METHOD OF ROAD DETECTION FOR AN AUTOMOTIVE VEHICLE FITTED WITH A LIDAR SENSOR

摘要

Method of road detection for an automotive vehicle fitted with at least one rotary multilayer LIDAR sensor (1) and with at least one means for processing data, wherein LIDAR data of the environment of the automotive vehicle are acquired, from the LIDAR data acquired are deleted the data for which the angle of the beam with respect to the plane of the vehicle is greater than or equal to zero, for each angle of the beam with respect to the plane of the vehicle, and for each LIDAR datum, theoretical coordinates of a point are determined, corresponding to the LIDAR datum, dependent notably on the angle of the beam with respect to the plane of the vehicle and on the angle of the beam in the plane of the vehicle, the standard deviation between the theoretical coordinates and the coordinates of the LIDAR datum is determined, and it is determined that the LIDAR datum forms part of the road if the standard deviation is less than a predefined threshold.