The embodiment of the invention provides a vehicle control model training method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining the first expected trajectory information of a target vehicle at the current moment and the current simulation vehicle state information; inputting the first expected trajectory information and the current simulation vehicle state information into a basic control model of a controller in a basic vehicle to obtain a first control quantity of an actuator; inputting the first control quantity, the historical vehicle state information of the target vehicle and the historical execution quantity output by the target execution model into the target execution model to predict the current execution quantity of a target vehicle actuator; updating simulation vehicle track information of the target vehicle according to the current execution quantity; and adjusting model parameters of the basic control model according to the deviation between the simulated vehicle trajectory information and the first expected trajectory information to obtain a target control model of the target vehicle controller. By applying the technical scheme provided by the embodiment of the invention, the matching efficiency of the controller and the actuator can be improved.

    本申请实施例提供了一种车辆控制模型训练方法、装置、电子设备及存储介质,涉及自动驾驶技术领域,方法包括:获得目标车辆当前时刻的第一期望轨迹信息和当前仿真车辆状态信息;将第一期望轨迹信息和当前仿真车辆状态信息输入基础车辆中控制器的基础控制模型得到执行器的第一控制量;将第一控制量、目标车辆的历史车辆状态信息和目标执行模型已输出的历史执行量输入目标执行模型预测目标车辆执行器的当前执行量;根据当前执行量更新目标车辆的仿真车辆轨迹信息;根据仿真车辆轨迹信息与第一期望轨迹信息的偏差调整基础控制模型的模型参数,得到目标车辆控制器的目标控制模型。应用本申请实施例提供的技术方案,可以提高控制器与执行器的匹配效率。


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    Title :

    Vehicle control model training method and device, electronic equipment and storage medium


    Additional title:

    一种车辆控制模型训练方法、装置、电子设备及存储介质


    Contributors:
    KUANG HONGWU (author) / LI RUIZHE (author)

    Publication date :

    2025-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / 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



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