Intelligent driving track planning method and system, storage medium and vehicle

The invention discloses an intelligent driving track planning method, which comprises the following steps of: in a driving process, receiving state information of a vehicle and external information in real time; determining a current reference line of the vehicle driving track, obtaining an obstacle model in front of the vehicle, and adjusting the current reference line to form a target reference line after obstacle avoidance processing; performing nonlinear dynamic constraint on the target reference line by using an iterative least square algorithm (iLQR), and iteratively calculating an optimal control sequence of the target reference line to obtain a planned trajectory; and carrying out constraint processing on the planned track, and outputting a final vehicle driving track and a final vehicle control quantity. The invention further discloses a corresponding system, a storage medium and a vehicle. According to the invention, the efficiency and accuracy of trajectory planning can be improved. 本发明公开了一种智能驾驶轨迹规