According to an embodiment of the present invention, disclosed are an apparatus and a method for measuring a slope of a vehicle with respect to a road by using a lidar sensor. The apparatus for measuring a slope of a vehicle with respect to a road comprises: a lidar sensor for obtaining distance information by irradiating a laser to at least one of a front road and a rear road of a vehicle; a preprocessing unit for generating point cloud information based on the measured distance information and calculating a road plane model by using the generated point cloud information; and a slope estimation unit for estimating a slope of a vehicle with respect to a road by using the calculated road plane model.

    실시예에 의한 라이다 센서를 이용하여 도로 대비 차량의 기울기를 측정하기 위한 장치 및 그 방법이 개시된다. 상기 도로 대비 차량의 기울기를 측정하기 위한 장치는 차량의 전방 도로와 후방 도로 중 적어도 하나에 레이저를 조사하여 거리 정보를 획득하는 라이다 센서; 측정된 거리 정보를 기초로 점군 정보를 생성하고, 상기 생성된 점군 정보를 이용하여 도로 평면 모델을 산출하는 전처리부; 및 상기 산출된 도로 평면 모델을 이용하여 도로 대비 차량 기울기를 추정하는 기울기 추정부를 포함한다.


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    Title :

    APPARATUS FOR ESTIMATING ROAD TO VEHICLE PITCH USING LiDAR AND METHOD THEREOF


    Additional title:

    라이다 센서를 이용하여 도로 대비 차량의 기울기를 추정하기 위한 장치 및 그 방법


    Contributors:
    MOON IN SUB (author) / LEE KUN HO (author) / KIM JONG HWA (author) / KANG JI SUNG (author) / JO KI CHUN (author) / KIM CHAN SOO (author) / SEOK JI WON (author)

    Publication date :

    2023-12-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    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




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