The invention provides an intelligent driving closed-loop control method based on a pre-training large model. The intelligent driving closed-loop control method comprises the following steps: S1, obtaining full-quantity heterogeneous input data in a vehicle driving process; s2, performing feature coding on the total heterogeneous input data to generate feature data suitable for pre-training large model processing; s3, inputting the encoded feature data into a pre-trained large model for feature extraction, and outputting a key value pair; s4, constructing a plurality of task head sharing key value pairs in a cascade form, and generating intention-level and track-level outputs; s5, outputting and generating a vehicle control instruction according to the intention level and the track level to control the driving state of the vehicle; according to the method, full-quantity heterogeneous input features in a closed-loop form are constructed, so that the use efficiency of data is remarkably improved, and the most comprehensive feature representation is extracted from multi-source input, so that an output result with higher quality is generated; according to the method, the problems of information loss and accumulative errors in a traditional modular system are effectively solved, and the accuracy and reliability of decision planning are improved.
本发明提出了一种基于预训练大模型的智能驾驶闭环控制方法,包括以下步骤:S1,获取车辆行驶过程中的全量异构输入数据;S2,将全量异构输入数据进行特征编码,生成适用于预训练大模型处理的特征数据;S3,将编码后的特征数据输入预训练大模型进行特征提取,输出键值对;S4,构建级联形式的多个任务头共享键值对,产生意图级和轨迹级输出;S5,根据意图级和轨迹级输出生成车控指令用于控制车辆的行驶状态;本发明通过构建闭环形式的全量异构输入特征,显著提升了数据的使用效率,从多源输入中提取出最全面的特征表示,从而生成更高质量的输出结果;这种方法有效克服了传统模块化系统中信息损失和累积误差的问题,提高了决策规划的准确性和可靠性。
Intelligent driving closed-loop control method and device based on pre-training large model and medium
基于预训练大模型的智能驾驶闭环控制方法、设备及介质
2025-03-18
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 |
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