The embodiment of the invention provides a trajectory prediction model training method and device, equipment and a medium, and relates to the technical field of automatic driving. The method comprises the steps that multiple kinds of scene mixed training data are used for conducting multiple times of fine adjustment on a pre-training model, multiple intermediate models are obtained, and each kind of scene mixed training data at least comprises simulation track data in one kind of scene and real track data of a real vehicle in multiple scenes; selecting a target intermediate model from the plurality of intermediate models; performing fine adjustment on the target intermediate model by using the target scene mixed training data to obtain a trajectory prediction model; wherein the target scene mixed training data comprises simulation trajectory data in a newly-added scene, simulation trajectory data, used for training the target intermediate model, in multiple scenes and real trajectory data of a real vehicle in multiple scenes. According to the embodiment of the invention, the trajectory prediction precision of multiple scenes can be improved on the basis of not changing the existing algorithm.

    本发明实施例提供了一种轨迹预测模型训练方法、装置、设备及介质,涉及自动驾驶技术领域。该方法包括:使用多种场景混合训练数据对预训练模型进行多次微调,得到多个中间模型,每种场景混合训练数据至少包括:一种场景下的仿真轨迹数据和实车在多个场景下的真实轨迹数据;从多个中间模型选择一个目标中间模型;使用目标场景混合训练数据,对目标中间模型进行微调,得到轨迹预测模型;其中,目标场景混合训练数据包括:新增场景下的仿真轨迹数据、训练目标中间模型所使用的多种场景下的仿真轨迹数据以及实车在多个场景下的真实轨迹数据。通过本实施例可以在不改变已有算法的基础上,提升多个场景的轨迹预测精度。


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    Title :

    Trajectory prediction model training method and device, equipment and medium


    Additional title:

    一种轨迹预测模型训练方法、装置、设备及介质


    Contributors:
    DENG ZHULI (author) / CHEN ZHUO (author) / ZHANG ZHONGXU (author)

    Publication date :

    2025-04-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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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