Vehicle obstacle avoidance method, device and equipment and storage medium

The invention relates to the technical field of vehicle control, and discloses a vehicle obstacle avoidance method, device and equipment and a storage medium, and the method comprises the steps: determining an automatic driving track of a vehicle according to the perception data of the vehicle; the automatic driving track is compared with current driving data of the vehicle, the current driving risk of the vehicle is obtained, and the current driving risk comprises an abnormal driving risk and a collision risk; and controlling the vehicle to avoid obstacles based on the current driving risk and the braking distance of the current driving data. As the automatic driving track conforming to safety is obtained by using the sensing data, and then the current driving data of the vehicle is compared through the automatic driving track, when the driver encounters an emergency and cannot respond in time, the vehicle is controlled to complete the emergency obstacle avoidance action according to the braking distance ins