Obstacle identification method based on monocular camera, identification device thereof and vehicle

The invention provides an obstacle recognition method based on a monocular camera, a recognition device thereof and a vehicle, and solves the technical problem that a vehicle-mounted system causes unnecessary safety accidents when a road environment is poor or even severe in the prior art. According to the obstacle recognition method based on the monocular camera, the calibration object with the known calibration position of the vehicle is calibrated in the calibration image, so that the corresponding relation between the calibration position of the calibration object and the calibration pixel position of the calibration object in the calibration image is obtained; the actual position relation between the obstacle and the vehicle is determined according to the pixel position of the obstacle in the actual image and the corresponding relation, and whether the obstacle threatens the vehicle or not can be determined according to the actual position relation between the obstacle and the vehicle so as to control th