Track planning method and device, electronic equipment, medium and vehicle

The invention provides a trajectory planning method and device, electronic equipment, a medium and a vehicle, and relates to the technical field of data processing, in particular to the technical field of automatic driving. According to the specific implementation scheme, obstacles in a preset range in front of a vehicle are detected, and the advancing direction of the vehicle is determined according to the obstacles in the preset range. And continuously expanding position points which can be reached under the condition that the vehicle does not collide with the obstacle from the current position of the vehicle along the advancing direction of the vehicle until the expanded position points meet specified conditions, and taking the position points meeting the specified conditions as track end points. Wherein the specified condition is that the track distance with the current position of the vehicle is larger than a preset first distance, or the linear distance with the planned terminal point is smaller than or