METHOD, APPARATUS, COMPUTER STORAGE MEDIUM AND PROGRAM FOR TRAINING A TRAJECTORY PLANNING MODEL

In accordance with example embodiments of the present disclosure, a method, an apparatus, and a computer storage medium for training a trajectory planning model are provided, which may be used in the field of autonomous driving and autonomous parking. The method of training a trajectory planning model, includes: 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. The solution according to the present disclosure reduces the amount of data processing.