Turn-around trajectory generation method, device and equipment based on automatic driving and medium

The invention discloses a U-turn trajectory generation method and device based on automatic driving, equipment and a medium. The method comprises the steps that when a vehicle runs to a preset U-turn road section, discrete sampling is conducted on a U-turn space to obtain sampling points, the U-turn space is the space where the vehicle can turn around between a current lane where the vehicle is located and an opposite lane, and the sampling points are the positions where the vehicle passes when the vehicle turns around on the center line of the U-turn space; a vehicle adjusting space is constructed according to the width sum of the current lane where the vehicle is located and the opposite lane and the length of the U-turn space; and according to the current position of the vehicle, the sampling point, the vehicle adjustment space and the road condition of the lane to be driven in, a vehicle turning track is generated through a preset path planning method. By implementing the method provided by the invention,