The invention relates to an obstacle detection method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring point cloud data of a detection area, and processing the point cloud data to obtain preprocessed data; establishing a coordinate system, and converting the preprocessed data into coordinate data corresponding to the coordinate system; dividing the detection area into a plurality of grids, judging whether the grids are occupied by an object, if the grids are occupied by the object, judging that the grids are object occupied grids, adding all the grids to obtain a multi-dimensional grid, traversing the multi-dimensional grid, and obtaining object information of the object; constructing a prediction model according to the object information, and predicting the object to obtain state information of the object; and constructing a threat field according to the state information, calculating a threat coefficient, judging whether the object is about to threaten, if so, judging the object as an obstacle, and giving out an early warning. The method can detect obstacles in multiple aspects, and compared with a traditional detection technology using a laser radar, the method has the advantage that the detection capability is remarkably improved.