This application discloses an adaptive obstacle detection method and apparatus for
adverse weather conditions, relating to the field of autonomous driving technology. The method acquires multi-source sensor data from an onboard vehicle, combines it with pre-calibrated sensor parameters to generate spatiotemporally aligned multi-source sensor data, extracts features to obtain feature maps for each modality, and projects all feature maps onto a bird's-eye view BEV space of the same resolution, using the
LiDAR coordinate
system as a reference, outputting a multi-
modal BEV
feature set. The
feature set is concatenated along channels to form global state features, which are input into a pre-trained dual-
branch adaptive decision network to obtain the output decision result, thereby generating the final image BEV features. Combining the multi-
modal feature confidence weight matrix, the final image BEV features and the multi-
modal BEV
feature set are weighted to obtain globally fused BEV features, which are input into a 3D obstacle detection head for decoding and output detection results. This application can improve the robustness of multi-
sensor fusion perception and obstacle detection accuracy under
adverse weather conditions.