The invention relates to a collision detection method and device, electronic equipment and a storage medium. In one method, a contour of an object is represented based on at least one first shape having a first shape parameter and at least one second shape having a second shape parameter, the first shape parameter being different from the second shape parameter. A grid map representing obstacles in the detection area is acquired, the grid map including a set of obstacle grids covered by the obstacles and a set of barrier-free grids not covered by the obstacles in the detection area. An expansion region around the set of obstacle grids is determined based on the first shape parameter and the second shape parameter. A collision between the object and the obstacle is detected based on the at least one first shape, the at least one second shape, the set of obstacle grids, and the expansion region. In this way, the contour of the object can be represented in a more accurate manner, and the accuracy of collision detection is further improved.

    本公开涉及用于碰撞检测的方法、装置、电子设备和存储介质。在一种方法中,基于具有第一形状参数的至少一个第一形状和具有第二形状参数的至少一个第二形状来表示对象的轮廓,第一形状参数不同于第二形状参数。获取表示检测区域中的障碍物的栅格地图,栅格地图包括检测区域中的被障碍物覆盖的一组障碍栅格以及未被障碍物覆盖的一组无障碍栅格。基于第一形状参数和第二形状参数确定一组障碍栅格周围的膨胀区域。基于至少一个第一形状、至少一个第二形状、一组障碍栅格以及膨胀区域,检测对象与障碍物之间的碰撞。以此方式,可以以更为准确的方式表示对象的轮廓,进而提高碰撞检测的准确性。


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    Titel :

    Method and device for collision detection, electronic equipment and storage medium


    Weitere Titelangaben:

    用于碰撞检测的方法、装置、电子设备和存储介质


    Beteiligte:
    LI FEI (Autor:in)

    Erscheinungsdatum :

    23.01.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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