The present disclosure provides a kind of adaptive obstacle detection method and
system, applied to unmanned driving technical field, comprising: by autonomous navigation module, the passable area information is calculated, and global environment navigation map is obtained, according to global environment navigation map, the
point cloud data and IMU information of predetermined frequency are collected, and the unmanned vehicle attitude information is obtained based on IMU information;Through the
road surface slope information of unmanned vehicle attitude information, the ground segmentation is carried out to
point cloud data based on
road surface slope information, and the non-ground
point cloud data after ground segmentation is obtained, the obstacle detection is carried out to the non-ground point
cloud data after ground segmentation, and the obstacle data is obtained.The present disclosure can solve the problems that the current mainstream ground segmentation
algorithm generally exists poor real-time, over-segmentation, cannot completely segment ground with
noise, and serious under-segmentation occurs when encountering slope
road surface, improve the real-time and accuracy of obstacle detection.