Obstacle avoidance path planning method, vehicle and storage medium

The invention provides an obstacle avoidance path planning method, a vehicle and a storage medium. The obstacle avoidance path planning method comprises the following steps: acquiring a current pose of a vehicle and a target pose of the vehicle; acquiring an identified static obstacle; generating an initial path containing path points according to the current pose of the vehicle and the target pose of the vehicle; when the path points in the generated initial path intersect with the static obstacle, translating the intersected path points so that the path points do not intersect with the static obstacle; and generating an obstacle avoidance path according to the translated path points. According to the scheme provided by the invention, a safer obstacle avoidance planning path can be generated for the static obstacles on the road, and the driving safety is improved. 本申请提供一种避障路径规划方法、车辆及存储介质。该避障路径规划方法，包括：获取本车当前位姿和本车目标位姿；获取识别的静态障碍物；根据所述本车当前位姿和本车目标位姿生成包含路径点的初始路径；在生成的所述初始路径中的所述路径点与所述静态障碍物产生相交时，将产生相交的路径点进行平移以使与所述静态障