The embodiment of the invention discloses an automatic driving vehicle control method and system and an automatic driving vehicle. The automatic driving vehicle control method comprises the steps that one or more images are obtained according to data collected by a camera on an automatic driving vehicle; inputting one or more images to a target detection model and a semantic segmentation model to obtain annotation information of a first target of the one or more images and annotation information of a second target of the one or more images; wherein the first target comprises an obstacle, and the second target comprises at least one of a lane line, a zebra crossing and a drivable area; fusing the annotation information of the first target and the annotation information of the second target to obtain annotation information of the image; and determining vehicle control information according to the annotation information of the image, and controlling the autonomous vehicle to run according to the vehicle control information. The safety of automatic driving of the vehicle is improved.
本申请实施例公开了一种自动驾驶车辆控制方法、系统和自动驾驶车辆。该自动驾驶车辆控制方法包括:根据自动驾驶车辆上的摄像头采集的数据,得到一个或多个图像;输入一个或多个图像至目标检测模型和语义分割模型,得到一个或多个图像的第一目标的标注信息,以及一个或多个图像的第二目标的标注信息;其中,第一目标包括障碍物,第二目标包括车道线、斑马线,以及可行驶区域中的至少一个;融合第一目标的标注信息和第二目标的标注信息,得到图像的标注信息;根据图像的标注信息确定车辆控制信息,并根据车辆控制信息控制自动驾驶车辆行驶。用以提高车辆自动驾驶的安全性。
Automatic driving vehicle control method and system and automatic driving vehicle
一种自动驾驶车辆控制方法、系统和自动驾驶车辆
2022-04-29
Patent
Electronic Resource
Chinese
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