| 摘要 |
A method and apparatus for terrain sensing is disclosed that obtains data from at least one sensor onboard a vehicle. The sensor data is used to generate data representing a surface defined by a set of control points. Gradient information is then generated by computing a gradient of the surface for at least one query point, and the gradient information is converted into a local frame coordinate system for the vehicle. A Kalman filter process may be used to generate a B-spline representation of the surface, wherein the B-spline may be a NURBS (Non Uniform Rational Basis Spline). The at least one sensor may comprise a LIDAR, RADAR, or an image based sensor. The vehicle may by an autonomous vehicle, and the terrain sensing means may assist with guidance of the vehicle, for example, to help avoid areas of terrain that have a gradient where there is a rollover risk. |
