Time-delay feedback neural network-based vehicle dynamics prediction model, training data acquisition method and training method

The invention discloses a time-delay feedback neural network-based vehicle dynamics prediction model, a training data acquisition method and a training method, provides a vehicle dynamics virtual and actual data set acquisition method under a multi-road condition, and lays a data foundation for vehicle dynamics model establishment. The method comprises the following steps: firstly, selectively adding different fidelity models based on vehicle nonlinear dynamics to obtain a low-fidelity interpretable vehicle nonlinear dynamics model multi-time-step virtual data set with different complexity degrees; secondly, obtaining multi-time-step virtual data of the high-fidelity dynamics model through high-fidelity vehicle dynamics software CarSim; and finally, arranging an actual unmanned vehicle dynamics data acquisition device to obtain a vehicle dynamics real data set. The freedom degree selection range of the vehicle dynamics virtual data set is wide, the obtaining cost is low, the demand quantity of real vehicle da