The invention provides a self-adaptive
perception positioning method based on unsupervised fusion BEV, and the method comprises the following steps: collecting
point cloud data of environment information nearby a vehicle in real time through employing a
laser radar, and collecting
image view data of the environment information nearby the vehicle in real time through employing a camera; the method comprises the steps of converting multi-view
image view data and
point cloud data into the same BEV space, respectively generating camera BEV features and
point cloud BEV features, fusing the camera BEV features and the point cloud BEV features in a projection mode to obtain fused BEV features, performing semantic segmentation and instance segmentation on the fused BEV features, and generating a vectorized fused BEV map; learning query is introduced through query-based collaborative self-adaption, interaction between multi-view
image view data and the fused BEV map and collaborative self-adaption of the multi-view image view data and the fused BEV map are achieved, and a
spatial perception result is generated; and self-checking the
spatial perception result, checking the rationality of the image, and completing the
closed loop of the
perception positioning process. According to the invention, the fusion BEV under
unsupervised learning can rapidly detect and obtain the environment information, and autonomous
verification is carried out, so that the accuracy of
vehicle positioning is ensured, and the experience feeling of the vehicle is improved at the same time.