Vehicle door side obstacle detection method, device and equipment

The invention discloses a vehicle door side obstacle detection method, device and equipment. A plurality of ultrasonic probes are used for detecting obstacles in the vehicle door movement range, and when it is determined that the obstacles are located in an overlapped detection area according to obstacle distance information, the coordinate position of a target obstacle relative to the center of a hinge is determined according to the obstacle distance information detected by the multiple probes and the installation position; when it is determined that the target obstacle is located in an independent detection area according to the obstacle distance information, the vehicle door is controlled to be opened to a preset angle, and the coordinate position of the target obstacle relative to the center of the hinge is determined according to the obstacle distance information detected by a target probe before and after vehicle door opening movement and the installation position; and the opening angle critical value i