The invention relates to a zebra crossing detection method, and belongs to the technical field of road environment perception in unmanned driving. The method comprises the following steps: S1, detecting a zebra crossing in real time by adopting a camera fixedly mounted at the top of a vehicle to obtain an image; S2, preprocessing the image; S3, performing inverse projection transformation on the zebra crossing candidate area, converting the image into a top view, and performing zebra crossing feature extraction and detection on the basis of the top view; S4, calculating the distance between the peak values, and keeping the peak values with the same distance; S5, determining a zebra crossing candidate area; s6, after determining the zebra crossing candidate area, extracting zebra crossing feature points; and S7, determining a zebra crossing area. According to the invention, through histogram peak value and LSD straight line detection and in combination with black and white mutation point characteristics of the zebra crossing, zebra crossing detection of a complex road section can be provided for an intelligent vehicle, so that the market prospect and the application value are wide.