Distance prediction method, model training method, planning-control system and related apparatuses

Abstract

The present application discloses a distance prediction method, a model training method, a planning-control system and related apparatuses thereof. The distance prediction method includes: acquiring a first global pose, a first expanded navigation path and first landmark information of a first vehicle, where the first global pose is a global pose of the first vehicle at a current moment, the first expanded navigation path includes an expanded path of a first vehicle navigation path determined based on the first global pose, and the first landmark information includes landmark information included in a first road environment image collected by the first vehicle at the first global pose; processing the first global pose, the first expanded navigation path and the first landmark information based on a distance prediction model to obtain a farthest reachable distance on each lane in the first landmark information.