针对特定场景辅助驾驶的需求，构建道路场景车载激光雷达三维扫描系统，并设计基于三维激光点云的道路参数提取与计算方法，包括路面宽度、横杆或桥梁或隧道限高、拐弯半径等等，为辅助判断道路的可通过性提供决策依据。测试和对比实验表明，所设计算法效果稳定、精度良好，在效率和自动化程度上有一定优势，可为辅助驾驶提供非常有益的决策参数。

For the demand of auxiliary driving, a vehicle-mounted LIDAR system was built to scan road scene. A set of method for calculating road parameters was designed based on 3D LIDAR point cloud, including road width, bridge or tunnel height limitation, turnaround radius and so on, which provided decision basis for auxiliary judgment of road passability. Experiments and comparison tests show the stable performance and satisfactory accuracy of algorithms, which have advantages of efficiency and automation, and also can provide useful decision parameters for auxiliary driving.