In order to solve the problem that LIDAR data segmentation algorithm cannot adapt to the environmental characteristics and determine the threshold continuously and accurately, an adaptive LIDAR data segmentation algorithm based on environmental features was proposed. According to the data characteristics of the two-dimensional lidar and the geometric characteristics of the indoor environment, the virtual environment line was fitted with the adjacent point of the laser radar data. The intersection of the virtual environment line and the adjacent laser scanning ray was taken as the reference point to determine the adaptive threshold pre-segmentation of radar data. In view of the defects in the data pre segmentation results completed by the above method, a method for judging pseudo breakpoints after data pre segmentation was proposed, and the algorithm was optimized. The algorithm was compared and analyzed with piecewise threshold segmentation algorithm and linear equation threshold segmentation algorithm. The LIDAR data segmentation algorithm adapting to environmental characteristics achieves a successful segmentation rate of 98% for the experimental data, and has better environment adaptability and higher segmentation accuracy.