Falling object identification method and device based on laser radar and readable storage medium

The invention provides a falling object identification method and device based on a laser radar and a readable storage medium. The method comprises the steps of obtaining a point cloud data set of a laser radar; based on the point cloud data at the first moment and the point cloud data at the second moment, a dynamic point cloud cluster set is identified, and the dynamic point cloud cluster set comprises at least one dynamic point cloud cluster; and in response to identifying the dynamic point cloud cluster, enabling a tracking and determination process. For each dynamic point cloud cluster, a data set of the dynamic point cloud cluster at each current moment after the second moment is updated in real time, and the data set at least comprises data representing the position of the dynamic point cloud cluster in the gravity direction; judging whether data representing the position of the dynamic point cloud cluster in the gravity direction in a set time period accords with a free falling body law or not; and de