Lane line detection method, path planning method and related equipment

The invention discloses a lane line detection method. The method comprises the steps that feature extraction is carried out on sensor data, front view features of multiple resolutions are generated, bird's-eye view features are generated based on the front view features of the multiple resolutions, and the resolution of the bird's-eye view features corresponds to the lowest resolution in the multiple resolutions; performing coarse-grained detection on the bird's-eye view feature with the lowest resolution to generate a first lane line detection result; using the first lane line detection result to perform iterative detection on the front view features of the plurality of resolutions so as to generate a second lane line detection result; and obtaining lane line information from the second lane line detection result, thereby realizing lane line detection. The invention further discloses a path planning method, electronic equipment and a storage medium. According to the method and the device, iterative detection