Collision detection method, device and apparatus based on unmanned vehicle and storage medium

Abstract

The present application provides a collision detection method, device and apparatus based on unmanned vehicle and a storage medium, wherein, the method includes: acquiring first point cloud data of each obstacle on each area around the unmanned vehicle, the first point cloud data characterizing coordinate information of the obstacle, and the first point cloud data being based on a world coordinatesystem; converting the first point cloud data of each obstacle into a second point cloud data based on a relative coordinate system, wherein the origin of the relative coordinate system is a point ofan unmanned vehicle; determining the likelihood of a collision of an unmanned vehicle based on the second point cloud data for each obstacle in all areas. The method does not depend on the world coordinate system, and provides a way to detect collision without relying on more modules and subsystems based on the parameters of the world coordinate system, so as to improve the reliability and stability of collision detection. When the positioning system of the unmanned vehicle fails, the collision detection can be completed by using this scheme.

Description

technical field [0001] The embodiments of the present application relate to the technical field of unmanned vehicles, and in particular to a collision detection method, device, equipment and storage medium based on unmanned vehicles. Background technique [0002] With the development of intelligent technology, unmanned vehicles have begun to be developed and applied. During the driving process of the unmanned vehicle, it often happens that the unmanned vehicle encounters obstacles, and then the unmanned vehicle needs to avoid the obstacles. [0003] In the prior art, the laser radar can be used to collect the position information of the obstacle of the unmanned vehicle. The position information is a kind of point cloud data, and the point cloud data is based on the high-precision world coordinate system; and then calculated according to the point cloud data The possibility of a collision with an unmanned vehicle. [0004] However, in the prior art, when determining the pos...

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Problems solved by technology

[0004] However, in the prior art, when determining the possibility of unmanned vehicles colliding, it is necessary to use the world coordinate system to determine the possibility of unmanned vehicles colliding, but when using the world coordinate system, it needs to rely on the positioning module, and then indirectly The need to rely on more modules; and the subsystem used to calculate parameters based on the world coordinate system will bring certain unreliability, which in turn leads to unreliable collision detection

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