The invention belongs to the technical field of automatic driving, and discloses an automatic driving sensing redundancy control method and device, equipment and a storage medium. When the state monitoring sensor breaks down, the control takeover instruction is generated; acquiring redundant acquisition data acquired by a plurality of redundant sensing sensors according to the control takeover instruction; performing data fusion on the redundant acquisition data acquired by the plurality of redundant sensing sensors to obtain sensing fusion data; and performing vehicle control according to the sensing fusion data. When it is determined that a state monitoring sensor breaks down, a redundant controller generates a takeover instruction, the redundant controller takes over a main controller to obtain data collected by a plurality of redundant sensing sensors, then data fusion is conducted on the data collected by the redundant sensing sensors, and finally accurate control is conducted on a vehicle according to the fused data. The sensing capability of the automatic driving vehicle is improved, and the sensing efficiency of the automatic driving vehicle is improved.

    本发明属于自动驾驶技术领域,公开了一种自动驾驶感知冗余控制方法、装置、设备及存储介质。本发明通过在状态监测传感器发生故障时,生成控制接管指令;根据所述控制接管指令获取多个冗余感知传感器采集的冗余采集数据;对多个冗余感知传感器采集的冗余采集数据进行数据融合,得到感知融合数据;根据所述感知融合数据进行车辆控制。通过确定状态监测传感器发生故障时,冗余控制器生成接管指令,由冗余控制器接管主控制器,获取多个冗余感知传感器采集的数据,再对多个冗余感知传感器采集的数据进行数据融合,最后根据融合后的数据对车辆进行精准控制,提高了自动驾驶车辆的感知能力,提高了自动驾驶车辆感知的效率。


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    Title :

    Automatic driving perception redundancy control method and device, equipment and storage medium


    Additional title:

    自动驾驶感知冗余控制方法、装置、设备及存储介质


    Contributors:
    YU LONG (author) / LIU JIFENG (author) / ZHOU HUOXING (author) / TU SHENGSI (author) / REN ZHIGANG (author)

    Publication date :

    2024-04-09


    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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