The invention discloses a time
delay constrained Internet of Vehicles multi-mode cooperative sensing method and
system. The method comprises the following steps: collecting
point cloud data and image data, and carrying out
feature extraction, fusion and space projection; constructing a two-dimensional
convolution neural network, and extracting a position-level importance probability graph and a
mask used for screening key information; constructing a benefit
estimation neural network and a constraint evaluation neural network, and predicting expected values of
system benefits and constraint conditions; meanwhile, an overall
strategy selection module is established; the motorcade carries out target identification and calculates rewards based on information interaction so as to obtain a
perception experience sample; and updating network parameters based on the
perception experience sample to obtain a final overall
strategy selection module. According to the method, the transmitting power, the
transmission channel and the
sensing data area of the vehicle are optimized based on
reinforcement learning, a strategy correction mechanism is introduced, a risk strategy of high time
delay or high
packet loss is dynamically corrected, and target identification deviation and decision errors caused by sensing
information delay and wrong transmission are avoided.