Intelligent driving environment sensing method, device, equipment and medium

Abstract

The invention discloses an intelligent driving environment sensing method, device and equipment and a medium, and belongs to the technical field of automobiles. The method comprises the following steps: segmenting image data acquired by a camera to obtain image data containing semantic information; fusing the collected first point cloud data and the image data containing semantic information to obtain second point cloud data; based on the second point cloud data, constructing a mathematical model of environmental elements around the vehicle in a camera coordinate system; based on the second point cloud data, the image data containing the semantic information and the camera internal reference distortion parameters, determining coordinates of the environmental elements in an image coordinate system; calculating a depth value of a pixel point corresponding to the environment element in the camera coordinate system based on the mathematical model of the environment element in the camera coordinate system and the coordinate of the environment element in the image coordinate system; the distance between the vehicle and the environmental elements is determined based on the depth value, the coordinates of the environmental elements in the image coordinate system, the focal length of the camera and the calibration parameters of the camera and the center of the vehicle body, and the accuracy of intelligent driving environment perception can be improved.

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