Method for generating training data for a recognition model for recognizing objects in sensor data of an environment sensor system of a vehicle, method for generating such a recognition model and method for controlling an actuator system of a vehicle

摘要

The present invention relates to a method for generating training data (102) for a recognition model (104) for recognizing objects (106, 108) in sensor data (120) of an environment sensor system (122) of a vehicle (110). The method comprises the following steps: inputting (210) first sensor data (120a) and second sensor data (120b) into a learning algorithm, the first sensor data (120a) being a plurality of real measurements of a first surroundings sensor (122a) of the surroundings sensor system (122) that follow one another in time include, the second sensor data (120b) include a plurality of temporally consecutive real measurements of a second surroundings sensor (122b) of the surroundings sensor system (122) and each of the real measurements of the first surroundings sensor (122a) is assigned a chronologically corresponding real measurement of the second surroundings sensor (122b). ; Generating (220) a training data generation model (124) that generates measurements of the second environmental sensor (122b) associated with measurements of the first environmental sensor (122a) based on the first sensor data (120a) and the second sensor data (120b) by the learning algorithm; Inputting (230) first simulation data (126a) into the training data generation model (124), the first simulation data (126a) comprising a plurality of consecutive simulated measurements of the first environment sensor (122a); and generation (240) of second simulation data (126b) as the training data (102) based on the first simulation data (126a) by the training data generation model (124), the second simulation data (126b) containing a plurality of temporally consecutive simulated measurements of the second environment sensor (122b) include.