Driving path determination method, device, equipment, and vehicle

The embodiment of the invention discloses a driving path determination method, device, equipment and a vehicle. The method comprises the steps of determining M candidate escape paths according to the initial position data of the vehicle and N target position data, determining a current driving path according to the initial driving path of the vehicle and the M candidate escape paths, and according to the position information of the object, determining collision information of the vehicle and the object on the current driving path, and if the collision information is matched with preset safety information, driving according to the current driving path, wherein M is apositive integer greater than or equal to N. On the basis of the embodiment of the invention, an end point sampling method is adopted, and the candidate escape paths are represented by adopting the 7-degree polynomial, so that each candidate escape path can be a complete path, and the precision of the candidate escape paths can be improved. Besides