The invention provides an intelligent driving vehicle environment perception method, system and device and a medium, and the method comprises the steps: firstly obtaining an image of a target vehicle in a test scene, carrying out the recognition of the image, and determining a lane line, an obstacle and a passable space in the image; identifying the distance between the target vehicle and the surrounding vehicle, the driving speed of the surrounding vehicle and the azimuth angle information of the surrounding vehicle and the target vehicle; the lane line, the obstacle, the passable space, the distance between the target vehicle and the surrounding vehicle, the driving speed of the surrounding vehicle and the azimuth angle information of the surrounding vehicle and the target vehicle are fused, and the safe driving speed, acceleration decision information, deceleration decision information and steering decision information of the target vehicle are determined based on the fusion result; and finally, feeding back to the target vehicle to perform intelligent driving control on the target vehicle. According to the application, a multi-modal technical system of environment perception design is constructed, so that the use requirements of simulation testing, function testing, road testing, multi-scene application and the like can be met.

    本申请提供一种智能驾驶车辆环境感知方法、系统、设备及介质,首先获取目标车辆在测试场景中的图像,并对图像进行识别,确定图像中的车道线、障碍物和可通行空间;再识别目标车辆与周围车辆的距离、周围车辆的行驶速度、周围车辆与目标车辆的方位角信息;再然后对车道线、障碍物、可通行空间、目标车辆与周围车辆的距离、周围车辆的行驶速度、以及周围车辆与目标车辆的方位角信息进行融合,并基于融合结果确定目标车辆的安全行驶速度、加速决策信息、减速决策信息和转向决策信息;最后反馈给目标车辆,以对目标车辆进行智能驾驶控制。本申请通过构建环境感知设计的多模态技术体系,能够满足仿真测试、功能测试、道路试验、多场景应用等使用需要。


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    Titel :

    Intelligent driving vehicle environment sensing method, system, equipment and medium


    Weitere Titelangaben:

    一种智能驾驶车辆环境感知方法、系统、设备及介质


    Beteiligte:
    DENG BANGHUAI (Autor:in) / ZHOU MINGLIANG (Autor:in) / WEN QIJIANG (Autor:in) / HAN ZENGCHAO (Autor:in) / DU WEIDONG (Autor:in)

    Erscheinungsdatum :

    2022-11-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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