Intelligent navigation method and device, stacker crane and storage medium

The embodiment of the invention discloses an intelligent navigation method and device, a stacker crane and a storage medium. The intelligent navigation method comprises the steps that a laser radar sensor on the stacker crane is controlled to obtain the current environment information if a navigation starting instruction is received; according to the current environment information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor, a current offset distance and a current offset angle between the reference position point on the central axis of the stacker crane and the central axis of a container and a current relative distance between each corner point of the stacker crane and each container surface of the container are determined; and if it is determined that the preset collision condition is not met currently according to the current relative distance, the current left driving speed and the currentright driving speed of th