Obstacle fusion detection method for mine ramp, chip and terminal

The invention provides an obstacle fusion detection method for a mining area ramp, a chip and a terminal, and the method comprises the steps: obtaining 3D point cloud data of a laser radar, a shot image of a camera, and detection data of a millimeter wave radar in response to the detection that a mining area vehicle drives into the ramp, first obstacle detection information, second obstacle detection information and third obstacle detection information are respectively determined; projecting the 3D point cloud data to a shot image of a camera; determining 3D position information, reflected by the 3D point cloud data, of the obstacle on the shot image based on a relative position relationship between the obtained 2D projection point and a 2D detection frame of the shot image; extracting first fusion information from the first obstacle detection information and the second obstacle detection information; and determining second fusion information based on the first fusion information and the third obstacle detect