The invention discloses a multi-sensor data fusion method, device and equipment and a storage medium, and relates to the technical field of intelligent driving, and the method comprises the steps: determining first data of a first sensor at a first moment; in response to the fact that the data of the second sensor at the first moment are not obtained, third data of the second sensor at the first moment are predicted based on second data of the second sensor at the second moment; and fusing the first data and the third data to obtain fused data. According to the technical scheme, the third data of the second sensor at the first moment is predicted through the second data of the second sensor at the second moment before the first moment. Therefore, data fusion of the first sensor and the second sensor can be realized at the first moment by using the first data and the third data, and the effective utilization rate of the data of the first sensor and the second sensor is improved. And under the condition that the third data is consistent with the actual sensing environment, the sensing precision of the driving environment and the safety of intelligent driving are improved.
本发明公开了一种多传感器数据融合方法、装置、设备及存储介质,涉及智能驾驶技术领域,该方法包括确定第一传感器在第一时刻的第一数据;响应于未获取到第二传感器在第一时刻的数据,基于第二传感器在第二时刻的第二数据,预测第二传感器在第一时刻的第三数据;对第一数据和第三数据进行融合,得到融合数据。本公开的技术方案通过第二传感器在第一时刻之前的第二时刻的第二数据,预测第二传感器在第一时刻的第三数据。因此,利用第一数据和第三数据能够在第一时刻实现第一传感器和第二传感器的数据融合,提高了对第一传感器和第二传感器的数据的有效利用率。且在第三数据与实际感知环境相符的情况下,提高了对行驶环境的感知精度以及智能驾驶的安全性。
Multi-sensor data fusion method and device, equipment and storage medium
多传感器数据融合方法、装置、设备及存储介质
2024-08-09
Patent
Electronic Resource
Chinese
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