To provide a self-driving vehicle visual sensing method, a self-driving vehicle visual sensing device, control instrument and a computer readable storage medium that speed up an identification speed of a target identification object, and thereby upgrade sensitivity of a self-driving vehicle, and can assure running safety of the self-driving vehicle.SOLUTION: A self-driving vehicle visual sensing method includes: acquiring first visual sensing images collected by a self-driving vehicle; inputting the acquired first visual sensing images into a first neural network model; identifying multi-channel feature information on at least one target identification object to be recognized; then, eliminating redundant feature information in the first visual sensing image; inputting the multi-channel feature information of the at least one target identification object to be recognized into at least one sub-neural network model corresponding one-by-one to a target identification object in a second neural network model respectively; and obtaining at least one target identification object.SELECTED DRAWING: Figure 1

    【課題】ターゲット識別対象の識別速度を加速し、それによって自動運転車両の感度を高め、自動運転車両の走行安全性を保証することができる自動運転車両の視覚感知方法、自動運転車両の視覚感知装置、制御機器及びコンピュータ読み取り可能な記憶媒体を提供する。【解決手段】自動運転車両の視覚感知方法は、自動運転車両が取集した第1視覚感知画像を取得し、第1ニューラルネットワークモデルに入力し、少なくとも1つの認識すべきターゲット識別対象のマルチチャンネル特徴情報を識別し、それによって第1視覚感知画像における余剰特徴情報を取り除くことと、少なくとも1つの認識すべきターゲット識別対象のマルチチャンネル特徴情報をそれぞれ第2ニューラルネットワークモデルにおけるターゲット識別対象と一対一に対応する少なくとも1つのサブニューラルネットワークモデルに入力し、少なくとも1つのターゲット識別対象を得ることと、を含む。【選択図】図1


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    Title :

    SELF-DRIVING VEHICLE VISUAL SENSING METHOD, SELF-DRIVING VEHICLE VISUAL SENSING DEVICE, CONTROL INSTRUMENT AND COMPUTER READABLE STORAGE MEDIUM


    Additional title:

    自動運転車両の視覚感知方法、自動運転車両の視覚感知装置、制御機器及びコンピュータ読み取り可能な記憶媒体


    Contributors:
    CHEN JIA JIA (author) / WAN JI (author) / XIA TIAN (author)

    Publication date :

    2020-03-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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