Automatic driving perception method and device based on implicit graph reasoning and storage medium

The invention discloses an implicit graph reasoning-based automatic driving perception method and device, and a storage medium. The method comprises the steps of obtaining a plurality of pieces of multi-modal information related to automatic driving; according to each piece of single-mode information, reasoning by using the trained implicit graph inference model to obtain a corresponding implicit graph structure; based on an implicit graph structure, modeling is carried out through a plurality of priori knowledge, and automatic driving perception is achieved. According to the method, the implicit graph structure of each piece of modal information is extracted from the multi-modal information of the complex high-dimensional data, and the structured semantic expression of the implicit graph structure obtained through reasoning always conforms to the cognition of people, so that the interpretability of automatic driving perception can be improved. On the basis of an implicit graph structure, fine modeling is car