Path recognition method of unmanned vehicle adopting multi-line type laser scanning radar

The invention relates to a path recognition method of unmanned vehicle adopting multi-line type laser scanning radar. The method comprises the following steps that 1, the multi-line type laser scanning radar which can rotate by 360 degrees is arranged on the vehicle roof, and the laser scanning radar emits laser beams to scan the surroundings; 2, the laser scanning radar receives the laser beams; 3, parameters of information returned by each laser beam are obtained; 4, the distance value Dret returned by each laser beam and a rotating angle gamma of the current laser radar are converted into Cartesian coordinates (Px, Py, Pz) in a laser radar coordinate system; 5, an environmental map is built; 6, the environmental map adopts a topological map representation method, path planning is conducted on a path recognition search algorithm, and an optimal path is determined. Accordingly, the multi-line type laser scanning radar is adopted for recognizing the path of the unmanned vehicle, path recognition information i