Unmanned vehicle path planning method, device and equipment and storage medium

The invention discloses an unmanned vehicle path planning method, device and equipment and a storage medium. The method comprises the following steps: acquiring vehicle surrounding environment information and determining obstacle information; determining a target speed range and a target rotation acceleration range according to the obstacle information; generating a plurality of local paths according to the current position information, the target speed range and the target rotation acceleration range; determining an energy recovery braking grade corresponding to each local path according to the current speed and the target speed range; determining a cost function value corresponding to each local path according to the energy recovery braking grade; and determining an optimal local path according to the cost function value corresponding to each local path. According to the method, the speed and the rotation acceleration are predicted based on the obstacle information, the multiple local paths and the energy r