Abstract
The ups and downs of the road will have a great impact on the driving performance of the vehicle. Identify the road surface information in front of the vehicle in advance, and transmit this information to the vehicle’s control system. The control system can carry out targeted control according to the road conditions. Since the information on the road surface of the vehicle is mastered, the driving performance of the vehicle can be greatly improved. Firstly, a vehicle road recognition system is constructed using lidar as an environmental perception sensor to scan the road information ahead of the vehicle. Secondly, use GPS and inertial navigation system to monitor the vehicle’s driving position and attitude information, perform motion compensation on the lidar point cloud data, and extract the road point cloud. Thirdly, the elevation information of the road in front of the vehicle is obtained through filtering and interpolation of the point cloud. Finally, the error analysis of this method is carried out. The results show that the road elevation recognition error is within an acceptable range.
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