Path planning method and device and domain controller

The invention relates to a path planning method and device and a domain controller, and the method comprises the steps: determining a driving-in range of a vehicle driving from a current lane to a to-be-driven-in lane based on map information, and enabling the driving-in range to comprise a plurality of driving-in points; based on the distance between the vehicle and each drive-in point, determining the plurality of drive-in points as candidate drive-in points in sequence from small to large; on the basis of the sequence of the candidate drive-in points, the candidate drive-in point where a time intersection appears for the first time is determined as the optimal drive-in point, and the time intersection is determined on the basis of the drive-in time range of the vehicle from the current position to the candidate drive-in points and the interval time of the multiple obstacle vehicles reaching the corresponding candidate drive-in points; the obstacle vehicle is a vehicle to be driven into a preset range in th