Method for determining travelable area based on millimeter wave radar and related equipment

The invention discloses a method for determining a travelable area based on a millimeter wave radar and related equipment. The method comprises the steps that obstacle point cloud information is acquired based on millimeter wave radar scanning data, and the millimeter wave radar scanning data comprises periodic scanning data, constant-speed scanning data and angle scanning data; performing aggregation processing according to the obstacle point cloud information to obtain aggregated point cloud information; determining obstacle association point information based on the aggregation point cloud information and a kernel density estimation method; target road information is extracted according to the obstacle association point information; and determining a drivable area based on the target road information. According to the method provided by the embodiment of the invention, aiming at the millimeter-wave radar capable of realizing partial scanning and tracking functions, the environment scene is tracked and scan