Environment sensing method, computer equipment, computer readable storage medium and vehicle

The invention relates to the technical field of automatic driving, particularly provides an environment perception method, computer equipment, a computer readable storage medium and a vehicle, and aims to solve the problem of how to accurately obtain environment perception information such as semantics and speed based on three-dimensional point cloud data. In order to achieve the purpose, the method provided by the invention comprises the following steps: acquiring a three-dimensional point cloud collected by environment sensing equipment, and converting the three-dimensional point cloud into a look-around image; extracting the look-around features of the look-around image, and back-projecting the look-around features to the three-dimensional point cloud to obtain a high-dimensional feature point cloud carrying the look-around features; obtaining a point cloud level feature map of the high-dimensional feature point cloud, and carrying out rasterization processing on the point cloud level feature map to obtain