Vehicle environment perception system and self -driving car

The utility model provides a vehicle environment perception system and autopilot vehicle, this vehicle environment perception system includes millimeter wave radar, camera module and treater. The millimeter wave radar acquires the distance information of vehicle the place ahead barrier. Camera module be used for the acquireing image data of the environment of locating. The treater acquires according to distance information vehicle travel direction barrier distance is acquireed according to image data the lane line chart of vehicle travel direction is like reaching the barrier image. In this application embodiment, can detect the barrier of vehicle in traveling through the millimeter wave radar, can acquire the vehicle information such as lane line, pedestrian and barrier image in the environment of traveling through camera module, the environment that traveles that can omnidirectional perception vehicle provides the support for the autonomic driving of vehicle. The whole of millimeter wave radar is small, the