摘要：In order to solve the problem of space-time conflict in multi route planning, this paper proposes a space-time conflict detection method based on bounding box. The main research contents include: dividing each route into a limited number of road sections, each road section uses a bounding box to represent the space occupied by the target in the period of time, and then using OBB collision detection method to judge whether there is different bounding box overlap in the same space at the same period of time, so as to judge whether there is a space-time conflict. In addition, calculating the distance among road sections to exclude road sections where conflicts are unlikely to occur before detection. The feasibility of the conflict detection method is verified by experiments on a multi route planning case.
