Obstacle map construction method, device and equipment and storage medium

The invention discloses an obstacle map construction method, device and equipment and a storage medium. The method comprises the following steps: projecting a target area in a navigation map to a grid map, and marking grids covered by the projection of the target area to obtain a first grid map; inputting environmental data acquired by a vehicle sensor into a perception model to obtain three-dimensional obstacle information; projecting the three-dimensional obstacle information to a two-dimensional plane, and marking grids on a projection area to obtain a second grid map; and constructing an obstacle map according to the first grid map and the second grid map. Through the technical scheme of the invention, effective support can be provided for an automatic driving parking path planning algorithm. 本发明公开了一种障碍物地图构建方法、装置、设备及存储介质。该方法包括：将导航地图中的目标区域投影到栅格地图，并将所述目标区域的投影覆盖的栅格进行标记，得到第一栅格地图；将车辆传感器采集的环境数据输入感知模型，得到三维障碍物信息；将所述三维障碍物信息投影到二维平面，将投影面积上的栅格进行标记，得到第二栅格地图；根据所述第一栅格地图和所述第二栅格地图构建障碍物地图，通过本发明的技术方案，以实现能够为自动驾驶泊车路径规划算法提供有效支