Vehicle motion planning method, device, equipment and medium

The invention relates to a vehicle motion planning method and device, equipment and a medium. The method comprises the steps that predicted motion tracks of all obstacles of a vehicle in the current environment are obtained; determining the type of each obstacle based on the predicted motion trajectory; according to the type of each obstacle, the predicted motion track and a preset motion cost function, obtaining an optimal solution of the motion cost function; wherein the motion cost function comprises a cost item related to a collision type obstacle and a cost item related to a non-collision type obstacle; and obtaining the current motion track of the vehicle based on the optimal solution of the motion cost function. The reasonability and reliability of the motion planning result can be effectively improved. 本公开涉及一种车辆运动规划方法、装置、设备及介质，其中该方法包括：获取车辆在当前环境中各障碍物的预测运动轨迹；基于预测运动轨迹确定各个障碍物的类型；根据各个障碍物的类型、预测运动轨迹以及预设的运动代价函数，获取运动代价函数的最优解；其中，运动代价函数包括碰撞型障碍物相关的代价项以及非碰撞型障碍物相关的代价项；基于运动代价函数的最优解得到车辆的当前运动轨迹。本公开可有效提升运动规划结果的合理性和可靠性。