Environment sensing system and method of intelligent driving vehicle, vehicle and storage medium

The invention discloses an environment sensing system and method for an intelligent driving vehicle, the vehicle and a storage medium. The method comprises steps that a point cloud UDP packet outputted by a laser radar is obtained, and the UDP packet is accessed to an original point cloud driving module for processing, and a point cloud data format is obtained; the IMU information is obtained, the conversion relation between the radar position where each point cloud is located and the initial position is obtained by combining the IMU information, and all points of each frame are converted to the initial radar position; the point cloud after distortion compensation is combined with a radar calibration file to complete conversion from a radar coordinate system to a vehicle body coordinate system, and point cloud under the vehicle body coordinate system is obtained; the RTK positioning information and high-precision map information are obtained, and whether RTK signals exist or not is judged; if the RTK signal d