Multi-vehicle path planning method, device, equipment, storage medium and system

The invention belongs to the technical field of intelligent driving, and discloses a multi-vehicle path planning method, device and equipment, a storage medium and a system, and the method comprises the steps: obtaining all paths from a starting point to a terminal point of each vehicle according to the road condition information of a multi-vehicle path planning region and the starting point and terminal point information of each vehicle; a focusing path from the starting point to the terminal point of each vehicle is obtained in a focusing search mode; according to the focusing path from the starting point to the terminal point of each vehicle, a tree root graph from the starting point to the terminal point is formed by the focusing path from the starting point to the terminal point of each vehicle, the terminal point is searched from the starting point according to the tree root graph of each vehicle, and in the searching process, according to a preset node selection method, the searching time is shortened.