A dynamic road surface detecting method based on a three-dimensional sensor is provided.  The three-dimensional sensor receives a plurality of laser-emitting points reflected from a road surface to generate a plurality of three-dimensional sensor scan point coordinates which is transmitted to a point cloud processing module.  The point cloud processing module transforms the three-dimensional sensor scan point coordinates to a plurality of vehicle scan point coordinates according to a coordinate translation equation, and then transforms a plurality of vehicle coordinate height values of the vehicle scan point coordinates to a road surface height reference line according to a polyline fitting algorithm.  An absolute difference of two scan point height values of any two adjacent scan points on each of the scan lines is analyzed to generate a discontinuous point.  The point cloud processing module links the discontinuous points to form a road boundary.

Applied Country	Category	專利狀態	證書號	專利權期間	研究成果公告日期
TW	Intelligence and safety	獲證	US10,670,701B2	2020/06/02~2037/12/27
US	Intelligence and safety	獲證	US10,670,701B2	2020/06/02~2037/12/27