METHOD FOR ESTIMATING THE MOVEMENT OF A VEHICLE BY MEASURING AND COMPUTING DEVICE OF LIDAR SENSOR

The invention relates to a method for estimating the own movement of a vehicle, comprising the following steps: determining a first point cloud having a plurality of first points by means of sensor data provided at a first point in time by means of a lidar sensor of the vehicle; determining a second point cloud having a plurality of second points by means of sensor data provided by the lidar sensor at a second point in time following the first point in time; assigning the first point to a cluster, and assigning the second point to a cluster; selecting the first point from the first point cloud and selecting the second point from the second point cloud; determining a displacement between a respective corresponding selected first point and a selected second point; and estimating a motion of the vehicle itself according to the displacement; wherein the selection of the first point and the selection of the second point are performed according to the shape of the respective cluster. 本发明涉及一种用于估计车辆的自身运动的方法，包括以下步骤：借助