Method, apparatus and non-transitory computer-readable storage medium for warning of dangerous driving behavior

A method, apparatus and non-transitory computer-readable storage medium for warning of dangerous driving behavior, the method comprising: acquiring point cloud data collected by a LiDAR and dividing the point cloud data into ground point cloud data and non-ground point cloud data. Ground objects are identified based on the ground point cloud data, while non-ground objects are identified based on the non-ground point cloud data. Based on the motion changes of the vehicle relative to the ground objects and/or non-ground objects, it is determined whether the driver exhibits dangerous driving behavior, and real-time warnings are provided when dangerous driving behavior occurs.