Vehicle driving track planning method and device, vehicle and storage medium

The invention discloses a vehicle driving track planning method and device, a vehicle and a storage medium, and the method comprises the steps: determining a track planning region of a grid map according to the current position of the vehicle, and constructing the grid map in the track planning region; acquiring obstacle information, and calculating obstacle static potential energy and obstacle dynamic potential energy of each grid in the grid map according to the obstacle information; determining a candidate driving track score of each scattering point in the grid map according to the static potential energy and the dynamic potential energy of the obstacle; and planning a driving track of the vehicle in the track planning area according to the candidate track score. According to the technical scheme, the accuracy of the planned driving track of the vehicle is improved, so that when the vehicle runs according to the planned driving track of the vehicle, the possibility that the vehicle collides with an obstac