The invention relates to a 
road edge detection 
system and method based on 
laser radar and fan-shaped space segmentation. The method comprises the steps of 1, a 
laser radar scanning the surrounding environment of a vehicle to obtain reflection 
point cloud information and convert the reflection 
point cloud information into a locally constructed three-dimensional coordinate 
system; 2, preprocessing the 
point cloud data, and separating and extracting ground data in each frame of point cloud; 3, dividing the space in the coordinate 
system into fan-shaped structural bodies according to the data characteristics of the 
laser radar and the point cloud, and identifying the road extension direction according to the ground information and the fan-shaped structural bodies; 4, extracting 
road edge candidate points in the point cloud by using a parallel 
road edge retrieval algorithm; 5, clustering the road edge candidate points, and eliminating an interference 
point set according to fan-shaped spatial features; and 6, performing B spline 
curve fitting on the finally determined road edge point to obtain a road 
edge detection result. The method is high in adaptability, capable of adapting to roadsof various shapes and reducing the influence of obstacles, high in precision and reduction degree, high in reliability and low in error rate.