A determination device for collision prediction of an autonomous vehicle, comprising a memory and a processor, wherein the processor is configured to execute instructions stored in the memory, wherein the processor is further configured to: 1) plan predicted obstacle paths of points on edges of an obstacle according to movement of the obstacle, and plan predicted auto vehicle paths of points on edges of an auto vehicle according to movement of the auto vehicle; characterized in that the processor is further configured to: 2) determine whether there are intersections between the predicted obstacle paths and the predicted auto vehicle paths: determine, in a case that there are intersections, positions of the intersections, predicted auto vehicle paths in which the intersections are located, and auto vehicle edge points corresponding to the intersections, select a length of a shortest predicted auto vehicle path between the each intersection and its corresponding auto vehicle edge point at a current moment as a minimum distance, use a moment of the first intersection as a start moment of a collision, and use a moment of the last intersection as an end moment of a collision; and 3) determine, according to an auto vehicle travel distance, a set safety distance, and the minimum distance, whether the auto vehicle is about to collide with the obstacle, wherein the auto vehicle travel distance is a distance traveled by the auto vehicle from the current moment to any moment in a possible collision time period, and the possible collision time period is from the start moment to the end moment. comprising a memory and a processor, wherein the processor is configured to execute instructions stored in the memory, wherein the processor is further configured to: 1) plan predicted obstacle paths of points on edges of an obstacle according to movement of the obstacle, and plan predicted auto vehicle paths of points on edges of an auto vehicle according to movement of the auto vehicle; characterized in that the processor is further configured to: 2) determine whether there are intersections between the predicted obstacle paths and the predicted auto vehicle paths: determine, in a case that there are intersections, positions of the intersections, predicted auto vehicle paths in which the intersections are located, and auto vehicle edge points corresponding to the intersections, select a length of a shortest predicted auto vehicle path between the each intersection and its corresponding auto vehicle edge point at a current moment as a minimum distance, use a moment of the first intersection as a start moment of a collision, and use a moment of the last intersection as an end moment of a collision; and 3) determine, according to an auto vehicle travel distance, a set safety distance, and the minimum distance, whether the auto vehicle is about to collide with the obstacle, wherein the auto vehicle travel distance is a distance traveled by the auto vehicle from the current moment to any moment in a possible collision time period, and the possible collision time period is from the start moment to the end moment. 1) plan predicted obstacle paths of points on edges of an obstacle according to movement of the obstacle, and plan predicted auto vehicle paths of points on edges of an auto vehicle according to movement of the auto vehicle; characterized in that the processor is further configured to: 2) determine whether there are intersections between the predicted obstacle paths and the predicted auto vehicle paths: determine, in a case that there are intersections, positions of the intersections, predicted auto vehicle paths in which the intersections are located, and auto vehicle edge points corresponding to the intersections, select a length of a shortest predicted auto vehicle path between the each intersection and its corresponding auto vehicle edge point at a current moment as a minimum distance, use a moment of the first intersection as a start moment of a collision, and use a moment of the last intersection as an end moment of a collision; and 3) determine, according to an auto vehicle travel distance, a set safety distance, and the minimum distance, whether the auto vehicle is about to collide with the obstacle, wherein the auto vehicle travel distance is a distance traveled by the auto vehicle from the current moment to any moment in a possible collision time period, and the possible collision time period is from the start moment to the end moment. 2) determine whether there are intersections between the predicted obstacle paths and the predicted auto vehicle paths: determine, in a case that there are intersections, positions of the intersections, predicted auto vehicle paths in which the intersections are located, and auto vehicle edge points corresponding to the intersections, select a length of a shortest predicted auto vehicle path between the each intersection and its corresponding auto vehicle edge point at a current moment as a minimum distance, use a moment of the first intersection as a start moment of a collision, and use a moment of the last intersection as an end moment of a collision; and 3) determine, according to an auto vehicle travel distance, a set safety distance, and the minimum distance, whether the auto vehicle is about to collide with the obstacle, wherein the auto vehicle travel distance is a distance traveled by the auto vehicle from the current moment to any moment in a possible collision time period, and the possible collision time period is from the start moment to the end moment.