Aiming at the disadvantages of low detection accuracy and collision efficiency of the traditional hybrid hierarchical bounding box, the concept of centroid in material mechanics was introduced. The location of centroid was used to determine the center of parent node bounding box. Then the tree structure of hierarchical bounding box was improved. AABB bounding box was used in the upper structure to ensure the renewal efficiency, and OBB bounding box was used in the lower structure to ensure the detection efficiency. Finally, the improved hybrid hierarchical bounding box collision algorithm was obtained. The simulation results show that the improved algorithm has a certain improvement in accuracy and efficiency, which may provide a the oretical basis for future research on collision detection.