Obstacle searching method, device and equipment

The embodiment of the invention discloses an obstacle searching method, device and equipment. The scheme can comprise the following steps: acquiring position information and driving direction information of a vehicle; determining corresponding road information according to the position information of the vehicle; generating a positive direction tree structure according to the road information and the driving direction information; the positive direction tree structure comprises position information of N nodes and Y obstacles; n represents an integer greater than zero; y represents an integer greater than zero; taking the position of the vehicle as a starting point, and searching along a positive direction tree structure; and if the obstacle is searched between the starting point and the first node in front of the starting point, determining the position information of the obstacle. 本说明书实施例公开了一种障碍物搜索方法、装置及设备。该方案可以包括：获取车辆的位置信息以及行驶方向信息；根据车辆的位置信息确定对应的道路信息；根据道路信息以及行驶方向信息生成正方向树状结构；正方向树状结构包括N个节点以及Y个障碍物的位置信息；N表示大于零的整