The invention relates to the technical field of intelligent driving, in particular to an environment perception enhancement method and system based on intelligent driving, and the method comprises the following steps: obtaining enhanced voxel features used for sensing the form of an obstacle and positioning in a driving environment in three-dimensional point cloud data from the three-dimensional point cloud data of the driving environment; enhanced pixel features used for sensing the texture and color of an obstacle in the driving environment in the visual image are obtained from the visual image data of the driving environment; and performing feature fusion on the enhanced voxel features and the enhanced pixel features to obtain multi-source environment features, and performing obstacle detection on the multi-source environment features to obtain target positions and target categories of obstacles in the driving environment. According to the invention, the effective features for sensing the environmental obstacles are extracted from the multi-source information, redundant features are eliminated, the efficiency of sensing the obstacles by using the multi-source information is improved, and the timeliness requirement of intelligent driving on environmental sensing is met.
本发明涉及智能驾驶技术领域,具体涉及一种基于智能驾驶的环境感知增强方法及系统,包括以下步骤:在所述行车环境的三维点云数据中得到三维点云数据中用于在行车环境中感知障碍物形态与定位的增强型体素特征;在行车环境的视觉图像数据中得到视觉图像中用于在行车环境中感知障碍物纹理与色彩的增强型像素特征;将所述增强型体素特征和增强型像素特征进行特征融合得到多源环境特征,对多源环境特征进行障碍物检测,得到行车环境中障碍物的目标位置和目标类别。本发明实现在多源信息中提取出用于环境障碍物感知的有效特征,摒除冗余特征,提升利用多源信息对障碍物感知的效率,满足智能驾驶对环境感知的时效性需求。
Environment perception enhancement method and system based on intelligent driving
一种基于智能驾驶的环境感知增强方法及系统
2025-02-07
Patent
Electronic Resource
Chinese
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