The invention provides a method and device for determining a cross-lane collision obstacle, equipment and a medium, and the method comprises the steps: screening obstacles based on an obstacle screening region and the positions of the obstacles, and determining a first candidate obstacle; according to the relative distance between each first candidate obstacle and the target vehicle and the current course angle of the target vehicle, a second candidate obstacle located in front of the target vehicle is determined from the first candidate obstacles; constructing an obstacle bounding box corresponding to each second candidate obstacle, and calculating a transverse offset distance of each second candidate obstacle by using the obstacle bounding box corresponding to each second candidate obstacle and the predicted driving track, and determining a collision obstacle from the second candidate obstacles based on the lateral offset distance of each second candidate obstacle. Through the method and the device, the collision obstacle with the collision risk can be accurately identified in the cross-lane collision scene, and the obstacle avoidance effect of the automatic driving vehicle is improved.

    本申请提供了一种跨车道碰撞障碍物的确定方法、装置、设备及介质,所述方法包括:基于障碍物筛选区域以及障碍物的位置对障碍物进行筛选,确定出第一候选障碍物;根据每个第一候选障碍物与目标车辆之间的相对距离以及目标车辆的当前航向角,从第一候选障碍物中确定出位于目标车辆前方的第二候选障碍物;构建每个第二候选障碍物对应的障碍物包围盒,利用每个第二候选障碍物对应的障碍物包围盒以及预测行驶轨迹计算每个第二候选障碍物的横向偏移距离,并基于每个第二候选障碍物的横向偏移距离从第二候选障碍物中确定出碰撞障碍物。通过所述方法及装置,在跨车道碰撞场景中能够准确的识别出存在碰撞风险的碰撞障碍物,提升自动驾驶车辆的避障效果。


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    Title :

    Method, device and equipment for determining cross-lane collision obstacle and medium


    Additional title:

    一种跨车道碰撞障碍物的确定方法、装置、设备及介质


    Contributors:
    HE FENG (author) / LIU ZAIZHUN (author) / YANG QIANG (author)

    Publication date :

    2024-11-05


    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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