Patent ID: 11940803
Assignee: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A method for training a trajectory planning model, comprising:
obtaining an image of a physical environment in which a vehicle is located via at least one sensor of the vehicle, wherein the obtained image comprises a plurality of objects surrounding the vehicle;
obtaining a feature chart from the trajectory planning model based on the image, the feature chart indicating a plurality of initial trajectory points of the vehicle in the image;
identifying the image to determine in the image a first area associated with a road object in the plurality of objects and a second area associated with a non-road object in the plurality of objects, wherein identifying the image comprises: obtaining a depth image via a trained depth estimation network, wherein each pixel value of the depth image is a distance between a point in the image of the physical environment and the vehicle, and obtaining the first area associated with the road object by multiplying the depth image with a matrix array having a first value corresponding to the first area and a second value corresponding to the second area;
determining planning trajectory points based on a positional relationship of the plurality of initial trajectory points with respect to the first area and the second area; and
training the trajectory planning model based on the planning trajectory points and actual trajectory points of the vehicle.