Vehicle starting control method, device and equipment and storage medium

The invention discloses a vehicle starting control method, device and equipment and a storage medium, after a vehicle starting signal is detected, environment data around a vehicle body are collected through sensing modules configured on the vehicle, the sensing modules comprise at least two sensors, and the environment data comprise environment images collected by the sensing modules; according to the environmental data and a pre-trained multi-stage convolutional neural network model, determining the obstacle type of an obstacle in the environmental data; and according to the obstacle type, a control signal is generated and fed back to the vehicle, and the vehicle is controlled to start. Through function complementation among the plurality of sensing modules, false detection or missing detection caused by defects of a single sensing module is avoided, and the detection accuracy is improved; the obstacle type is deeply learned and recognized through the multi-stage convolutional neural network model, the obst