The invention provides an anti-collision driving assistance method based on multi-sensor fusion, electronic equipment and a readable storage medium, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining point cloud data obtained by detecting surrounding obstacles through a laser radar of a current vehicle, and three-dimensional image data obtained by detecting the obstacles through a vehicle-mounted camera, the sound source data is acquired by the microphone array; determining image positioning information of an obstacle based on the three-dimensional image data; determining sound positioning information of the dangerous sound source based on the sound source data; performing data fusion on the point cloud data, the image positioning information and the sound positioning information to obtain environment sensing data of the obstacle; and finally, for any obstacle, according to the environment sensing data of the obstacle and the driving data of the current vehicle, judging whether a collision risk exists between the current vehicle and the obstacle or not. And an anti-collision auxiliary driving strategy is generated when the collision risk exists. According to the method, accurate monitoring of obstacles is realized through multi-sensor fusion, so that the accuracy of an anti-collision driving technology is improved.
本发明提供一种基于多传感器融合的防碰撞驾驶辅助方法、电子设备及可读存储介质,涉及自动驾驶技术领域,该方法包括:获取当前车辆的激光雷达对周围障碍物探测得到的点云数据、车载相机对障碍物探测得到的三维图像数据,以及麦克风阵列采集的声源数据;并基于所述三维图像数据确定障碍物的图像定位信息;基于声源数据确定危险声源的声音定位信息;然后对点云数据、图像定位信息和声音定位信息进行数据融合,得到障碍物的环境感知数据;最后针对任一障碍物,根据该障碍物的环境感知数据和当前车辆的行驶数据,判断当前车辆与该障碍物是否存在碰撞风险;并在存在碰撞风险时生成防碰撞辅助驾驶策略。该方法通过多传感器融合实现障碍物的准确监测,从而提高防碰撞驾驶技术的准确性。
Anti-collision driving assistance method based on multi-sensor fusion, electronic equipment and readable storage medium
基于多传感器融合的防碰撞驾驶辅助方法、电子设备及可读存储介质
13.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | 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 |
Driving assistance system, driving assistance method, and machine-readable storage medium
Europäisches Patentamt | 2024
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