{
  "$type": "site.standard.document",
  "description": "A method for training a trajectory planning model, an apparatus, and computer storage medium are provided. The method may include: obtaining an image of a physical environment in which a vehicle is located via at least one sensor of the vehicle, the image including multiple objects surrounding the…",
  "path": "/patents/1295382",
  "publishedAt": "2021-07-15T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0221",
    "BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD."
  ],
  "textContent": "A method for training a trajectory planning model, an apparatus, and computer storage medium are provided. The method may include: obtaining an image of a physical environment in which a vehicle is located via at least one sensor of the vehicle, the image including multiple objects surrounding the vehicle; obtaining a feature chart indicating multiple initial trajectory points of the vehicle in the image from a trajectory planning model based on the image; identifying the image to determine in the image a first area associated with a road object in multiple objects and a second area associated with a non-road object in the multiple objects; determining a planning trajectory point based on positional relationship of the multiple initial trajectory points with respect to the first area and the second area; and training a trajectory planning model based on the planning track point and the actual trajectory point of the vehicle.",
  "title": "METHOD, APPARATUS AND COMPUTER STORAGE MEDIUM FOR TRAINING TRAJECTORY PLANNING MODEL"
}