Zebra crossing early warning method and system based on fusion perception

The invention relates to the technical field of traffic safety, in particular to a zebra crossing early warning method and system based on fusion perception, and the method comprises the steps: obtaining laser radar point cloud data and pedestrian signal lamp red and green state information of a zebra crossing region; performing target identification on the laser radar point cloud data by adopting a fusion sensing algorithm to obtain zebra crossing pedestrian information; the pedestrian information comprises the number of pedestrians and positions of the pedestrians; and performing early warning control on zebra crossing lamps in the zebra crossing area according to the zebra crossing pedestrian information and the pedestrian signal lamp red and green state information. Through the zebra crossing pedestrian information and the pedestrian signal lamp red and green state information, the zebra crossing lamp in the zebra crossing area is subjected to early warning control, so that the position of the pedestrian