Obstacle tracking method and device and vehicle

Abstract

The invention relates to an obstacle tracking method and device and electronic equipment, and the method comprises the steps: obtaining the information of all 3D target frames around a vehicle at a current time point, and the information of 3D detection frames of all obstacles around the vehicle at all historical time points; for each obstacle, inputting 3D detection frame information of the obstacle at each historical time point into a tracking filter of the obstacle, and determining 3D prediction frame information of the obstacle at the current time point; according to each piece of 3D target frame information at the current time point and the 3D prediction frame information of each obstacle, determining the obstacle to which each piece of 3D target frame information belongs at the current time point, performing updating processing on a tracking filter of each obstacle, and determining updated 3D prediction frame information of the obstacle at the current time point, according to the invention, 3D obstacle detection under multiple shooting equipment scenes can be realized, the obstacle detection efficiency is improved, and the obstacle tracking efficiency is further improved.

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