Method and device for identifying obstacle, controller and mobile equipment

The invention belongs to the field of road emergency rescue, and discloses a method and device for recognizing obstacles, a controller and mobile equipment. According to the invention, the target point cloud data of the detection area is obtained, and the target point cloud data is detected through the point cloud segmentation algorithm, so that the candidate area and the initial obstacle type of the obstacle in the candidate area are determined, and the detection area comprises the candidate area. Moreover, grid division is carried out on the candidate area, grid point cloud information is determined, and a target detection result of the obstacle in the candidate area is determined according to the grid point cloud information. And under the condition that the target detection result indicates that the type of the obstacle is the initial obstacle type, acquiring pose information of the obstacle. By processing the acquired data, the obstacle type in the driving path can be accurately detected, mobile equipmen