CN109141441A - The obstacle analysis method and apparatus of vehicle - Google Patents
The obstacle analysis method and apparatus of vehicle Download PDFInfo
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- CN109141441A CN109141441A CN201810798588.8A CN201810798588A CN109141441A CN 109141441 A CN109141441 A CN 109141441A CN 201810798588 A CN201810798588 A CN 201810798588A CN 109141441 A CN109141441 A CN 109141441A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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Abstract
This disclosure relates to a kind of obstacle analysis method and apparatus of vehicle, it is related to control technology field, this method comprises: carrying out rasterizing processing to environmental information data, to obtain the first grating map, expansion process is carried out to the first grating map according to the size of vehicle, to obtain the second grating map, it determines in the second grating map, with the presence or absence of the path grid Chong Die with obstacle grid, path grid is corresponding at least one grid in the second grating map of All Paths point in preset path, the size of path grid and the size of vehicle are identical, when there is the path grid Chong Die with the obstacle grid in the second grating map, according to the first grating map and path grid, it determines in path with the presence or absence of the point of impingement.It can be improved the accuracy and efficiency of path obstructions analysis, while reducing calculation amount and the demand to hardware.
Description
Technical field
This disclosure relates to control technology field, and in particular, to a kind of obstacle analysis method and apparatus of vehicle.
Background technique
Make in daily life as China's car ownership is constantly increased with the continuous development of electron controls technology, people
With also more and more in the chance of automatic driving state.Function for Automatic Pilot can be believed with map according to the demand of user
Breath, has planned the global path of vehicle driving in advance, obstacle analysis has been carried out further according to the environment on vehicle body periphery, to adjust in real time
The local path of whole vehicle driving.When carrying out obstacle analysis, need actual cartographic information being converted to grating map, then root
According to the path point and grating map in office's global path to determine whether there are the points of impingement.Wherein, in grating map grid ruler
Very little decision carrys out the quality of obstacle analysis.Lattice dimensions are small, and include contains much information, and interference signal is more, the result precision of analysis
Height, but speed is slow, it is computationally intensive.Lattice dimensions are big, and the information content for including is few, and the speed of analysis is fast, and calculation amount is small, but analyze
Result precision is low.
Summary of the invention
Purpose of this disclosure is to provide a kind of obstacle analysis method and apparatus of vehicle, to solve grid in grating map
Size and the uncoordinated problem of obstacle analysis quality.
To achieve the goals above, according to the first aspect of the embodiments of the present disclosure, a kind of obstacle analysis side of vehicle is provided
Method, which comprises
Rasterizing processing is carried out to environmental information data, to obtain the first grating map；
Expansion process is carried out to first grating map according to the size of vehicle, to obtain the second grating map；
It determines in second grating map, if there are the path grid Chong Die with obstacle grid, the path grid
Lattice are corresponding at least one grid in second grating map of All Paths point, the path grid in preset path
Size it is identical as the size of the vehicle；
When there is the path grid Chong Die with the obstacle grid in second grating map, according to described first
Grating map and the path grid determine in the path with the presence or absence of the point of impingement.
Optionally, the size according to vehicle carries out expansion process to first grating map, to obtain second gate
Lattice map, comprising:
Obstacle grid in first grating map is expanded to the size of the vehicle；
Using the grating map Jing Guo expansion process as second grating map.
Optionally, described according to first grating map and the path grid, determining whether there is in the path
The point of impingement, comprising:
When first path grid is Chong Die with the obstacle grid in second grating map, determine in first grid
In map, whether target area is Chong Die with the obstacle grid in first grating map, and the first path grid is described
Any grid in the grid of path, the target area are that the first path grid corresponds to position in first grating map
The region set；
When the target area is Chong Die with the obstacle grid in first grating map, determine that first path point is to touch
It hits a little, the first path point is the corresponding path point of the first path grid；
When the target area is not Chong Die with the obstacle grid in first grating map, the first path is determined
Point is non-collision points.
Optionally, the determination is in first grating map, target area whether in first grating map
Obstacle grid overlapping, comprising:
The target area is divided into multiple target grids according to the size of the grid of first grating map；
Successively determine whether each target grid is Chong Die with the obstacle grid in first grating map；
When Chong Die with the obstacle grid in first grating map there are a target grid, the mesh is determined
It is Chong Die with the obstacle grid in first grating map to mark region；
When each target grid is not Chong Die with the obstacle grid in first grating map, the mesh is determined
It is not Chong Die with the obstacle grid in first grating map to mark region.
