Autonomous vehicle personification trajectory planning method and device, vehicle and medium

The invention relates to the technical field of vehicles, in particular to an anthropomorphic trajectory planning method and device for an automatic driving vehicle, the vehicle and a medium, and the method comprises the steps: obtaining the motion state and surrounding environment information of the automatic driving vehicle; when a target obstacle is identified according to the vehicle motion state and the surrounding environment information, predicting a moving track of the target obstacle, obtaining at least one candidate risk avoiding area of the autonomous vehicle according to the moving track of the target obstacle, and calculating an actual risk avoiding value of each candidate risk avoiding area; and taking the candidate risk avoiding area corresponding to the highest actual risk avoiding value as an optimal risk avoiding area, generating a planning track of the self-vehicle based on the current position of the self-vehicle and the optimal risk avoiding area, and controlling the self-vehicle to execu