The invention provides a multi-sensor fused unmanned vehicle detection obstacle avoidance system and obstacle avoidance method. The obstacle avoidance system comprises a plurality of single-line laserradars, double CCD cameras, microwave radars, front and rear blind area ultrasonic sensor groups and a three-core controller based on ARM + FPGA + NUC. A plurality of single-line laser radar signalsare processed by the NUC microcomputer, binocular vision graphic data of the CCD camera are jointly processed by the ARM + FPGA controller, functions of blind area detection and obstacle avoidance, ahuman-computer interface, path planning, online output and the like are independently completed by the STM32F767, and the ARM + FPGA controller outputs control signals through decoding to accurately control the direct-current brushless servo motor, and drives an unmanned vehicle to run. According to the invention, the unmanned vehicle can discover obstacles in a complex environment in an all-weather and farther manner and quickly realize effective obstacle avoidance, so the safety and stability of the unmanned vehicle during high-speed driving are improved.