Collision Detection Method and Apparatus Based on an Autonomous Vehicle, Device and Storage Medium

摘要

Embodiments of the present application provide a collision detection method and apparatus based on an autonomous vehicle, a device and a storage medium, where the method includes: acquiring first point cloud data of each obstacle in each region around the autonomous vehicle, where the first point cloud data represents coordinate information of the obstacle and the first point cloud data is based on a world coordinate system; converting the first point cloud data of the each obstacle into second point cloud data based on a relative coordinate system, where an origin of the relative coordinate system is a point on the autonomous vehicle; determining, according to the second point cloud data of the each obstacle in all regions, a possibility of collision of the autonomous vehicle. A de-positioning manner for collision detection is provided, thereby improving the reliability and stability of collision detection.