Optionally, the method also includes:
When the path grid Chong Die with the obstacle grid in second grating map is not present, the road is determined
The point of impingement is not present in diameter.
According to the second aspect of an embodiment of the present disclosure, a kind of obstacle analysis device of vehicle is provided, described device includes:
Grid processing module, for carrying out rasterizing processing to environmental information data, to obtain the first grating map；
Expansion process module, for carrying out expansion process to first grating map according to the size of vehicle, to obtain
Second grating map；
First judgment module, for determining in second grating map, if there is the road Chong Die with obstacle grid
Diameter grid, the path grid are that All Paths point is corresponding at least one of described second grating map in preset path
The size of grid, the path grid is identical as the size of the vehicle；
Second judgment module, for when in the presence of the path grid Chong Die with the obstacle grid in second grating map
When lattice, according to first grating map and the path grid, determine in the path with the presence or absence of the point of impingement.
Optionally, the expansion process module includes:
Submodule is expanded, for the obstacle grid in first grating map to be expanded to the size of the vehicle；
Submodule is handled, for the grating map of expansion process will to be passed through as second grating map.
Optionally, second judgment module includes:
Region decision submodule, it is Chong Die with the obstacle grid in second grating map for working as first path grid
When, it determines in first grating map, whether target area is Chong Die with the obstacle grid in first grating map, institute
Stating first path grid is any grid in the path grid, and the target area is the first path grid described
The region of corresponding position in first grating map；
Determine submodule, for when the target area is Chong Die with the obstacle grid in first grating map, really
Determining first path point is the point of impingement, and the first path point is the corresponding path point of the first path grid；
The determining submodule, be also used to when the target area not with the obstacle grid weight in first grating map
When folded, determine that the first path point is non-collision points.
Optionally, the region decision submodule is used for:
The target area is divided into multiple target grids according to the size of the grid of first grating map；
Successively determine whether each target grid is Chong Die with the obstacle grid in first grating map；
When Chong Die with the obstacle grid in first grating map there are a target grid, the mesh is determined
It is Chong Die with the obstacle grid in first grating map to mark region；
When each target grid is not Chong Die with the obstacle grid in first grating map, the mesh is determined
It is not Chong Die with the obstacle grid in first grating map to mark region.
Optionally, described device further include:
Third judgment module, for when there is no the paths Chong Die with the obstacle grid in second grating map
When grid, determine that there is no the points of impingement in the path.
Through the above technical solutions, the disclosure carries out rasterizing processing to the environmental information data obtained in advance first, with
The first grating map is obtained, then the first grating map is subjected to expansion process according to the size of vehicle, obtains the second grating map,
All Paths point in preset path is corresponded in the second grating map, at least one path grid is obtained, so that judgement is extremely
Whether there is the path grid Chong Die with the obstacle grid of the second grating map in a few path grid, if it exists with second gate
In lattice map obstacle grid overlapping path grid be to determine in path further according to path grid and the first grating map
It is no that there are the points of impingement.It can be improved the accuracy and efficiency of path obstructions analysis, while reducing calculation amount and the need to hardware
It asks.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the obstacle analysis method of vehicle shown according to an exemplary embodiment；
Fig. 2 is the flow chart of the obstacle analysis method of another vehicle shown according to an exemplary embodiment；
Fig. 3 is the flow chart of the obstacle analysis method of another vehicle shown according to an exemplary embodiment；
Fig. 4 is the flow chart of the obstacle analysis method of another vehicle shown according to an exemplary embodiment；
Fig. 5 is a kind of block diagram of the obstacle analysis device of vehicle shown according to an exemplary embodiment；
Fig. 6 is the block diagram of the obstacle analysis device of another vehicle shown according to an exemplary embodiment；
Fig. 7 is the block diagram of the obstacle analysis device of another vehicle shown according to an exemplary embodiment；
Fig. 8 is the block diagram of the obstacle analysis device of another vehicle shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Before introducing the obstacle analysis method and apparatus of vehicle of disclosure offer, first to each embodiment of the disclosure
Involved application scenarios are introduced.The application scenarios are the vehicle with Function for Automatic Pilot, and vehicle can be automobile, the vapour
Vehicle is not limited to orthodox car, pure electric automobile or mixed electrical automobile, in addition to this can be applicable to other and supports automatic Pilot
The motor vehicle of Status Type.When vehicle uses Function for Automatic Pilot, the GNSS (English: Global on vehicle can be passed through
Navigation Satellite System, Chinese: Global Navigation Satellite System) starting point and end of the module according to user setting
The position of point, to obtain the environmental information data around preset path (i.e. global path) and the path, wherein GNSS module
It can be GPS (English: Global Positioning System, Chinese: global positioning system) module, Beidou satellite navigation
Module, GLONASS navigation module, Galileo satellite navigation module etc..
