The invention discloses a driving environment sensing method, system and device and a computer readable storage medium. The method comprises the steps of obtaining radar point cloud data and camera image data; after the radar data features are converted into a voxel space, vertical coding is carried out to obtain radar BEV features; converting the camera data features into a voxel space to obtain camera voxel features, and filling the camera voxel features into a preset 3D container in a BEV view space to obtain camera BEV features; carrying out dimension reduction on the camera BEV features, and splicing the camera BEV features with the radar BEV features to obtain enhanced BEV features; sampling position offset is obtained according to the enhanced radar BEV features; performing autocorrelation feature fusion on the camera BEV feature and the enhanced BEV feature according to the sampling position offset to obtain a fused BEV feature; and performing driving environment perception according to the fused BEV features to obtain a driving environment perception result. The technical problems that in the prior art, a BEV sensing scheme based on multiple types of sensors is high in cost, large in computing power consumption and not ideal in sensing effect can be solved.
一种驾驶环境感知方法、系统、设备及计算机可读存储介质,获取雷达点云数据和摄像头图像数据;将雷达数据特征转换到体素空间后,进行垂直编码得到雷达BEV特征;将摄像头数据特征转换到体素空间后得到摄像头体素特征,将摄像头体素特征填充至BEV视图空间中预设的3D容器得到摄像头BEV特征;将摄像头BEV特征降维后与雷达BEV特征拼接得到增强BEV特征;根据增强雷达BEV特征得到采样位置偏移;根据采样位置偏移对摄像头BEV特征和增强BEV特征进行自相关特征融合后,得到融合BEV特征;根据融合BEV特征进行驾驶环境感知,得到驾驶环境感知结果。可以解决现有技术中存在的基于多类型传感器的BEV感知方案成本高、算力消耗大、以及感知效果不理想的技术问题。
Driving environment sensing method, system and device and computer readable storage medium
驾驶环境感知方法、系统、设备及计算机可读存储介质
20.12.2024
Patent
Elektronische Ressource
Chinesisch
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