Vehicle obstacle avoidance method and device, medium and electronic equipment

The invention provides a vehicle obstacle avoidance method, a vehicle obstacle avoidance device, a computer readable storage medium and electronic equipment, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining point cloud data, and carrying out the semantic segmentation of the point cloud data, so as to determine an effective point cloud from the point cloud data; acquiring a planned path of the vehicle, and sampling the planned path to obtain a plurality of position samples; comparing the effective point clouds with the position samples to judge whether an early warning sample meeting a preset condition exists in the plurality of position samples; and under the condition that the early warning sample exists, determining an obstacle avoidance strategy according to the early warning sample and/or the effective point cloud corresponding to the early warning sample. The vehicle obstacle avoidance scheme provided by the invention is high in refinement degree, and f