Vehicle lane changing path planning method and device, storage medium and electronic equipment

The invention relates to a vehicle lane changing path planning method and device, a storage medium and electronic equipment. The vehicle lane changing path planning method comprises the steps that the coordinates of a vehicle and the coordinates of obstacles around the vehicle at the current moment based on a Frenet coordinate system are obtained; acquiring the speed of the vehicle and the speed of obstacles around the vehicle at the current moment; obtaining a target reference line; acquiring coordinates of multiple groups of Bezier curve control points according to the coordinates of the vehicle, the speed of the vehicle, the coordinates of obstacles around the vehicle, the speed of the obstacles around the vehicle and the target reference line at the current moment; generating a plurality of corresponding Bezier curves according to the coordinates of the plurality of groups of Bezier curve control points; and screening the plurality of Bezier curves to obtain an optimal Bezier curve, and obtaining a corres