The invention relates to a car-mounted
laser radar tunnel detection
system, an autonomous positioning method based on the tunnel detection
system and a tunnel
hazard detection method. The detection
system comprises a vehicle platform, a positioning module, a
laser radar detection module and an
information fusion and detection module, wherein the vehicle platform is used for providing a vehicle running environment and
energy supply; the positioning module comprises an autonomous positioning module and a
satellite positioning module; the
satellite positioning module can position the vehicle platform when a
satellite positioning
signal is received, and the autonomous positioning module can position the position of a vehicle which cannot be positioned by a satellite in a tunnel; the
laser radar detection module is used for detecting the surface of the tunnel by utilizing laser; the
information fusion and detection module is used for analyzing,
processing and fusing position information of the autonomous positioning module /
satellite positioning module and the measurement information of the laser
radar detection module. The autonomous positioning method is a positioning method suitable for the detection system. The tunnel
hazard detection method is a detection method based on the tunnel detection system. The car-mounted laser radar tunnel detection system has the advantages of high detection efficiency, capability of carrying out the real-time monitoring and the like.