An unstructured road ground slope detection method based on a laser radar comprises the following steps: acquiring an environment point cloud of a target area by using the laser radar, and filtering out a point cloud of a non-ground area to obtain a point cloud of a ground area; calculating the normal vector of the point cloud of the ground area in different areas, and obtaining the included angle of the ground of each area relative to the laser radar coordinate system; according to the method, the pitch angle information of the vehicle at the moment is obtained from the vehicle-mounted IMU, the included angle is corrected through the pitch angle information, the gradient of the ground of each area is obtained, the real-time gradient information of the road ahead in the driving direction can be provided for automatic driving decision, and therefore the gradient of the road ahead in the driving direction of the vehicle is detected.

    一种基于激光雷达的非结构化道路地面坡度检测方法,包括利用激光雷达获取目标区域的环境点云,将非地面区域的点云滤除后,得到地面区域的点云;分区域计算地面区域的点云的法向量,获取各个区域的地面相对于激光雷达坐标系的夹角;从车载IMU获取车辆此时的俯仰角信息,利用俯仰角信息对夹角进行修正,得到各个区域地面的坡度,该方法可为自动驾驶决策提供行驶方向前方道路的实时坡度信息,从而实现对车辆行进前方路面的坡度进行检测。


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    Title :

    Unstructured road surface gradient detection method based on laser radar


    Additional title:

    一种基于激光雷达的非结构化道路地面坡度检测方法


    Contributors:
    GUO XUDONG (author) / LU YUXIAO (author) / WANG JIE (author) / HAN LEI (author) / WU HAIJIE (author) / LIU ZHAO (author)

    Publication date :

    2022-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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