Cross-domain target detection model training method, cross-domain target detection method and cross-domain target detection device

The invention discloses a cross-domain target detection model training method and device, and a target detection method and device, relates to the technical field of target detection, and solves the technical problems that the generalization ability of a target detection model is weak, and the detection effect of a complex and changeable actual scene in an automatic driving scene is poor. The method comprises the following steps: training according to a domain training sample to obtain an initial detection model; constructing a domain discrimination module, performing confrontation training with the initial detection model through the domain discrimination module, and outputting a confrontation result by the domain discrimination module; acquiring foreground weight information of the domain training sample, applying a constraint of the foreground weight information to the confrontation result, and constructing to obtain a foreground sensing module; and alternately training the initial detection model through