The invention discloses a multi-line
laser radar ground point
separation method, a multi-line
laser radar ground point separation device, and a vehicle. The method includes the following steps that: 100, a detection area is scanned in a horizontal rotation manner with
laser lines emitted by a multi-line laser
radar, so that
point cloud data collected by the multi-line laser radar can be obtained;step 200, a three-dimensional grid chart is generated according to the
point cloud data; step 300, the attributes of each node of the grid chart are calculated; and step 400, each node in the grid chart is traversed, whether a node is a ground point is judged, if the node is a ground point, the node is deleted, if the node is not a ground point, the node is reserved, and the reserved node is an obstacle
point cloud. According to the multi-line laser radar ground point
separation method of the invention, the three-dimensional grid chart is adopted; whether each point cloud scanned by the multi-line laser radar is a ground point is judged by means of the calculation of the attributes of the point cloud and the attribute spread of adjacent points; a foreground and a background can be accurately separated from each other; and thus, a smooth
road surface can be well processed, the method can be applicable to various road conditions, and time consumption can always be controlled at about 50ms, and the method has high real-time performance.