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Orbit planning model training methods and equipment, electronics, computer storage media and computer programs
Orbit planning model training methods and equipment, electronics, computer storage media and computer programs
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机译：轨道规划模型培训方法和设备，电子，计算机存储媒体和计算机程序
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摘要
PROBLEM TO BE SOLVED: To provide a training method, an apparatus, an electronic device, a computer storage medium and a computer program of a track planning model applicable to the fields of autonomous driving and autonomous parking. A method of training a trajectory planning model uses at least one sensor of a traffic tool to acquire an image of the physical environment in which the traffic tool is located, including a plurality of objects around the traffic tool. Based on, the track planning model obtains a feature map showing multiple initial track points in an image of a traffic tool, recognizes the image, and is associated with a road object among multiple objects in the image. The second area associated with the non-road object among the first area and the plurality of objects is determined, and the planned track point is determined based on the positional relationship of the plurality of initial track points with respect to the first area and the second area. Train a track planning model based on the steps to be taken and the planned track points and the actual track points of the traffic tool. [Selection diagram] Fig. 2
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