Railway line obstacle automatic recognition method based on two-dimensional laser radar

The invention provides a railway line obstacle automatic recognition method based on a two-dimensional laser radar. The method particularly comprises steps: 1) reciprocating step plane scanning is carried out through the two-dimensional laser radar arranged above the railway line, and whether an obstacle exists is judged preliminarily according to the acquired reciprocating plane scanned data; 2)if an obstacle exists, whether the obstacle belongs to a temporary obstacle is judged according to the reciprocating plane scanned data and pre-stored background data, and a rough existing angle rangeof the temporary obstacle is acquired; 3) single fine step scanning is carried out in the rough existing angle range of the temporary obstacle, and the obstacle information of the temporary obstacleis acquired; 4) according to the obstacle information and a pre-stored steel rail position, whether the obstacle is a train wheel is judged, and the obstacle information in a global obstacle list is updated; and 5) the existing