Fig. 1 is a kind of flow chart of the obstacle analysis method of vehicle shown according to an exemplary embodiment, such as Fig. 1 institute
Show, this method comprises:
Step 101, rasterizing processing is carried out to environmental information data, to obtain the first grating map.
For example, when vehicle is needed using Function for Automatic Pilot, the GNSS module on vehicle is according to user setting
The position of beginning and end provides preset path (global path that can be understood as this time stroke planning of vehicle) and the road
Diameter by the environmental information data around place.Wherein, the environmental information data in a certain place may include that the place is corresponding
Cartographic information, such as: longitude, latitude, the height above sea level in the place, attribute (such as building, enclosing, river or the road in the place
Road etc.) etc., wherein cartographic information can be what GNSS module obtained in real time, can also be with to obtain newest environmental information data
It is that is obtained in real time be able to reflect the letter of vehicle-surroundings environment by the information acquisition device (such as camera, radar etc.) on vehicle
Breath, can be combined with GNSS module and information acquisition device fetched data, and synthesis obtains cartographic information.Using grid (English:
Grid) method carries out rasterizing processing to environmental information data, i.e., map is indicated with the grid of coding, by the grid comprising barrier
Case marker is denoted as obstacle grid, and the grid tag not comprising barrier is free grid, to obtain the first grating map.It needs to illustrate
, the size of grid, which can be according to environmental information data, in the first grating map determines, can clearly reflect
Information included in environmental information data is standard.
Step 102, expansion process is carried out to the first grating map according to the size of vehicle, to obtain the second grating map.
It is exemplary, since the first grating map can clearly reflect information included in environmental information data,
The information stored in first grating map is more, if carrying out obstacle analysis, computationally intensive planning speed according to the first grating map
Slowly, it cannot be guaranteed that real-time, and the calculating speed of hardware is required high.It therefore, can be first to the first grating map according to vehicle
Size carry out expansion process, obtain the second grating map, can only occupy a grid in the second grating map with vehicle in this way
Lattice, when carrying out obstacle analysis, it is only necessary to whether the grid where judging the path point in preset path is obstacle grid, from
And it being capable of position that quickly determination may collide (positioning the general location of barrier).
Step 103, it determines in the second grating map, if there are the path grid Chong Die with obstacle grid, path grid
Lattice are corresponding at least one grid in the second grating map of All Paths point in preset path, the size of path grid with
The size of vehicle is identical.
It is exemplary, after obtaining the second grating map, whole roads in preset path are determined in the second grating map
Diameter point, the corresponding path grid of each path point, the size of path grid is identical as vehicle, can be multiple.Judgement is all
There is which path grid to be overlapped in the grid of path with the obstacle grid in the second grating map, that is, judges have in the second grating map
Which grid may collide.
Step 104, when there is the path grid Chong Die with the obstacle grid in the second grating map, according to the first grid
Map and path grid determine in path with the presence or absence of the point of impingement.
For example, when determining that a certain path grid is Chong Die with the obstacle grid in the second grating map, i.e. the path
The corresponding position of grid may collide, since the information for including in the first grating map can clearly reflect environmental information
Data, then can by the path, grid is placed in the first grating map again, further judge whether the path point is collision
Point.By the path, grid position corresponds to the first grating map, obtains region, i.e. vehicle driving shared by the path grid
When in the corresponding path point of path grid, the shared region in the first grating map, then judge in this region whether
Including the obstacle grid in the first grating map, to further determine that whether the path point is the point of impingement.For example, in this region
Including the obstacle grid at least one first grating map, then the path point is the point of impingement, if what this region was covered
Free grid in all first grating maps of grid, then the path point is non-collision points.If the path point is collision
Point, then adjustable preset path makes vehicle avoid colliding to hide obstacle.
