The embodiment of the invention provides an automatic driving target detection system and method, and belongs to the technical field of target detection. The system comprises a camera network branch used for obtaining all-round view image data and extracting camera BEV features; the radar network branch is used for acquiring radar point cloud data and extracting radar BEV features; the historical feature time sequence fusion module is used for extracting time sequence fusion camera BEV features based on the camera BEV features and extracting time sequence fusion radar BEV features based on the radar BEV features; the radar-camera feature interaction attention module is used for interacting the time sequence fusion camera BEV features and the time sequence fusion radar BEV features to obtain interacted camera BEV features; and the fusion detection head network is used for fusing the radar BEV features based on the interacted camera BEV features and the time sequence to obtain an automatic driving target detection result. The system is used for solving the problem that obstacles are seriously shielded, and the target detection effect in automatic driving is improved.
本发明实施例提供一种自动驾驶目标检测系统及方法,属于目标检测技术领域。系统包括:相机网络分支,用于获取环视图像数据,并提取相机BEV特征;雷达网络分支,用于获取雷达点云数据,并提取雷达BEV特征;历史特征时序融合模块,用于基于相机BEV特征提取时序融合相机BEV特征,基于雷达BEV特征提取时序融合雷达BEV特征;雷达‑相机特征交互注意力模块,用于将时序融合相机BEV特征和时序融合雷达BEV特征进行交互,得到交互后的相机BEV特征;融合检测头网络,用于基于交互后的相机BEV特征和时序融合雷达BEV特征,得到自动驾驶目标检测结果。该系统用于解决严重遮挡障碍物的问题,提高自动驾驶中目标检测的效果。
Automatic driving target detection system and method
一种自动驾驶目标检测系统及方法
2025-05-13
Patent
Electronic Resource
Chinese
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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