Path planning method and device, electronic equipment and computer readable medium

The embodiment of the invention discloses a path planning method and device, electronic equipment and a computer readable medium. A specific embodiment of the method comprises the following steps: in response to detection that traffic light information does not exist in a pre-acquired target road image, acquiring a road image sequence shot by a vehicle-mounted camera of a current vehicle and traffic light coordinates corresponding to the position of the current vehicle; performing obstacle identification on each road image in the road image sequence to generate an obstacle external frame information group, and obtaining an obstacle external frame information group sequence; generating a traffic light blind area coordinate set based on the obstacle external frame information block sequence and the traffic light coordinates; screening the traffic light blind area coordinate set to obtain a target blind area coordinate set; and generating a planning path based on the target blind area coordinate set. According t