Path track correction method and device, equipment and medium

The invention discloses a path track correction method and device, equipment and a medium, and the method comprises the steps: obtaining a coordinate set of an initial path point of a to-be-corrected path, carrying out the B-spline fitting, obtaining the position of each control point of the to-be-corrected path, and carrying out the B-spline fitting for each control point, according to the positions of the control point and two adjacent control points before the control point, determining an angle difference value between the direction of a connecting line between the control point and a previous control point and the direction of a connecting line between the previous control point and a previous control point, and/or according to a pre-stored ESDF map, determining the distance of a nearest obstacle corresponding to the control point, and angle optimization and/or obstacle distance optimization are/is carried out to determine the updated position of the control point, and B-spline distance sampling is carri