The invention provides a vehicle surrounding environment sensing method and device, equipment and a storage medium, and relates to the technical field of intelligent vehicles, and the method comprises the steps: collecting and processing a vehicle surrounding environment image through a vehicle-mounted fisheye camera, and obtaining a panoramic top view image; the method comprises the steps of obtaining a panoramic top view image with grid points, obtaining coordinates of the grid points of a vehicle in a first state and coordinates of the grid points of the vehicle in a second state at any moment, obtaining pixel displacement, judging the height of an object according to the pixel displacement and the height of a fisheye camera, and classifying the grid points. And obtaining the obstacle type in the surrounding environment of the vehicle. Thus, the obstacle type in the surrounding environment of the vehicle is obtained by analyzing and processing the image collected by the fisheye camera, then perception of the surrounding environment of the vehicle is achieved, and due to the fact that the fisheye camera low in cost is used, the problem that in the prior art, when the surrounding environment of the vehicle is perceived, the equipment cost is high is solved.

    本申请提供了一种车辆周围环境感知方法、装置设备及存储介质,涉及智能车辆技术领域,该方法包括:先通过车载鱼眼相机采集车辆周围环境图像并进行处理,得到全景俯视图像然后对全景俯视图像进行划分,得到具有网格点的全景俯视图像,获取车辆在第一状态下的网格点的坐标及车辆在第二状态下的任一时刻的网格点坐标,得到像素位移,根据像素位移和鱼眼相机的高度判断物体的高度并对网格点分类,得到车辆的周围环境中的障碍物类型。如此,通过对鱼眼相机采集的图像进行分析处理得到车辆周围环境中的障碍物类型,进而实现对车辆周围环境的感知,由于使用的是成本较低的鱼眼相机,解决了现有技术中对车辆周围环境进行感知时设备成本较高的问题。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle surrounding environment sensing method, device and equipment and storage medium


    Additional title:

    一种车辆周围环境感知方法、装置、设备及存储介质


    Contributors:
    ZHANG SHUAISHUAI (author) / WU JUNYI (author) / LI XUEYU (author) / YU FENG (author) / LU ZEYU (author) / LI FENG (author)

    Publication date :

    2025-05-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



    Perception method, device and equipment for vehicle surrounding environment, medium and vehicle

    HUAN HONGSHENG / LU HUIXIN / LIAO PENGLING | European Patent Office | 2023

    Free access

    Method, device and equipment for displaying surrounding environment of vehicle and readable storage medium

    WANG SHUAI / DING SU / LIU YALOU et al. | European Patent Office | 2024

    Free access

    Surrounding vehicle reminding method and device, electronic equipment and storage medium

    LI CHANGYUAN / MENG XING / LI JIAN | European Patent Office | 2022

    Free access

    Vehicle environment sensing method and device, electronic equipment and storage medium

    WANG SHUAIYANG / YAN HAILONG / ZHU HAIRONG et al. | European Patent Office | 2023

    Free access

    VEHICLE SURROUNDING ENVIRONMENT DISPLAY DEVICE AND METHOD FOR CONTROLLING VEHICLE SURROUNDING ENVIRONMENT DISPLAY DEVICE

    YAMAMOTO YUKI / HABUTA RIE / FURUSE HIDEAKI et al. | European Patent Office | 2025

    Free access