In conclusion the disclosure carries out rasterizing processing to the environmental information data obtained in advance first, to obtain first
Grating map, then the first grating map is subjected to expansion process according to the size of vehicle, the second grating map is obtained, it will be preset
All Paths point is corresponding in the second grating map in path, at least one path grid is obtained, to judge at least one road
It whether there is the path grid Chong Die with the obstacle grid of the second grating map in diameter grid, if it exists and in the second grating map
The overlapping of obstacle grid path grid, further according to path grid and the first grating map, to determine in path with the presence or absence of touching
It hits a little.It can be improved the accuracy and efficiency of path obstructions analysis, while reducing calculation amount and the demand to hardware.
Fig. 2 is the flow chart of the obstacle analysis method of another vehicle shown according to an exemplary embodiment, such as Fig. 2 institute
Show, step 102 includes:
Step 1021, the obstacle grid in the first grating map is expanded to the size of vehicle.
Step 1022, using the grating map Jing Guo expansion process as the second grating map.
For example, since collision is only possible to occur in obstacle grid, to the expansion process of the first grating map,
Only the obstacle grid of the first grating map can be expanded, the free grid of the first grating map is not processed, to protect
Card further decreases calculation amount under the premise of obstacle analysis result is accurate.It is that grid is swollen by the obstacle in the first grating map
The swollen size for vehicle, and will treated grating map as the second grating map so that vehicle is in the second grating map,
The size for only occupying an obstacle grid, when carrying out obstacle analysis, so that it may directly by judging the grid where path point
It whether is obstacle grid to determine whether the path point is likely to occur collision.
Fig. 3 is the flow chart of the obstacle analysis method of another vehicle shown according to an exemplary embodiment, such as Fig. 3 institute
Show, step 104 includes:
Step 1041, it when first path grid is Chong Die with the obstacle grid in the second grating map, determines in the first grid
In lattice map, whether target area is Chong Die with the obstacle grid in the first grating map, and first path grid is in the grid of path
Any grid, target area be first path grid corresponding position in the first grating map region.
It is exemplary, when the first path grid in the grid of path is Chong Die with the obstacle grid in the second grating map, by
Whether the region of one path grid corresponding position in the first grating map is as target area, then judge target area with first
Obstacle grid overlapping in grating map.Wherein, target area may include multiple grids in the first grating map and (can have
Free grid can also have obstacle grid).
Step 1042, when target area is Chong Die with the obstacle grid in the first grating map, determine that first path point is
The point of impingement, first path point are the corresponding path point of first path grid.
Step 1043, when target area is not Chong Die with the obstacle grid in the first grating map, first path point is determined
For non-collision points.
It is exemplary, when in target area including the obstacle grid at least one first grating map, then first
Grid corresponding first path point in path is the point of impingement.When all free grids of the grid that target area is covered, determine
First path point is non-collision points.
Optionally, step 1041 can be realized by following steps:
A. target area is divided into multiple target grids according to the size of the grid of the first grating map.
B. successively determine whether each target grid is Chong Die with the obstacle grid in the first grating map.
B. when Chong Die with the obstacle grid in the first grating map there are a target grid, target area and the is determined
Obstacle grid overlapping in one grating map.
D. when each target grid is not Chong Die with the obstacle grid in the first grating map, determine target area not with
Obstacle grid overlapping in first grating map.
For example, target area can cover multiple grids in the first grating map, therefore can be by target area
Multiple target grids are divided into according to the size of the grid of the first grating map, then successively judge each target grid whether and
Obstacle grid overlapping in first grating map, as long as there is the obstacle grid weight in a target grid and the first grating map
It is folded, determine that target area is Chong Die with the obstacle grid in the first grating map, if each target grid not with the first grid
In map obstacle grid overlapping, i.e., the position where each target grid is free grid, determine that target area not with
Obstacle grid overlapping in first grating map.
Fig. 4 is the flow chart of the obstacle analysis method of another vehicle shown according to an exemplary embodiment, such as Fig. 4 institute
Show, this method further include:
Step 105, it when the path grid Chong Die with the obstacle grid in the second grating map is not present, determines in path
There is no the points of impingement.
It is exemplary, when all path grids are not Chong Die with the obstacle grid in the second grating map, then can be with
It quickly determines and the point of impingement is not present in path, i.e., will not collide on preset path, it is corresponding, the road can not be adjusted
Diameter.
