Vehicle sensing information acquisition method and device, equipment and storage medium

The invention provides a vehicle perception information acquisition method and device, equipment and a storage medium, relates to the technical field of automatic driving, and can be applied to an automatic driving simulation scene. According to the specific implementation scheme, the method comprises the steps of extracting image features of a target image, wherein the target image is an image collected by a sensor of a target vehicle; according to the image features, performing conversion to generate three-dimensional features containing depth information; converting the three-dimensional features into aerial view features; performing convolution on the aerial view features to obtain a position coding vector of the target image; and predicting the category of the perceptual information around the target vehicle according to the position coding vector and the image features. According to the invention, the image segmentation performance can be improved, the position coding vector is predicted based on the th