Vehicle sensing data processing method and device and storage medium

• Main Authors: GONG JICHENG, QIN HUAN, ZHANG XINLIANG
• Format: Patent
• Language: Chinese; English
• Published: 28.05.2024
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention provides a vehicle sensing data processing method and device and a storage medium. The method comprises the steps of obtaining environment point cloud data collected by a millimeter wave radar and an environment image collected by a camera; obtaining a first occupied grid under a vehicle body coordinate system according to the environmental point cloud data, wherein each grid space comprises point cloud feature information of each point cloud in the grid space; obtaining a second occupied grid under the vehicle body coordinate system according to the environment image, wherein each grid space comprises image feature information in the grid space after the image feature information of the environment image is projected to the vehicle body coordinate system; and projecting the first occupation grid and the second occupation grid to a two-dimensional plane to obtain a first feature map and a second feature map, and performing feature fusion to obtain a fused target feature map as input data of an e