型并基于第一环境特征,生成与第一环境特征相对应的环境特征预测信息;利用深度强化学习模型并基于环境特征预测信息和历史车辆运行数据,生成车辆控制预测数据并对特征预测模型和深度强化学习模型进行训练处理,得到训练完成的车辆控制模型。本公开能够提升训练效率,可以提高对于动态环境自适应能力,提高车辆控制预测数据的准确性,提升了自动驾驶车辆行驶的安全性和舒适性。
Vehicle control model training method and device, vehicle control method and device and storage medium
车辆控制模型训练、车辆控制方法、装置以及存储介质
2024-10-18
Patent
Electronic Resource
Chinese
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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