Obstacle Detection Method and Device for Assisting Vehicle in Driving

A method for training a machine learning model for obstacle detection, comprising:

• obtaining ultrasonic echo data captured during vehicle movement;
• obtaining information associated with echo intersections based on the ultrasonic echo data;
• providing at least part of the ultrasonic echo data and the information associated with the echo intersections as feature data to a machine learning model to obtain detection information for an obstacle, wherein the machine learning model employs at least one of a classification algorithm or a regression algorithm;
• and
• calculating a loss function based on a difference between the detection information for the obstacle and actual information for the obstacle, and training the machine learning model by reducing a value of the loss function.