In conclusion the disclosure carries out rasterizing processing to the environmental information data obtained in advance first, to obtain first
Grating map, then the first grating map is subjected to expansion process according to the size of vehicle, the second grating map is obtained, it will be preset
All Paths point is corresponding in the second grating map in path, at least one path grid is obtained, to judge at least one road
It whether there is the path grid Chong Die with the obstacle grid of the second grating map in diameter grid, if it exists and in the second grating map
The overlapping of obstacle grid path grid, further according to path grid and the first grating map, to determine in path with the presence or absence of touching
It hits a little.It can be improved the accuracy and efficiency of path obstructions analysis, while reducing calculation amount and the demand to hardware.
Fig. 5 is a kind of block diagram of the obstacle analysis device of vehicle shown according to an exemplary embodiment, as shown in figure 5,
The device 200 includes:
Grid processing module 201, for carrying out rasterizing processing to environmental information data, to obtain the first grating map.
Expansion process module 202, for carrying out expansion process to the first grating map according to the size of vehicle, to obtain the
Two grating maps.
First judgment module 203, for determining in the second grating map, if there is the path Chong Die with obstacle grid
Grid, path grid are corresponding at least one grid in the second grating map of All Paths point, path in preset path
The size of grid and the size of vehicle are identical.
Second judgment module 204, for when exist the path grid Chong Die with the obstacle grid in the second grating map when,
According to the first grating map and path grid, determine in path with the presence or absence of the point of impingement.
Fig. 6 is the block diagram of the obstacle analysis device of another vehicle shown according to an exemplary embodiment, such as Fig. 6 institute
Show, expansion process module 202 includes:
Submodule 2021 is expanded, for the obstacle grid in the first grating map to be expanded to the size of vehicle.
Submodule 2022 is handled, for the grating map of expansion process will to be passed through as the second grating map.
Fig. 7 is the block diagram of the obstacle analysis device of another vehicle shown according to an exemplary embodiment, such as Fig. 7 institute
Show, the second judgment module 204 includes:
Region decision submodule 2041, it is Chong Die with the obstacle grid in the second grating map for working as first path grid
When, it determines in the first grating map, whether target area is Chong Die with the obstacle grid in the first grating map, first path grid
Lattice are any grid in the grid of path, and target area is the area of first path grid corresponding position in the first grating map
Domain.
Submodule 2042 is determined, for when target area is Chong Die with the obstacle grid in the first grating map, determining
One path point is the point of impingement, and first path point is the corresponding path point of first path grid.
It determines submodule 2042, is also used to when target area is not Chong Die with the obstacle grid in the first grating map, really
Determining first path point is non-collision points.
Optionally, region decision submodule 2041 can be used to implement following steps:
A. target area is divided into multiple target grids according to the size of the grid of the first grating map.
B. successively determine whether each target grid is Chong Die with the obstacle grid in the first grating map.
C. when Chong Die with the obstacle grid in the first grating map there are a target grid, target area and the is determined
Obstacle grid overlapping in one grating map.
D. when each target grid is not Chong Die with the obstacle grid in the first grating map, determine target area not with
Obstacle grid overlapping in first grating map.
Fig. 8 is the block diagram of the obstacle analysis device of another vehicle shown according to an exemplary embodiment, such as Fig. 8 institute
Show, the device 200 further include:
Third judgment module 205, for when there is no the path grids Chong Die with the obstacle grid in the second grating map
When, determine that there is no the points of impingement in path.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
In conclusion the disclosure carries out rasterizing processing to the environmental information data obtained in advance first, to obtain first
Grating map, then the first grating map is subjected to expansion process according to the size of vehicle, the second grating map is obtained, it will be preset
All Paths point is corresponding in the second grating map in path, at least one path grid is obtained, to judge at least one road
It whether there is the path grid Chong Die with the obstacle grid of the second grating map in diameter grid, if it exists and in the second grating map
The overlapping of obstacle grid path grid, further according to path grid and the first grating map, to determine in path with the presence or absence of touching
It hits a little.It can be improved the accuracy and efficiency of path obstructions analysis, while reducing calculation amount and the demand to hardware.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, those skilled in the art are considering specification and practice
After the disclosure, it is readily apparent that other embodiments of the disclosure, belongs to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.Simultaneously between a variety of different embodiments of the disclosure
Any combination can also be carried out, as long as it, without prejudice to the thought of the disclosure, equally should be considered as disclosure disclosure of that.
The disclosure is not limited to the precision architecture being described above out, and the scope of the present disclosure is only limited by the attached claims
System.
