Road surface pit detection method and device, vehicle, equipment and readable storage medium

Abstract

The application provides a road pit detection method, device, vehicle, equipment and readable storage medium. The method comprises: acquiring a target point cloud of a target area, the target point cloud comprising a plurality of target point cloud points, each target point cloud point carrying a coordinate in a preset coordinate system; a first direction and a second direction are coordinate axis directions of the preset coordinate system, the first direction is parallel to the forward direction of the vehicle, the second direction is perpendicular to the first direction and parallel to the road surface, and the target area belongs to a road surface area; determining a coordinate difference value of a first point cloud point and a second point cloud point according to the coordinates of the first point cloud point and the second point cloud point, the first point cloud point and the second point cloud point being any two adjacent point cloud points in the plurality of target point cloud points; and determining that a pit exists on the road surface when the coordinate difference value meets a preset difference value condition. In this way, whether a pit exists on the road surface can be detected through the target point cloud scanned by the laser radar, so that early warning can be performed and driving safety can be improved.

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