The invention discloses a vehicle track anti-collision detection method based on convex polygon vertex embedding, and aims to ensure the safety of track planning in the field of automatic driving or auxiliary driving, carry out anti-collision detection on a planned track, and hope that the method fits the problem, the process is simple, the calculation is accurate, and the calculation amount is relatively low. The vehicle trajectory anti-collision detection method based on convex polygon vertex embedding comprises an information input process, a dynamic obstacle trajectory prediction process, a distance-based trajectory detection interval selection process, a Cartesian coordinate system angle calculation process between a vehicle and an obstacle vertex connecting line and a collision result judgment process. The anti-collision detection method is suitable for anti-collision detection of the planned trajectory of automatic driving or auxiliary driving, fits the actual problem, and is simple in implementation process, accurate in calculation and low in theoretical calculation amount.
本发明公开了一种基于凸多边形顶点嵌入的车辆轨迹防碰撞检测方法,为了确保自动驾驶或辅助驾驶领域在轨迹规划上的安全性,需要对规划轨迹进行防碰撞检测,同时希望方法贴合问题、过程简单但计算精确、运算量较低,所提出的基于凸多边形顶点嵌入的车辆轨迹防碰撞检测方法包括了信息输入过程、动态障碍物轨迹预测过程、选择基于距离的轨迹检测区间过程、计算本车与障碍物顶点连线之间的笛卡尔坐标系角度过程和碰撞结果判断过程。本发明适用于自动驾驶或辅助驾驶的规划轨迹的防碰撞检测,方法贴合实际问题,实现过程简单、计算精确、理论运算量较低。
Vehicle track anti-collision detection method based on convex polygon vertex embedding
一种基于凸多边形顶点嵌入的车辆轨迹防碰撞检测方法
2024-06-07
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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