Path planning method and device, electronic equipment and storage medium

The invention discloses a path planning method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a reference path of a target vehicle in a driving process; obtaining a target path planning function corresponding to the reference path based on the initial path planning function corresponding to the reference path and the to-be-adjusted soft boundary; determining a target path planning point corresponding to the at least one path reference point based on the target path planning function; and obtaining a target driving path corresponding to the target vehicle based on the target path planning point corresponding to each path reference point. A soft boundary corresponding to a target vehicle is dynamically adjusted, path planning points of the target vehicle in the actual driving process are determined based on the soft boundary, and the path planning points comprise path planning information parameters for controlling the target vehicle, such as the posit