The invention relates to a road alignment safety evaluation method based on three-dimensional
point cloud spatial modeling, and aims to overcome the defects of poor adaptability of a
road surface point cloud segmentation
algorithm and strong dependency of vertical
line fitting on a road marking in a complex scene by utilizing characteristics of obtained high-density
point cloud data. The road key information collaborative extraction method comprises the following steps: firstly, reducing the influence of
environmental noise on
road surface features through a normalized gradient filtering
algorithm and a statistical
outlier filtering
algorithm; secondly, constructing a joint clustering model and an interactive
region growing algorithm considering elevation, normal vector and pavement material reflection heterogeneity, and realizing precise segmentation of pavement point cloud in a complex scene; and then extracting a
road surface edge line, obtaining road center line data, and generating a safety
evaluation result list based on road center line parameters of a road plane, a longitudinal section and a cross section line shape. The research results provide
technical support for application scenes such as road maintenance detection and automatic driving high-precision map construction.