Path planning method and device for automatic driving lane changing scene, equipment and medium

The invention discloses a path planning method and device for an automatic driving lane changing scene, equipment and a medium. The method comprises the following steps: acquiring driving data of a current vehicle and road information and obstacle information in a target area corresponding to the driving data; determining a lane changing decision of the current vehicle and a path boundary corresponding to the lane changing decision according to the driving data, the road information and the obstacle information; wherein the lane changing decision comprises lane changing keeping, lane changing stopping keeping and returning to the original lane; determining path reference lateral information based on the path boundary; determining the path reference transverse position to construct a path quadratic programming model; and solving the path quadratic programming model to obtain an optimal path trajectory. According to the method, the model is optimized, so that the optimized line type is smoother, the transverse