The invention relates to a vehicle control method and device, equipment, a medium and a vehicle, and can perform label matching on real-time point cloud data corresponding to a vehicle driving area based on a semantic segmentation result of real-time image data corresponding to the vehicle driving area, determine a target point cloud point in the real-time point cloud data, and improve the accuracy of the target point cloud point. Real-time point cloud data are acquired, target point cloud points are eliminated from the real-time point cloud data to obtain target point cloud data, and then driving control is performed on the vehicle based on the target point cloud data, so that before driving control is performed on the vehicle based on the point cloud data, the point cloud points related to obstacles which do not affect driving can be eliminated firstly, and the driving control accuracy is improved. Therefore, when driving control is carried out on the vehicle based on the point cloud data, interference of obstacles which do not affect driving on the lane in the port on driving can be avoided, the situation that the automatic driving operation vehicle in the port stops driving due to the obstacles which do not affect driving is avoided, and the operation efficiency of the automatic driving operation vehicle is improved.
本公开涉及一种车辆控制方法、装置、设备、介质及车辆,能够基于车辆行车区域对应的实时图像数据的语义分割结果,对车辆行车区域对应的实时点云数据进行标签匹配,确定实时点云数据中的目标点云点,并将实时点云数据中剔除目标点云点,得到目标点云数据,进而基于目标点云数据,对车辆进行行车控制,因此,在基于点云数据对车辆进行行车控制之前,可以先剔除掉与不影响行车的障碍物相关的点云点,进而在基于点云数据对车辆进行行车控制时,能够避免港口内的车道上的不影响行车的障碍物对行车的干扰,从而避免港口内的自动驾驶作业车辆因不影响行车的障碍物停止行车,提高了自动驾驶作业车辆的作业效率。
Vehicle control method, device and equipment, medium and vehicle
车辆控制方法、装置、设备、介质及车辆
2023-04-04
Patent
Electronic Resource
Chinese
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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