The invention relates to the technical field of automatic driving, particularly provides a preprocessing method and device for perception information of an automatic driving vehicle and the vehicle, and aims to solve the problem of how to process the perception information of the automatic driving vehicle to improve information density and reduce resource occupation. In order to achieve the purpose, the sensing information of the automatic driving vehicle is subjected to structured processing, and target vehicles comprise the automatic driving vehicle and vehicles in the surrounding environment of the automatic driving vehicle; and semantic information is added to the structured data of each target vehicle to obtain vectorized features of the target vehicle. According to the method, the vectorized features occupy less resources, more computing resources can be saved for a vehicle end program, and the vectorized features containing semantic information can provide data containing larger information density for the prediction decision process of the automatic driving vehicle, so that a more accurate and reasonable result is obtained when the vectorized features are used for decision prediction.
本发明涉及自动驾驶技术领域,具体提供一种自动驾驶车辆的感知信息的预处理方法、装置及车辆,旨在解决如何对自动驾驶车辆的感知信息进行处理,以提升信息密度,降低资源占用的问题。为此目的,本发明将自动驾驶车辆的感知信息进行结构化处理,目标车辆包括自动驾驶车辆和自动驾驶车辆周围环境中的车辆;为每个目标车辆的结构化数据添加语义信息获得目标车辆的向量化特征。向量化特征占用资源较少,能够为车端程序节省更多计算资源,且包含语义信息的向量化特征能够为自动驾驶车辆的预测决策过程提供包含更大信息密度的数据,使得应用向量化特征进行决策预测时,获得更为精确合理的结果。
Preprocessing method and device for perception information of automatic driving vehicle and vehicle
自动驾驶车辆的感知信息的预处理方法、装置及车辆
2023-04-07
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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