The invention relates to an automatic driving obstacle avoidance system with hierarchical accurate recognition, and belongs to the technical field of automatic driving. The system comprises a data acquisition module which comprises a sensor and a preprocessing module and is used for acquiring driving environment data of an automatic driving vehicle and data of the vehicle by using the sensor and preprocessing the data; the image processing module is used for performing hierarchical semantic segmentation on each frame of streetscape image to obtain a semantic segmentation result of a key target in each frame of streetscape image; the data fusion module is used for receiving the laser radar point cloud data and the image with the semantic segmentation result obtained by the image processing module, performing data fusion to obtain comprehensive perception data, and perceiving the environment around the autonomous vehicle; the decision module is used for receiving the comprehensive sensing data, making an obstacle avoidance strategy and generating a decision instruction; and the control module is used for receiving the decision instruction to control the autonomous vehicle so as to realize obstacle avoidance. And rapid and accurate automatic driving obstacle avoidance is realized.
本发明涉及一种层次化精准识别的自动驾驶避障系统,属于自动驾驶技术领域。系统包括:数据采集模块,包括传感器和预处理模块,用于利用传感器获取自动驾驶车辆行驶环境数据及车辆自身数据并进行预处理;图像处理模块,用于将各帧街景图像进行层次化语义分割,得到各帧街景图像中关键目标的语义分割结果;数据融合模块,用于接收激光雷达点云数据和图像处理模块得到的带有语义分割结果的图像,进行数据融合得到综合感知数据,感知自动驾驶车辆周围的环境;决策模块,用于接收综合感知数据,做出避障策略,生成决策指令;控制模块,用于接收决策指令对自动驾驶车辆进行控制,实现避障。实现了快速精准的自动驾驶避障。
Automatic driving obstacle avoidance system with hierarchical accurate identification
一种层次化精准识别的自动驾驶避障系统
2025-03-28
Patent
Electronic Resource
Chinese
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