Collision early warning method, device and equipment and storage medium

The invention discloses a collision early warning method, device and equipment and a storage medium. The method comprises the following steps: in a vehicle driving process, adopting at least two preset perception sensors to perceive a target object around a vehicle, and determining multi-perception fused target object data; according to the vehicle attribute information and the target object data, under the condition that the target object is in a preset detectable range and the motion direction of the target object is consistent with the motion direction of the vehicle, whether the speed of the target object meets a preset threshold condition or not is determined; if yes, the collision time is determined according to the target object speed, the target object acceleration and the interval distance, and the longitudinal collision distance is determined under the condition that the collision time meets the preset threshold value requirement; according to the longitudinal collision distance, when it is detected