The invention relates to the technical field of unmanned driving, and discloses an intelligent networked automobile environment sensing method based on multi-sensor fusion, and the method comprises the steps: obtaining a camera image set in a current time range when a target vehicle is judged to have an obstacle in a driving direction; according to the camera image set in the current time range, whether the obstacle is a target obstacle is judged, and a judgment result is obtained; when the second judgment result is the target obstacle, respectively acquiring motion tracks of the target vehicle and the target obstacle in the current time range; respectively inputting the motion trails of the target vehicle and the target obstacle in the current time range into a preset LSTM model to obtain the motion trails of the target vehicle and the target obstacle in a future time interval; according to the motion trail in the future time interval, whether the target vehicle and the target obstacle will collide or not is predicted, and a prediction result is obtained; according to the invention, frequent vehicle emergency obstacle avoidance events can be avoided.

    本发明涉及无人驾驶技术领域,本发明公开了一种基于多传感器融合的智能网联汽车环境感知方法,包括:当判断出目标车辆行驶方向出现障碍物时,则获取当前时间范围内的相机图像集;根据当前时间范围内的相机图像集,判断障碍物是否为目标障碍物,得到判断结果;当第二判断结果为目标障碍物时,则分别获取目标车辆和目标障碍物在当前时间范围内的运动轨迹;分别将目标车辆和目标障碍物在当前时间范围内的运动轨迹,输入至预设LSTM模型中,得到目标车辆和目标障碍物在未来时间区间内的运动轨迹;根据未来时间区间内的运动轨迹,预测目标车辆和目标障碍物是否将会发生碰撞,得到预测结果;本发明有利于避免车辆紧急避障事件的频发。


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    Title :

    Intelligent network connection automobile environment sensing method based on multi-sensor fusion


    Additional title:

    基于多传感器融合的智能网联汽车环境感知方法


    Contributors:
    GUO JUNHUA (author) / ZHOU ZHIYI (author) / YANG ZHEN (author) / WANG XUEHAI (author) / GU JULONG (author)

    Publication date :

    2025-04-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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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