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The application discloses a kind of cone barrel racecourse boundary classification method system, device and storage medium, wherein method includes: obtaining the cone barrel detection result based on laser point cloud;Wherein, the spatial coordinates of each cone barrel are cone barrel detection result;Cone barrel detection result is provided as input to pre-established classification model, and the spatial distribution interrelationship feature and intermediate layer feature of cone barrel are extracted;The spatial distribution interrelationship feature and intermediate feature of cone barrel are aggregated by the classification model, and the classification result is obtained according to the aggregation result;Wherein, classification result is used to indicate the boundary category of each cone barrel.The application can obtain more reliable, more accurate, more quickly cone barrel racecourse boundary information compared with the method of image and laser point cloud fusion in prior art for racecourse cone barrel detection, to solve the problem of unreliable, high complexity in the cone barrel racecourse boundary classification scheme of prior art.The application can be widely applied in the field of unmanned driving technology.