The present disclosure describes a method, an apparatus, and a storage medium for recognizing an obstacle. The method includes acquiring, by a device, point cloud data obtained by scanning surroundings of a target vehicle by a sensor in the target vehicle. The device includes a memory storing instructions and a processor in communication with the memory. The method further includes converting, by the device, the point cloud data into a first image used for showing the surroundings; and recognizing, by the device, from the first image, a first object in the surroundings as an obstacle through a first neural network model.