The present invention discloses a parking distance control method, storage medium and device including visual collision monitoring, which relates to the field of intelligent
vehicle control. The method includes obtaining the distance information between the vehicle and the obstacle based on the ultrasonic
radar arranged around the vehicle, and obtaining the PDC recognition result; obtaining the obstacle information based on the collected vehicle surrounding environment image recognition, and performing
collision detection according to the obstacle information and the vehicle running trajectory; weighting and fusing the PDC recognition result and the
collision detection result to obtain the final result for collision prompting. The present invention combines the obstacle distance information of the ultrasonic
radar, and the two results are weighted and fused to obtain the final result and perform collision prompting, effectively avoiding the problem of missed recognition caused by unilateral failure of the
radar or surround recognition.