Path planning method and device, vehicle and readable storage medium

The invention provides a path planning method. The path planning method comprises the following steps: acquiring a plurality of path points of a reference path generated based on a road reference line; calculating a plurality of initial control points according to the path points; adjusting the initial control point based on the target function, the boundary constraint and the curvature constraint to generate a target control point; generating a final path according to the target control point. According to the path planning method, the path planning device, the vehicle and the computer readable storage medium, the multiple path points of the reference path are obtained, the multiple control points are generated according to the path points, then the control points are adjusted according to the target function, the boundary constraint and the curvature constraint, and finally the final path is generated according to the target control points. The final path is generated according to the control points of the