The embodiment of the invention discloses an obstacle collision detection method, device and equipment, and the method comprises the steps: dividing surrounding obstacles of a target vehicle, and screening out a first obstacle at a to-be-driven lane, and a second obstacle at an adjacent lane of the to-be-driven lane; third obstacles which may interfere with the target vehicle on the adjacent lane are screened out from the second obstacles; the collision detection processing only needs to be carried out on the first obstacle and the third obstacle subsequently, and the collision detection processing does not need to be carried out on other surrounding obstacles, so that the number of surrounding obstacles needing collision detection is reduced. Meanwhile, after screening and filtering are carried out through the method, only a simple collision detection algorithm (such as TTC) needs to be adopted in subsequent collision detection processing, and finally the calculation power needed by the collision detection algorithm is reduced from two aspects, so that the method can be implemented on an automatic driving vehicle with the level of L2 or above.
本说明书实施例公开了一种障碍物碰撞检测方法、装置及设备,该方案包括:通过对目标车辆的周围障碍物进行划分,筛选出待行驶车道处的第一障碍物,以及待行驶车道的相邻车道处的第二障碍物;进而从第二障碍物中筛选出相邻车道上可能对目标车辆造成干扰的第三障碍物;后续仅需要对第一障碍物和第三障碍物进行碰撞检测处理,而无须对其他的周围障碍物进行碰撞检测处理,由此减少了需要碰撞检测的周围障碍物的数量。同时,通过上述方法筛选过滤之后,后续的碰撞检测处理仅需采用简单的碰撞检测算法(例如TTC),最终从两个方面减少了碰撞检测算法所需的算力,以使其可在L2及以上等级自动驾驶车辆上实施。
Obstacle collision detection method, device and equipment
一种障碍物碰撞检测方法、装置及设备
23.02.2024
Patent
Elektronische Ressource
Chinesisch
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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