In order to efficiently implement ALV feasible domain cognitive with low cost

tilt scanning system of single line lidar is designed to avoid data loss of roadbed caused by horizontal placement; a feasible region division method based on combination of distance and energy is proposed. Screening of edge jump features and other typical features and present

the characteristic points of the road are solved

at the same time

feature extraction on environment reflection energy is carried out and the second criteria of the feasible region are formed

achieve high reliability of edge extraction; through actual road test with shadow and obstacles

results show that compared with expensive 3D lidar environment detection system and single criterion distinguishing system

the system can achieve a good low cost and ALV feasible domain cognitive in real time

more accuraterely redivide feasible region within road

not only reduce false alarm in complex scenes

but also realize reliable cognition of lane

obstacles.