Method for detecting surface gradient of unstructured road based on lidar

A method for detecting a surface gradient of an unstructured road based on Lidar, comprising the following steps:

• (1) obtaining an environmental point cloud of a target region by using a Lidar, and filtering out a point cloud of a non-surface region to obtain a point cloud of a surface region, wherein the target region comprises the surface region and the non-surface region;
• (2) calculating a normal vector of the point cloud of the surface region, and obtaining an included angle of the surface of each region relative to a coordinate system of the Lidar;
• and
• (3) obtaining pitching angle information of a vehicle at this time from a vehicle-mounted inertial measurement unit (IMU), and correcting the included angle with the pitching angle information to obtain a gradient of the surface of each region.