Intersection vehicle collision early warning evaluation method, device and system

The invention provides an intersection vehicle collision early-warning evaluation method, device and system, and the method comprises the steps: obtaining continuous multi-frame early-warning equipment images of a to-be-evaluated vehicle, and carrying out the template matching of each early-warning equipment image based on a video early-warning template image, so as to determine the early-warning time of the early-warning equipment for transmitting video early warning; acquiring an evaluation vehicle position and an evaluation vehicle speed of the to-be-evaluated vehicle at the early warning time, and acquiring a target vehicle position and a target vehicle speed of the target vehicle at the early warning time; based on the evaluated vehicle position, the evaluated vehicle speed, the target vehicle position and the target vehicle speed, whether the to-be-evaluated vehicle and the target vehicle will collide is judged, and if yes, the first arrival time when the to-be-evaluated vehicle arrives at the predicted