The embodiment of the invention discloses a method for processing vehicle perception data. The method comprises the following steps: acquiring first pavement image perception data acquired by image perception equipment; acquiring a plurality of pieces of first obstacle sensing data acquired by a plurality of pieces of obstacle sensing equipment; performing flying dust filtering processing on each piece of obstacle sensing data in the plurality of pieces of first obstacle sensing data to obtain a plurality of pieces of second obstacle sensing data; performing fusion processing on the plurality of pieces of second obstacle sensing data to obtain third obstacle sensing data; and on the basis of the third obstacle sensing data and the first road surface image sensing data, a control instruction used for controlling vehicle driving is generated, the influence caused by flying dust in front of and in the side direction of the vehicle is reduced, and the robustness of the vehicle to environment sensing is improved.
本说明书实施例公开了一种对于车辆感知数据的处理方法,包括:获取图像感知设备采集的第一路面图像感知数据;获取多个障碍物感知设备采集的多个第一障碍物感知数据;对所述多个第一障碍物感知数据中的各个障碍物感知数据进行扬尘过滤处理,得到多个第二障碍物感知数据;将所述多个第二障碍物感知数据进行融合处理,得到第三障碍物感知数据;基于所述第三障碍物感知数据和所述第一路面图像感知数据,生成用于控制车辆行驶的控制指令,降低了车辆前方和侧向扬尘带来的影响,提升了车辆对环境感知的鲁棒性。
Method and device for processing vehicle sensing data
一种对于车辆感知数据的处理方法及装置
2024-06-11
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G06V |
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