A method, device, equipment and storage medium for estimating lateral slope of a curved road

By using onboard LiDAR for real-time scanning and point cloud data processing, the problem of accuracy in estimating lateral slope in curve scenarios is solved, providing real-time data support for vehicle turning and ensuring the accuracy and directionality of lateral control.

CN117429439BActive Publication Date: 2026-07-10WEICHAI POWER CO LTD
View PDF 2 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
WEICHAI POWER CO LTD
Filing Date
2023-10-23
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

Existing technologies struggle to accurately estimate lateral slope in curve scenarios, especially due to the limited detection range of cameras or the inability of slope information calculated based on vehicle status to predict slope changes in the next moment, which affects the lateral control of the vehicle when turning.

Method used

The vehicle-mounted LiDAR is used to scan the curve ahead in real time, and three consecutive frames of point cloud data of the outer boundary of the curve are obtained. The normal vector is determined by curve fitting using the least squares method. The optimal position point of the inner boundary is calculated by combining the curve width. The lateral slope of the curve ahead of the vehicle is obtained by matching the point cloud data using Euclidean distance.

Benefits of technology

It achieves accurate detection and prediction of lateral slope, providing real-time and accurate data support for vehicle turning, and ensuring the accuracy and directionality of lateral control.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN117429439B_ABST
    Figure CN117429439B_ABST
Patent Text Reader

Abstract

The application provides a curve transverse slope estimation method, device, equipment and storage medium, comprising: using a vehicle-mounted laser radar to scan a front curve in real time when a vehicle is turning, obtaining a curve width and curve outer boundary point cloud data of at least three continuous frames of fixed radar rays; determining a normal vector of an outer boundary position point of a middle frame of the at least three continuous frames; determining an inner boundary optimal position point of the outer boundary position point of the middle frame on a horizontal plane of the normal vector; determining a position point with the shortest Euclidean distance between the inner boundary optimal position point as an inner boundary optimal matching point in subsequent curve inner boundary point cloud data; and calculating a transverse slope of the curve in front of the vehicle according to the outer boundary position point of the middle frame and the inner boundary optimal matching point. Compared with the prior art, the application guarantees the correctness of the direction of the transverse slope result, and provides accurate real-time data for transverse control of the vehicle when turning.
Need to check novelty before this filing date? Find Prior Art