Track planning method and device, storage medium and electronic equipment

The invention discloses a trajectory planning method and device, a storage medium and electronic equipment. After a driving decision of a target device is determined according to an obstacle, a travelable area is determined for the target device according to the driving decision, so that track points in the travelable area are selected, a coarse reference track is obtained through fitting of a pre-constructed track function, and when it is judged that the coarse reference track meets a preset safety condition, the target device is determined to run. And taking the coarse reference trajectory as a reference trajectory to plan a target trajectory for guiding the target equipment to travel according to the reference trajectory. As the travelable area describes the behavior decision, the reference trajectory which is obtained by fitting the trajectory points in the travelable area and meets the safety condition can also describe the behavior decision of the target equipment, so that in the process of planning the