Method and device for planning right turning of autonomous vehicle and terminal equipment

The invention provides a planning method and device for right turning of an automatic driving automobile and terminal equipment, and the method comprises the steps: obtaining the map information of a turning intersection, and recognizing the states of obstacles on all zebra crossings through which the automobile needs to pass when the automobile passes through the turning intersection according to a preset route; the method comprises the following steps: determining a position where a vehicle acquires relevant information of surrounding obstacles according to the obstacle state, acquiring the relevant information and each piece of road information every first preset period when the vehicle is located at the position, and predicting action tracks of the surrounding obstacles based on each piece of road information, map information and the relevant information, and planning a right turning track of the vehicle based on the road information, the map information and the action track, and controlling the vehicle t