The invention discloses a collision risk determination method, device and equipment and a storage medium, and belongs to the technical field of automatic driving, and the method comprises the steps: obtaining the vehicle related data of a target vehicle and the vertex position information of an obstacle rectangular envelope corresponding to a target obstacle; wherein the vehicle related data comprises a vehicle planning track and a vehicle driving range; according to the vertex position information, whether the vertex of the rectangular envelope of the obstacle falls into a vehicle driving range is detected; when it is detected that the vertexes of the rectangular envelope of the obstacle fall into the vehicle driving range, determining the number of intrusion vertexes falling into the vehicle driving range; determining an actual obstacle envelope corresponding to the target obstacle according to the number of the intrusion vertexes and the obstacle rectangular envelope; and determining whether a collision risk exists between the target vehicle and the target obstacle according to the actual obstacle envelope and the vehicle planning trajectory. According to the invention, the accuracy of collision risk determination is improved, and the driving safety is ensured.

    本发明公开了一种碰撞风险确定方法、装置、设备以及存储介质,属于自动驾驶技术领域,方法包括:获取目标车辆的车辆相关数据以及目标障碍物对应的障碍物矩形包络的顶点位置信息;其中,车辆相关数据包括车辆规划轨迹和车辆行驶范围;根据顶点位置信息,检测障碍物矩形包络的顶点是否落入车辆行驶范围内;在检测到障碍物矩形包络的顶点落入车辆行驶范围内的情况下,确定落入车辆行驶范围内的入侵顶点数量;根据入侵顶点数量和障碍物矩形包络,确定目标障碍物对应的实际障碍物包络;根据实际障碍物包络和车辆规划轨迹,确定目标车辆是否与目标障碍物存在碰撞风险。本发明提高了碰撞风险确定的准确性,保证了行车安全。


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    Title :

    Collision risk determination method and device, equipment and storage medium


    Additional title:

    一种碰撞风险确定方法、装置、设备以及存储介质


    Contributors:
    ZHU MINGHAN (author) / QI XU (author) / ZHAO DEFANG (author) / CHEN XINYU (author)

    Publication date :

    2025-01-21


    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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