Method and apparatus for generating route planning model, and storage medium

An apparatus for generating a target route planning model, included in a vehicle, the apparatus comprising:

• at least one processor;
• and
• a memory communicatively coupled to the at least one processor,
• wherein the at least one processor is configured to:
• obtain a target route data set associated with a target site;
• in response to inputting target route data in the target route data set into a first route planning model, determine a first error between a predicted trajectory outputted by the first route planning model and an actual trajectory corresponding to the target route data;
• update a parameter of the first route planning model until the first error is smaller than a first threshold;
• and
• determine the updated first route planning model as the target route planning model of the target site, wherein the target route planning model is configured to output a trajectory of the vehicle for autonomous parking in the target site;
• wherein the first route planning model is pre-trained based on a set of historical route data, the set of historical route data being associated with a plurality of sites different from the target site and comprising a plurality of first historical route data;
• wherein the first route planning model is determined by:
• in response to inputting the plurality of first historical route data into a first route planning sub-model, determining a second error between a predicted trajectory outputted by the first route planning sub-model and an actual trajectory corresponding to each first historical route data;
• updating a parameter of the first route planning sub-model in a first gradient descent way until the second error is smaller than a second threshold;
• and
• determining the updated first route planning sub-model as the first route planning model;
• wherein the at least one processor is further configured to:
• obtain current route data of the target site by at least one sensor of the vehicle;
• determine a trajectory for autonomous parking of the vehicle in the target site by inputting the current route data to the target route planning model;
• and
• control steers, throttles, and brakes of the vehicle based on the determined trajectory and park the vehicle in a predetermined parking space of the target site.

A non-transitory computer readable storage medium having computer instructions stored thereon, wherein the computer instructions are configured to cause a computer to execute a method for generating a target route planning model, the method comprising:

• obtaining a target route data set associated with a target site;
• and
• in response to inputting target route data in the target route data set into a first route planning model, determining a first error between a predicted trajectory outputted by the first route planning model and an actual trajectory corresponding to the target route data;
• updating a parameter of the first route planning model until the first error is smaller than a first threshold;
• and
• determining the updated first route planning model as a target route planning model of the target site, wherein the target route planning model is configured to output a trajectory of a vehicle for autonomous parking in the target site;
• wherein the first route planning model is pre-trained based on a set of historical route data, the set of historical route data being associated with a plurality of sites different from the target site and comprising a plurality of first historical route data;
• wherein the first route planning model is determined by:
• in response to inputting the plurality of first historical route data into a first route planning sub-model, determining a second error between a predicted trajectory outputted by the first route planning sub-model and an actual trajectory corresponding to each first historical route data;
• updating a parameter of the first route planning sub-model in a first gradient descent way until the second error is smaller than a second threshold;
• and
• determining the updated first route planning sub-model as the first route planning model;
• wherein the method further comprises:
• obtaining current route data of the target site by at least one sensor of the vehicle;
• determining a trajectory for autonomous parking of the vehicle in the target site by inputting the current route data to the target route planning model;
• and
• controlling steers, throttles, and brakes of the vehicle based on the determined trajectory and parking the vehicle in a predetermined parking space of the target site.