Front-end sensing point location planning method and front-end sensing system evaluation method

The invention discloses a front-end sensing point location planning method and a front-end sensing system. The planning method comprises the following steps: acquiring related information required by front-end sensing point location planning for a target area; according to the acquired related information, solving a front-end sensing point location planning vector as a front-end sensing point location planning scheme by utilizing a preset front-end sensing point location planning model; wherein the front-end sensing point location planning model is a problem model which takes maximization of the total sensing probability of sensing objects in a target area as an optimization target; the perception probability is the probability that the perception object is perceived by the perception equipment when moving in the perception granularity area to which the perception object belongs; the sensing granularity region belongs to the target region. According to the method, the problems of unbalanced point location arr