The invention relates to an OBB collision detection method based on a separation axis principle. The method comprises the following steps: firstly, constructing a directional bounding box of a vehicle and a to-be-detected target obstacle; then whether the self-vehicle directional bounding box and the target obstacle directional bounding box coincide or not is judged through the disengagement axis theorem, if yes, it is indicated that the self-vehicle collides with the target obstacle, and if not, it is indicated that the self-vehicle does not collide with the target obstacle. The method has the advantages that the rotating posture of an object is not ignored, a detection area is not lost, and the method is suitable for accurate collision detection; according to the method, the reliable mathematical theorem is adopted, the problem can be simplified in the field of automatic driving, only two coordinate systems need to be established after the two boxes are simplified, whether intersection exists or not is judged through projection, and implementation is easy.
本发明涉及一种基于分离轴原理的OBB碰撞检测方法,先构造自车和待检测的目标障碍物的定向包围盒;然后通过分离轴定理判断自车定向包围盒与目标障碍物定向包围盒是否存在重合,若存在重合说明自车与目标障碍物发生碰撞,若不存在重合,说明自车与目标障碍物不会发生碰撞。本发明的优点是不会忽略物体的旋转姿态,不会丢失检测区域,适合进行精确的碰撞检测;本发明采用可靠的数学定理,在自动驾驶领域内能够简化问题,将两个盒子简化后仅需要建立两个坐标系,通过投影判断是否相交,易于实现。
OBB collision detection method based on separation axis principle
一种基于分离轴原理的OBB碰撞检测方法
2024-08-06
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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