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

Claim 7:
8. The method of claim 1, wherein training the trajectory planning model based on the planning trajectory points and actual trajectory points of the vehicle comprises:
calculating a cross entropy loss L between the planning trajectory points and the actual trajectory points according to equation (1):, L
     =
     
      
       -
       
        
         ∑
         
          
           i
           =
           1
          
          ,
          2
          ,
          
           3
           ⁢
              
           …
           ⁢
              
           N
          
         
        
        
         
          y
          
           g
           ⁢
           t
          
         
         ⁢
         log
         ⁢
         
          y
          p
         
        
       
      
      +
      
       
        (
        
         1
         -
         
          y
          
           g
           ⁢
           t
          
         
        
        )
       
       ⁢
       log
       ⁢
       
        (
        
         1
         -
         
          y
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        )
       
      
     
    
   
   
    
     (
     1
     )
    
   
  
 

wherein i represents a sample, N represents a number of samples, ygt represents the actual trajectory points, and yp represents the planned trajectory points; and
performing reverse propagation according to equation (2) to complete a training of the trajectory planning model:

θ=θ−γ∇θL(f(θ),ygt)  (2)

wherein γ represents hyper parametric learning rate, f represents a network structure of the trajectory planning model 103, θ represents parameters to be learned, ygt represents the actual trajectory points, and L represents a cross entropy loss operation.