A height limit early warning method based on binocular stereo vision

The invention relates to a height limit early warning method based on binocular stereo vision, which comprises the following steps: S1, obtaining a disparity map of an original image based on the original image shot by a binocular camera, and obtaining a current driving path of a vehicle in a world coordinate system; S2, calculating a first coordinate of each pixel point projected to a world coordinate system in the disparity map; S3, judging whether a corresponding pixel point in the disparity map is in a driving path according to the first coordinate, and if yes, projecting the pixel point to a vertical coordinate plane parallel to the image surface of the binocular camera in a world coordinate system; S4, whether an obstacle exists is judged based on a preset height area on the verticalcoordinate plane, and if yes, the average height of the obstacle is obtained; and S5, repeating the steps S1 to S4 to judge and track the obstacle in multiple frames, further confirming that the obstacle is a height limit ma