The invention discloses an automatic driving collaborative perception method and system based on vehicle shortage perception enhancement. The method comprises the steps that an intelligent vehicle converts perception data into intermediate features; then broadcasting to other intelligent vehicles in the effective communication range; further fusing the intermediate features of the plurality of intelligent vehicles to generate collaborative features; effective modeling of performance difference between a multi-vehicle sensing scene and a few-vehicle sensing scene is realized through a unified cross-sensing scene difference modeling method; a lightweight injection network is utilized to enhance collaborative features related to a few-vehicle sensing scene, so that a sensing task is finally enhanced. The method can effectively improve the collaborative perception performance in a few-vehicle perception scene, supports various collaborative perception methods in automatic driving, and has the advantages of low calculation complexity and no network bandwidth requirement.
本发明公开了一种基于少车感知增强的自动驾驶协同感知方法和系统,包括:智能车辆将感知数据转换为中间特征;然后广播给有效通讯范围内的其他智能车辆;并进一步融合多个智能车辆的中间特征以生成协同特征;通过统一的跨感知场景差异建模方法实现从多车感知场景到少车感知场景之间性能差异的有效建模;利用轻量级的注射网络增强少车感知场景相关的协同特征,从而最终增强感知任务。本发明可以有效提升少车感知场景中的协同感知性能,支持自动驾驶中各类协同感知方法,且具有计算复杂性低和无网络带宽需求的优势。
Automatic driving collaborative perception method and system based on vehicle shortage perception enhancement
一种基于少车感知增强的自动驾驶协同感知方法和系统
2024-10-15
Patent
Electronic Resource
Chinese
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
Automatic driving collaborative perception system and automatic driving control method and device
European Patent Office | 2024
|European Patent Office | 2024
|Automatic driving collaborative perception method and device based on multi-modal large model
European Patent Office | 2024
|Automatic driving perception self-adaption method, device and system and vehicle
European Patent Office | 2024
|Environmental perception enhancement method for aided driving
European Patent Office | 2024
|