The invention provides an obstacle sensing method, device and equipment, a vehicle and a medium, and relates to the technical field of computers, in particular to the technical fields of artificial intelligence, computer vision, intelligent vehicles, automatic driving vehicles and the like. The method comprises the following steps: determining respective three-dimensional detection frames and categories of a plurality of candidate obstacles around a vehicle; based on the respective three-dimensional detection frames of the plurality of candidate obstacles, determining two-dimensional detection frames of the plurality of candidate obstacles projected under a camera visual angle of the vehicle; based on the respective three-dimensional detection frames and the two-dimensional detection frames of the plurality of candidate obstacles, filtering the shielded candidate obstacles of the same type to obtain a plurality of target obstacles; in response to determining that the number of the multiple target obstacles is greater than a preset number, determining respective importance confidence of the multiple target obstacles; and reserving a preset number of target obstacles with the highest importance confidence among the plurality of target obstacles.

    本公开提供了一种障碍物感知方法、装置、设备、车辆和介质,涉及计算机技术领域,具体为人工智能、计算机视觉、智能车辆和自动驾驶车辆等技术领域。该方法包括:确定车辆周围的多个候选障碍物各自的三维检测框和类别;基于多个候选障碍物各自的三维检测框,确定多个候选障碍物投影在车辆的相机视角下的二维检测框;基于多个候选障碍物各自的三维检测框和二维检测框,对同类别的被遮挡的候选障碍物进行滤除,以得到多个目标障碍物;响应于确定多个目标障碍物的数量大于预设数量,确定多个目标障碍物各自的重要性置信度;以及在多个目标障碍物中保留重要性置信度最高的预设数量的目标障碍物。


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    Title :

    Obstacle sensing method, device and equipment, vehicle and medium


    Additional title:

    障碍物感知方法、装置、设备、车辆和介质


    Contributors:
    XIE SHUFU (author) / SUN XUN (author)

    Publication date :

    2025-03-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / 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



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