The invention provides a collision detection method, device and equipment, a storage medium and a vehicle, and relates to the technical field of artificial intelligence, in particular to the technical fields of automatic driving, planning control and the like. The collision detection method comprises the following steps: acquiring a main vehicle shape and an obstacle shape, wherein the main vehicle shape comprises a plurality of line segments; the shape of the obstacle is expanded to obtain an expanded shape, and the expanded shape comprises a plurality of line segments; aiming at a first line segment and a second line segment, the intersection relation between the first line segment and the second line segment is detected, the first line segment is any line segment in the main vehicle shape, and the second line segment is any line segment in the expanded shape; based on the intersection relation, the collision relation between the main vehicle and the obstacle is determined. According to the invention, the accuracy of collision detection can be improved.

    本公开提供了一种碰撞检测方法、装置、设备、存储介质和车辆,涉及人工智能技术领域,具体涉及自动驾驶、规划控制等技术领域。碰撞检测方法包括:获取主车形状和障碍物形状,所述主车形状包括多条线段;对所述障碍物形状进行膨胀处理,以获得膨胀后形状,所述膨胀后形状包括多条线段;针对第一线段和第二线段,检测所述第一线段与所述第二线段之间的相交关系,所述第一线段是所述主车形状中的任一条线段,所述第二线段是所述膨胀后形状中的任一条线段;基于所述相交关系,确定主车与障碍物之间的碰撞关系。本公开可以提高碰撞检测的精准度。


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    Titel :

    Collision detection method, device and equipment, storage medium and automatic driving vehicle


    Weitere Titelangaben:

    碰撞检测方法、装置、设备、存储介质和自动驾驶车辆


    Beteiligte:
    LIU ZHENGYU (Autor:in) / LIANG QI (Autor:in) / XIA ZHONGPU (Autor:in) / PENG LIANG (Autor:in)

    Erscheinungsdatum :

    2023-06-06


    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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