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

摘要

A road detection method for a motor vehicle provided with at least one rotary multilayer LIDAR sensor and at least one data processor includes acquiring LIDAR data of the environment of the vehicle. The data for which the angle of the beam with respect to the plane of the vehicle is greater than or equal to zero are eliminated from the acquired LIDAR data. For each LIDAR datum, theoretical coordinates of a point are determined as a function of the angle of the beam with respect to the plane of the vehicle and of 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. Then, it is determined that the LIDAR datum forms part of the road if the standard deviation is lower than a predefined threshold.