Method and device for determining free space between vehicles

The invention relates to a method and a device for judging free space between vehicles. The judgment method comprises a blind area determination step of determining a blind area between a first vehicle and a second vehicle; an edge information calculation step: at least acquiring current feature point information of the first vehicle and the second vehicle, and calculating edge information in a blind area between the first vehicle and the second vehicle according to the current feature point information of the first vehicle and the second vehicle; a closed space generation step of generating a closed space according to the edge information in the blind area between the first vehicle and the second vehicle; and a free space determination step of determining whether the enclosed space is a free space based on monitoring of the enclosed space. According to the invention, by judging the closed area between the vehicles, a part of blind areas can be judged as safe areas to be used as free spaces. 本发明涉及一种车辆之间的自由空间的