The invention discloses an obstacle recognition method and an automatic driving vehicle, and belongs to the technical field of automatic driving. The method comprises the steps that point cloud data collected by the autonomous vehicle is acquired, the point cloud data indicates obstacles around the autonomous vehicle, the point cloud data comprises a plurality of supporting columns, each supporting column comprises the feature of at least one data point, and the sizes of the supporting columns are the same; on the basis of each support column, encoding the feature of at least one data point included in the support column by using maximum response encoding and attention encoding to obtain a second encoding feature of the point cloud data, the second encoding feature including the first encoding feature of each support column; and performing obstacle identification on the second coding feature to obtain obstacle information of the obstacle. According to the scheme provided by the invention, when the obstacle is identified, the detail features and the overall features of the obstacle are comprehensively considered, the accuracy of identifying the obstacle is improved, and the driving safety of the automatic driving vehicle is further improved.
本申请公开了一种障碍物识别方法及自动驾驶车辆,属于自动驾驶技术领域。方法包括:获取自动驾驶车辆采集的点云数据,点云数据指示自动驾驶车辆周围的障碍物,点云数据包括多个支柱,每个支柱包括至少一个数据点的特征,且每个支柱的尺寸相同;基于每个支柱,采用最大响应编码和注意力编码对支柱包括的至少一个数据点的特征进行编码处理,得到点云数据的第二编码特征,第二编码特征包括每个支柱的第一编码特征;对第二编码特征进行障碍物识别,得到障碍物的障碍物信息。本申请提供的方案在对障碍物进行识别时,综合考虑了障碍物的细节特征和整体特征,提高了识别障碍物的准确性,进而提高自动驾驶车辆行驶的安全性。
Obstacle recognition method and autonomous vehicle
障碍物识别方法及自动驾驶车辆
2023-06-27
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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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