Road Gradient Determination Using Spline Curve Fitting
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Solution Overview
Problem
Existing methods for determining road gradients using two-dimensional road lines and three-dimensional laser point cloud data suffer from reduced precision due to instability in horizontal coordinates, leading to inaccurate elevation information and road gradient calculations.
Innovation Solution
A method that forms a three-dimensional road line by selecting nodes from the two-dimensional road line and laser point cloud data, drawing a spline curve to indicate elevation, converting it into a gradient spline curve, and using location information to determine a road gradient, thereby avoiding horizontal errors and ensuring consistency and continuity of road gradient data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two-dimensional road line and three-dimensional laser point cloud data are used to determine road gradient, then road gradient can be calculated, but precision is reduced due to horizontal coordinate instability
Solution Approach 1:
The patent transitions from two-dimensional road line data to three-dimensional road line data by incorporating elevation information from laser point cloud data. This dimensional enhancement allows the system to calculate road gradient directly from vertical coordinates without relying on horizontal coordinate stability, thereby resolving the precision issue caused by horizontal coordinate instability.
Solution Approach 2:
The patent changes the coordinate parameters used for gradient calculation from horizontal coordinates to vertical coordinates. By using the vertical distance between adjacent nodes on the three-dimensional road line divided by the horizontal distance, the system eliminates the influence of horizontal coordinate instability on gradient precision while maintaining the necessary spatial relationships.
2Stability of the object's composition
If three-dimensional road line with spline curve is used, then geometric continuity is ensured, but calculation complexity increases
Solution Approach 1:
The patent applies spline curve fitting to the three-dimensional road line data in advance to establish a smooth, geometrically continuous representation of the road profile. This preliminary processing ensures that subsequent gradient calculations are based on continuous geometric data, while the complexity is managed by performing the fitting operation once during data preparation rather than repeatedly during gradient computation.
Data Source
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AI summary
A method and device for determining a road gradient, a storage medium, and a computer device. The method comprises: acquiring a three-dimensional road line constituted by a two-dimensional road line and laser cloud point data of a road (S202); selecting multiple nodes on the three-dimensional road line as control points for a spline curve (S204); drawing on the basis of the control points a first spline curve used for expressing road elevation (S206); converting the first spline curve into a second spline curve used for expressing road gradient (S208); acquiring location information (S210); and determining a first road gradient on the basis of the location information and of the second spline curve (S212). This increases the precision of the road gradient.