The invention relates to a vehicle driving environment sensing method and device, computer equipment, a medium and a product. The method comprises the following steps: acquiring a plurality of initial images acquired by a plurality of cameras and sensing data acquired by a plurality of radar devices, and processing the plurality of initial images based on a common-view area to obtain a target image within a preset range around a target vehicle, performing fusion tracking on the first environment vehicle based on the target image and the sensing data to obtain a first tracking result, and performing target tracking on the second environment vehicle based on the target image to obtain a second tracking result, and fusing the first tracking result and the second tracking result to obtain a target tracking result of the driving environment of the target vehicle. By adopting the method, the camera and the radar equipment installed on the vehicle can be used as a vehicle driving environment sensing system, and the accuracy of the determined tracking result of other environment vehicles around the vehicle is improved by adopting a fusion sensing technology corresponding to the camera and the radar equipment.
本申请涉及一种车辆行驶环境感知方法、装置、计算机设备、介质及产品。该方法包括:获取多个相机采集到的多个初始图像和多个雷达设备采集到的感测数据,并基于共视区域对多个初始图像进行处理得到目标车辆周围预设范围内的目标图像,基于目标图像和感测数据对第一环境车辆进行融合跟踪得到第一跟踪结果,以及基于目标图像对第二环境车辆进行目标跟踪得到第二跟踪结果,将第一跟踪结果和第二跟踪结果进行融合处理得到目标车辆所处行驶环境的目标跟踪结果。采用上述方法可以将车辆上安装的相机和雷达设备作为车辆行驶环境感知系统,采用相机与雷达设备对应的融合感知技术提高确定出的车辆周围其它环境车辆的跟踪结果的准确性。
Vehicle driving environment sensing method and device, computer equipment, medium and product
车辆行驶环境感知方法、装置、计算机设备、介质及产品
30.04.2024
Patent
Elektronische Ressource
Chinesisch
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