The invention discloses a multi-
modal BEV
perception consistency alignment checking method based on language structure prior, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining multi-
modal sensor data, and mapping the multi-
modal sensor data to a virtual
projection space; and based on the large
language model, generating language structure priori in a
structured text form, and mapping the language structure priori to the virtual
projection space to generate a structure constraint field. In the training stage, based on a structure constraint field, weak supervision consistency loss is constructed, an evidence gating mechanism is introduced,
loss weight is dynamically adjusted according to an evidence intensity
score, and joint optimization is carried out on the network. In the reasoning stage, consistency checking is carried out on BEV sensing results by utilizing a structure constraint field, and confidence reestimation, hallucination suppression and open set rejection are carried out in combination with a structure conflict
score and an evidence intensity
score. The problems of structure default and high-confidence illusion under the weak evidence working condition are solved, and the physical consistency and reliability of the sensing result are improved.