Method and device for determining a quality of a surface in the surroundings of a transportation vehicle

A method for determining a condition of a surface in the environment of a transportation vehicle, the method comprising:

• generating three-dimensional surface coordinates of the surface by a sensor arrangement,
• obtaining an approximation of the curvature contour of the surface in at least one direction based on the three-dimensional surface coordinates, and
• carrying out a classification of the three-dimensional surface coordinates based on the curvature contour and/or vertical separations of the approximation of the curvature contour from the three-dimensional surface coordinates to characterize the condition of the surface,
• wherein the positions of the contact surfaces of the wheels of the transportation vehicle on the surface are determined,
• wherein the prospective trajectories of the positions of the contact surfaces of the wheels of the transportation vehicle are ascertained, and
• wherein the negotiability of the surface is checked for the prospective trajectories based on the classification of the three-dimensional surface coordinates pertaining to the trajectories.

A device for determining a condition of a surface in the environment of a transportation vehicle, the device comprising:

• a sensor arrangement by which three-dimensional surface coordinates of the surface are generated;
• an arithmetic-logic unit configured to obtain an approximation of the curvature contour of the surface in at least one direction based on the three-dimensional surface coordinates, and
• a classification unit by which a classification of the three-dimensional surface coordinates based on the curvature contour and/or vertical separations of the approximation of the curvature contour from the three-dimensional surface coordinates is configured for being carried out for the purpose of characterizing the condition of the surface,
• wherein a group of three-dimensional surface coordinates is assigned to a first class of the classification in response to the group of three-dimensional surface coordinates being, on average, arranged to an extent below the approximated curvature contour such that a first limiting value is exceeded.

A device for determining a condition of a surface in the environment of a transportation vehicle, the device comprising:

• a sensor arrangement by which three-dimensional surface coordinates of the surface are generated;
• an arithmetic-logic unit configured to obtain an approximation of the curvature contour of the surface in at least one direction based on the three-dimensional surface coordinates, and
• a classification unit by which a classification of the three-dimensional surface coordinates based on the curvature contour and/or vertical separations of the approximation of the curvature contour from the three-dimensional surface coordinates is configured for being carried out for the purpose of characterizing the condition of the surface,
• wherein the positions of the contact surfaces of the wheels of the transportation vehicle on the surface are determined,
• wherein the prospective trajectories of the positions of the contact surfaces of the wheels of the transportation vehicle are ascertained, and
• wherein the negotiability of the surface is checked for the prospective trajectories based on the classification of the three-dimensional surface coordinates pertaining to the trajectories.