The invention provides an automatic driving vehicle collision detection method and device, and relates to the technical field of automatic driving vehicles, and the method comprises the steps: building a vehicle model and an obstacle model which are convex polygon models; selecting a direction opposite to the advancing direction of the vehicle as a supporting direction, and calculating a vehicle extremely far point, an obstacle extremely far point and a vector difference point; judging whether the direction of a vector formed by the original point facing the vector difference point is the same as the supporting direction or not; if the vector difference points are in the same direction, adding the vector difference points into the simplex set, and iteratively updating the simplex set; judging whether the original point is located in a simplex set or not; if the original point is not located in the simplex set, the direction, facing the original point, of the simplex set serves as a new supporting direction, and the step of calculating the extremely far point of the vehicle is executed again till the direction, facing the vector difference point, of the original point is different from the supporting direction. The accuracy of collision detection of the vehicle and the special-shaped obstacle can be improved, the real-time performance is high, and the safety of automatic driving is improved.
本发明提供一种自动驾驶车辆碰撞检测方法及装置,涉及自动驾驶车辆技术领域,方法包括建立车辆模型和障碍物模型,车辆模型和障碍物模型为凸多边形模型;选取车辆的前进方向的反方向作为支撑方向,计算自车极远点、障碍物极远点以及向量差点;判断原点朝向向量差点形成的向量的方向与支撑方向是否同向;若同向,将向量差点加入单纯形集合,并迭代更新单纯形集合;判断原点是否位于单纯形集合内;若不位于单纯形集合内,将单纯形集合朝向原点的方向作为新的支撑方向,返回执行计算自车极远点的步骤,直至原点朝向向量差点的方向与支撑方向不同向。本发明能够提高车辆和异形障碍物碰撞检测的准确度,且实时性高,提升自动驾驶的安全性。
Collision detection method and device for autonomous vehicle
一种自动驾驶车辆碰撞检测方法及装置
10.01.2025
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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