The invention provides a perception fusion method and device, equipment and a storage medium. The method comprises the steps that state information of the multiple sensors, sensor data collected by the multiple sensors and environment information of the environment where the vehicle is located are obtained; determining M target sensors in the plurality of sensors according to the state information of the plurality of sensors, the data of the plurality of sensors and the environment information, M being an integer greater than or equal to 1; according to M kinds of sensor data collected by the M target sensors, a sensing result for sensing obstacles around the vehicle is determined; and controlling the vehicle according to the M target sensors and the sensing result. According to the method provided by the invention, the problem that the robustness of the advanced driving assistance system of the vehicle is not enough in the prior art is solved.

    本申请提供一种感知融合方法、装置、设备及存储介质。该方法包括:获取所述多个传感器的状态信息、所述多个传感器采集的传感器数据、以及所述车辆所在环境的环境信息;根据所述多个传感器的状态信息、所述多个传感器数据、以及所述环境信息,在所述多个传感器中确定M个目标传感器,所述M为大于或等于1的整数;根据所述M个目标传感器采集的M种传感器数据,确定对所述车辆周围的障碍物进行感知的感知结果;根据所述M个目标传感器和所述感知结果对所述车辆进行控制。本申请的方法,解决了现有技术在保证车辆的高级驾驶辅助系统的鲁棒性方面有所欠缺的问题。


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    Title :

    Perception fusion method and device, equipment and storage medium


    Additional title:

    感知融合方法、装置、设备及存储介质


    Contributors:
    WANG PENGCHENG (author) / TIAN LEI (author) / LIU YANG (author) / ZHAO YUCHAO (author) / YING JIAN (author)

    Publication date :

    2023-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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