The invention discloses a collision detection method. The method comprises the following steps: generating a first distance transformation diagram according to map information in a preset range around a mobile device; generating a second distance transformation diagram according to real-time information around the mobile device detected by a sensor of the mobile device; determining whether the to-be-detected point is passable according to the first distance transformation diagram to obtain a first collision detection result; determining whether the to-be-detected point is passable according to the second distance transformation diagram to obtain a second collision detection result; and when the first collision detection result and/or the second collision detection result shows that the to-be-detected point is impassable, determining that the to-be-detected point is a collision point. According to the invention, the first distance transformation diagram and the second distance transformation diagram are respectively generated according to the map information and the real-time information, and the two transformation diagrams are comprehensively considered to determine whether the mobile device collides at the detection point. The problem of collision point false detection caused by errors of superposition information obtained by directly superposing prior map information and perceived real-time information is avoided.

    本发明公开一种碰撞检测方法,包括:根据移动装置周围预设范围内的地图信息生成第一距离变换图;根据移动装置的传感器所探测到的移动装置周围的实时信息生成第二距离变换图;根据第一距离变换图确定待检测点是否可通行,得到第一碰撞检测结果;根据第二距离变换图确定待检测点是否可通行,得到第二碰撞检测结果;当第一碰撞检测结果和/或第二碰撞检测结果表明待检测点不可通行时,确定待检测点为碰撞点。本发明的分别根据地图信息和实时信息生成了第一距离变换图和第二距离变换图,并综合考量两变换图来认定移动装置在该检测点是否会碰撞。避免了直接将先验的地图信息和感知的实时信息叠加后得到的叠加信息存在误差所导致的碰撞点误检的问题。


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    Titel :

    Collision detection method, electronic equipment and mobile device


    Weitere Titelangaben:

    碰撞检测方法、电子设备及移动装置


    Beteiligte:
    ZHANG FUQIANG (Autor:in) / XU CHENG (Autor:in) / ZHANG FANG (Autor:in) / WANG XIAO (Autor:in) / ZHANG DEZHAO (Autor:in) / HUO SHUHAO (Autor:in) / LI XIAOFEI (Autor:in)

    Erscheinungsdatum :

    2023-05-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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