The invention discloses a vehicle-mounted collaborative information processing method and device, equipment and an automatic driving vehicle, and relates to the field of intelligent transportation, automatic driving and vehicle-road collaboration. According to the specific implementation scheme, the method comprises the steps of obtaining first vehicle-mounted sensing data of a target vehicle, wherein the first vehicle-mounted sensing data comprises data of obstacles which are located around the target vehicle and sensed by the target vehicle; generating virtual obstacle data for representingthe target vehicle according to the positioning data of the target vehicle; generating second vehicle-mounted sensing data based on the virtual obstacle data and the first vehicle-mounted sensing data; and fusing the second vehicle-mounted sensing data and the roadside sensing data to obtain fused data, wherein the fused data includes obstacle data of all obstacles in the second vehicle-mounted sensing data and the roadside sensing data, and the obstacle data of the roadside sensing data comprises obstacle data representing the target vehicle. The embodiment of the invention is applied to a main vehicle discovery and merging full-amount perception fusion framework, and can simplify the operation process of data fusion.
本申请公开了一种车载协同信息处理方法、装置、设备及自动驾驶车辆,涉及智能交通、自动驾驶及车路协同领域。具体实现方案为:获取目标车辆的第一车载感知数据,第一车载感知数据包括目标车辆感知到的位于目标车辆周围的障碍物数据;根据目标车辆的定位数据,生成用于表征目标车辆的虚拟障碍物数据;基于虚拟障碍物数据以及第一车载感知数据,生成第二车载感知数据;将第二车载感知数据与路侧感知数据融合,获得融合数据,融合数据包括所述第二车载感知数据和路侧感知数据中所有障碍物的障碍物数据;路侧感知数据的障碍物数据中包括表征目标车辆的障碍物数据。本申请实施例应用于主车发现合并全量感知融合框架中,能够简化数据融合的操作过程。
Vehicle-road collaborative information processing method and device, equipment and automatic driving vehicle
车路协同信息处理方法、装置、设备及自动驾驶车辆
2020-12-15
Patent
Electronic Resource
Chinese
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