The invention discloses a redundancy check method, system and device for an automatic driving sensing system. The method comprises the following steps: acquiring multi-modal data from a plurality of sensor data sources; on the basis of a pre-established vehicle coordinate system, aligning the multi-modal data; performing pre-fusion and post-fusion on the aligned multi-modal data in parallel, the pre-fusion including performing early-stage data fusion processing on the aligned multi-modal data to obtain sensor data after data fusion; the post-fusion comprises the following steps: performing post-target-level fusion on a target object detected from the aligned multi-modal data to obtain sensor data fused by the target object; and performing data verification and merging processing based on the sensor data after data fusion and the sensor data fused by the target object to obtain sensor sensing data. The pre-fusion and the post-fusion can be executed in parallel, redundancy check of multi-modal data fusion is realized, and the accuracy of environment perception and the safety of automatic driving are improved.
本发明公开了一种自动驾驶感知系统冗余校验方法、系统和装置。所述方法包括:从多个传感器数据源获取多模态数据;基于预先建立的车辆坐标系,对所述多模态数据进行对齐;对对齐后的多模态数据并行执行前融合和后融合,所述前融合包括对所述对齐后的多模态数据进行前期数据融合处理,得到数据融合后的传感器数据;所述后融合包括将从所述对齐后的多模态数据中检测到的目标物体进行后期目标级融合,得到目标物体融合的传感器数据;基于数据融合后的传感器数据和目标物体融合的传感器数据进行数据校验和合并处理,得到传感器感知数据。能够并行执行前融合和后融合,实现多模态数据融合的冗余校验,提高环境感知的准确性和自动驾驶的安全性。
Redundancy checking method, system and device for automatic driving perception system
自动驾驶感知系统冗余校验方法、系统和装置
2023-12-29
Patent
Electronic Resource
Chinese
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