Obstacle sensing system based on fusion of vision, radio frequency positioning and multi-line laser

The invention discloses an obstacle sensing system based on fusion of vision, radio frequency positioning and multi-line laser. The obstacle sensing system comprises a system host obstacle sensing unit and a train control monitoring system, the obstacle sensing unit is used for collecting train position information, sensing and detecting obstacles and transmitting the information to the system host, and the system host is used for classifying and analyzing the received information; identifying a boundary invasion obstacle on the straight track; when an obstacle is detected, an abnormal condition is transmitted to a train control monitoring system, and a video and a processed picture with obstacle distance information are transmitted to a ground control center and a driver at the same time. The multi-sensor fusion technology is adopted, data collected by vision, laser, millimeter wave radar and beacon reader sensing units are effectively fused, the front obstacle detection function and the auxiliary anti-colli