The invention relates to the technical field of automatic driving, particularly provides a collision checking method, a control device, a readable storage medium and driving equipment, and aims to solve the problem of how to effectively perform collision checking on a trajectory planning result under Cartesian coordinates so as to improve the safety of a trajectory. In order to achieve the purpose, the method comprises the steps that a transverse and longitudinal coupling planning track of the driving equipment under a Cartesian coordinate system and an obstacle and an obstacle prediction track of the driving equipment within a preset inspection boundary range are obtained, collision inspection based on the time dimension is conducted on the transverse and longitudinal coupling planning track and the obstacle prediction track, and a collision inspection result is obtained; the accuracy of the shape of the obstacle and the shape of the driving equipment in the collision detection process can be ensured, a more accurate collision detection result is obtained, the problem of mistaken collision possibly existing in transverse and longitudinal coupling trajectory planning is avoided, and the safety of trajectory planning of the driving equipment is improved.

    本申请涉及自动驾驶技术领域,具体提供一种碰撞检查方法、控制装置、可读存储介质及驾驶设备,旨在解决如何对笛卡尔坐标下的轨迹规划结果有效的碰撞检查,从而提升轨迹的安全性的问题。为此目的,本申请获取驾驶设备在笛卡尔坐标系下的横纵向耦合规划轨迹,以及驾驶设备在预设检查边界范围内的障碍物和障碍物预测轨迹,对横纵向耦合规划轨迹和障碍物预测轨迹进行基于时间维度的碰撞检查,获得碰撞检查结果,能够确保碰撞检查过程中障碍物形状和驾驶设备的形状的准确性,获得更为准确的碰撞检测结果,避免了横纵向耦合规划轨迹可能存在的误碰撞问题,提升了驾驶设备轨迹规划的安全性。


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    Title :

    Collision checking method, control device, readable storage medium and driving equipment


    Additional title:

    碰撞检查方法、控制装置、可读存储介质及驾驶设备


    Contributors:
    CHENG XING (author) / MIAO QIANKUN (author) / LYU QIANG (author)

    Publication date :

    2024-05-31


    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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