Automatic driving speed planning method and device, vehicle and storage medium

The embodiment of the invention provides an automatic driving speed planning method and device, a vehicle and a storage medium, and the method comprises the steps: enabling a position where a target vehicle does not pass on a target path to serve as a first position, and enabling the current position of the target vehicle to serve as a second position in a process that the target vehicle carries out the automatic driving based on the target path; taking the state information of the first position as a father node, and determining at least one child node corresponding to the father node according to the father node and a jerk set obtained by discrete sampling in advance; the child node comprises state information of a next position at a preset duration interval relative to the corresponding position of the father node; adding the at least one sub-node into the open list, and moving the sub-node with the minimum cost value in the at least one sub-node into the closed list; and determining a target speed curve f