Pedestrian detection method under cloud and mist working condition

The invention discloses a pedestrian detection method under a cloud and mist working condition. The method comprises the following steps: preprocessing target pedestrian information under the cloud and mist working condition, which is acquired by a vehicle-mounted millimeter wave radar in real time; preprocessing the point cloud data under the cloud and mist working condition collected by the vehicle-mounted laser radar; and performing time and space synchronization on the preprocessed data, and performing fusion by using a multiple Kalman filtering algorithm. According to the invention, the laser radar and the millimeter-wave radar are fused, the millimeter-wave radar is more stable in detection performance, longer in operating distance and strong in penetrating power, and has the characteristics of all weather and all time, and after fusion, the pedestrian target detection rate can be improved, the false detection rate can be reduced, and the driving safety can be greatly improved. 本发明公开了一种云雾工况下的行人检测方法，步骤如下