Claims (10)
1. a kind of obstacle analysis method of vehicle, which is characterized in that the described method includes:
Rasterizing processing is carried out to environmental information data, to obtain the first grating map；
Expansion process is carried out to first grating map according to the size of vehicle, to obtain the second grating map；
It determines in second grating map, if there is the path grid Chong Die with obstacle grid, the path grid is
Corresponding at least one grid in second grating map of All Paths point in preset path, the path grid it is big
It is small identical as the size of the vehicle；
When there is the path grid Chong Die with the obstacle grid in second grating map, according to first grid
Map and the path grid determine in the path with the presence or absence of the point of impingement.
2. the method according to claim 1, wherein the size according to vehicle is to first grating map
Expansion process is carried out, to obtain the second grating map, comprising:
Obstacle grid in first grating map is expanded to the size of the vehicle；
Using the grating map Jing Guo expansion process as second grating map.
3. the method according to claim 1, wherein described according to first grating map and the path grid
Lattice determine in the path with the presence or absence of the point of impingement, comprising:
When first path grid is Chong Die with the obstacle grid in second grating map, determine in first grating map
In, whether target area is Chong Die with the obstacle grid in first grating map, and the first path grid is the path
Any grid in grid, the target area are first path grid corresponding position in first grating map
Region；
When the target area is Chong Die with the obstacle grid in first grating map, determine first path point for collision
Point, the first path point are the corresponding path point of the first path grid；
When the target area is not Chong Die with the obstacle grid in first grating map, determine that the first path point is
Non-collision points.
4. according to the method described in claim 3, it is characterized in that, the determination in first grating map, target area
Whether domain is Chong Die with the obstacle grid in first grating map, comprising:
The target area is divided into multiple target grids according to the size of the grid of first grating map；
Successively determine whether each target grid is Chong Die with the obstacle grid in first grating map；
When Chong Die with the obstacle grid in first grating map there are a target grid, the target area is determined
Domain is Chong Die with the obstacle grid in first grating map；
When each target grid is not Chong Die with the obstacle grid in first grating map, the target area is determined
Domain is not Chong Die with the obstacle grid in first grating map.
5. method according to any of claims 1-4, which is characterized in that the method also includes:
When the path grid Chong Die with the obstacle grid in second grating map is not present, determine in the path
There is no the points of impingement.
6. a kind of obstacle analysis device of vehicle, which is characterized in that described device includes:
Grid processing module, for carrying out rasterizing processing to environmental information data, to obtain the first grating map；
Expansion process module, for carrying out expansion process to first grating map according to the size of vehicle, to obtain second
Grating map；
First judgment module, for determining in second grating map, if there are the path grid Chong Die with obstacle grid
Lattice, the path grid are corresponding at least one grid in second grating map of All Paths point in preset path
The size of lattice, the path grid is identical as the size of the vehicle；
Second judgment module, for when in the presence of the path grid Chong Die with the obstacle grid in second grating map
When, according to first grating map and the path grid, determine in the path with the presence or absence of the point of impingement.
7. device according to claim 6, which is characterized in that the expansion process module includes:
Submodule is expanded, for the obstacle grid in first grating map to be expanded to the size of the vehicle；
Submodule is handled, for the grating map of expansion process will to be passed through as second grating map.
8. device according to claim 6, which is characterized in that second judgment module includes:
Region decision submodule, for when first path grid is Chong Die with the obstacle grid in second grating map, really
It is scheduled in first grating map, whether target area is Chong Die with the obstacle grid in first grating map, and described
One path grid is any grid in the path grid, and the target area is the first path grid described first
The region of corresponding position in grating map；
Submodule is determined, for when the target area is Chong Die with the obstacle grid in first grating map, determining
One path point is the point of impingement, and the first path point is the corresponding path point of the first path grid；
The determining submodule is also used to when the target area is not Chong Die with the obstacle grid in first grating map
When, determine that the first path point is non-collision points.
9. device according to claim 8, which is characterized in that the region decision submodule is used for:
The target area is divided into multiple target grids according to the size of the grid of first grating map；
Successively determine whether each target grid is Chong Die with the obstacle grid in first grating map；
When Chong Die with the obstacle grid in first grating map there are a target grid, the target area is determined
Domain is Chong Die with the obstacle grid in first grating map；
When each target grid is not Chong Die with the obstacle grid in first grating map, the target area is determined
Domain is not Chong Die with the obstacle grid in first grating map.
10. the device according to any one of claim 6-9, which is characterized in that described device further include:
Third judgment module, for when there is no the path grids Chong Die with the obstacle grid in second grating map
When, determine that there is no the points of impingement in the path.
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