The invention relates to an automatic driving automobile environment sensing method and device, and the method comprises the steps: obtaining and synchronizing continuous multi-frame data of a plurality of visual sensors and a plurality of millimeter wave radars in real time, and judging whether each visual sensor and each millimeter wave radar are invalid or not according to the continuous multi-frame data; identifying a scene where the current vehicle is located by using a non-invalid visual sensor; according to the scene where the current vehicle is located, the confidence degree of the visual sensor and the millimeter-wave radar is adjusted; the visual sensor or the millimeter-wave radar with the highest confidence coefficient is used as a main sensor for sensing an environment target, and environment sensing is carried out; and judging whether the current scene is changed or not according to the scene where the vehicle is located at the current moment and the adjacent moment, and switching the main sensor for sensing the environment target. According to the invention, perception scene classification is carried out according to respective advantage scene libraries of the visual sensor and the millimeter wave radar, so that the calculation amount of multi-sensor target fusion is reduced, and the perception effectiveness and calculation efficiency of automatic driving are improved.

    本发明涉及一种自动驾驶汽车环境感知方法、装置,其方法包括:实时获取并同步多个视觉传感器和多个毫米波雷达的连续多帧数据,并根据其判断每个视觉传感器和每个毫米波雷达是否失效;利用未失效的视觉传感器,识别当前自身车辆所在场景;根据当前自身车辆所在场景,调整视觉传感器和毫米波雷达的置信度;将置信度最高的视觉传感器或毫米波雷达作为感知环境目标的主传感器,进行环境感知;根据当前时刻及其相邻时刻的自身车辆所在场景,判断当前场景是否发生改变,并切换感知环境目标的主传感器。本发明根据视觉传感器和毫米波雷达各自的优势场景库进行感知场景分类,从而减少了多传感器目标融合的计算量,提升了自动驾驶的感知有效性及计算效率。


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    Titel :

    Self-driving automobile environment sensing method and device and storage medium


    Weitere Titelangaben:

    一种自动驾驶汽车环境感知方法、装置和存储介质


    Beteiligte:
    WANG JUNDE (Autor:in) / FANG GUANPING (Autor:in) / FEI TENG (Autor:in) / TANG GE (Autor:in)

    Erscheinungsdatum :

    2022-11-08


    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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