The invention relates to a vehicle obstacle avoidance collision detection method and device, computer equipment and a storage medium. The method comprises the steps that firstly, target information is obtained, target relative information is determined based on self-vehicle information, a self-vehicle coordinate system and the target information, then a self-vehicle bounding box and a target bounding box are determined based on the self-vehicle information and the target relative information, and finally, the relative position relation between the self-vehicle bounding box and the target bounding box is judged. And based on the relative position relationship, determining whether the vehicle and the target will collide or not. Namely, during vehicle obstacle avoidance planning, whether collision occurs between the vehicle and the target can be determined by judging the position relation between the vehicle and the target based on the vehicle information and the target information at the same moment before or during planning, so that the safety in the vehicle obstacle avoidance process is ensured, and the vehicle obstacle avoidance efficiency is improved. And the safety of automatic driving of the vehicle is further improved.

    本申请涉及一种车辆避障碰撞检测方法、装置、计算机设备和存储介质。所述方法包括:首先,获取目标信息,基于自车信息、自车坐标系以及目标信息确定目标相对信息,之后,分别基于所述自车信息和目标相对信息确定自车边界框和目标边界框,最后,判断所述自车边界框和目标边界框的相对位置关系,基于所述相对位置关系确定自车和目标是否会发生碰撞。也就是说,在进行车辆避障规划时,可以在规划之前或规划中,基于同一时刻的自车信息和目标信息,通过判断自车和目标之间的位置关系,确定自车和目标之间是否会发生碰撞,保证了车辆避障过程中的安全性,进一步提高了车辆自动驾驶的安全性。


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    Title :

    Vehicle obstacle avoidance collision detection method and device, computer equipment and storage medium


    Additional title:

    车辆避障碰撞检测方法、装置、计算机设备和存储介质


    Contributors:
    PENG SHUAI (author) / LI XIAOGANG (author) / ZOU XIN (author) / PAN WENBO (author) / LIU YEYE (author)

    Publication date :

    2024-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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