Automatic driving visual perception method and device and storage medium

The invention discloses an automatic driving visual perception method and device and a storage medium, and belongs to the technical field of automatic driving. The method mainly comprises the following steps: a pre-processing step: processing the size of an image in an image queue collected by a camera into the size input by a model; a model reasoning step: inputting each frame of image subjected to the pre-processing step into a model, comparing the score of the target in each frame of image with a first detection threshold value, and determining the target with the score not lower than the first detection threshold value in each frame of image as a respective intermediate target of each frame of image; and a post-processing step: comparing the front and back two frames of images, and finally combining continuous N frames to output a target. Target detection and recognition output are carried out in real time, high recall and high precision of a target detection result are ensured, meanwhile, the target is k