The invention relates to a collision detection method, computer equipment and a storage medium. The method comprises the following steps: acquiring a trajectory line segment of a planned trajectory generated for a target vehicle; obtaining a time-space domain space corresponding to the target obstacle; the trajectory line segment and the time-space domain space are converted to the same coordinate system in the target vehicle direction, wherein the coordinate system comprises an S axis, a T axis and an L axis; a corresponding SL projection is generated for the track line segment and the target obstacle in the coordinate system, first-stage detection is carried out, and the first-stage detection is used for detecting whether the SL projection of the track line segment has an intersection point with the SL projection of the target obstacle or is located in the SL projection of the target obstacle; and determining that the collision detection result of the trajectory line segment is safe in response to the fact that the result of the first-stage detection is not. According to the invention, whether the planned trajectory of the vehicle collides with the moving obstacle in the time-space domain or not can be rapidly detected.
本申请涉及一种碰撞检测方法、计算机设备和存储介质。所述方法包括:获取为目标车辆生成的规划轨迹的轨迹线段;获取所述目标障碍物对应的时空域空间;沿目标车辆方向将所述轨迹线段和所述时空域空间转化至同一坐标系,上述坐标系包括S轴、T轴和L轴;在上述坐标系中为所述轨迹线段与所述目标障碍物生成对应的SL投影,进行第一阶段检测,所述第一阶段检测用于检测所述轨迹线段的SL投影是否与所述目标障碍物的SL投影存在交点或处于所述目标障碍物的SL投影内部;响应于第一阶段检测的结果为否,确定所述轨迹线段的碰撞检测结果为安全。本申请能够快速检测自车规划轨迹是否在时空域内与运动中的障碍物发生碰撞。
Collision detection method, computer equipment and storage medium
碰撞检测方法、计算机设备和存储介质
2024-04-09
Patent
Electronic Resource
Chinese
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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