Target detection model training method and device and target detection method and device

The invention discloses a target detection model training method and device and a target detection method and device.The target detection model training method comprises the steps that laser point cloud data used for training are acquired, a point cloud feature processing network in a target detection model is used for processing the laser point cloud data, and processed point cloud features are obtained; performing feature extraction on the processed point cloud features by using a point cloud feature extraction network in the target detection model to obtain a point cloud feature extraction result, the point cloud feature extraction network being obtained by adding a convolutional layer in a low-layer scale space in an original FPN network; performing target detection on the point cloud feature extraction result by using a detection head network in a target detection model to obtain a target detection result; and determining a loss value of the target detection result by using a preset ...