Automatic driving method, device and equipment of vehicle and medium

The invention discloses an automatic driving method, device and equipment of a vehicle and a medium, and relates to the technical field of automatic driving, and the method comprises the steps: for each time period, obtaining the driving track of the vehicle, the position of at least one object around the vehicle, and the size information and average speed of the object in a historical time period; wherein the historical time period is a time period which is adjacent to the time period and before the time period; according to the driving track of the vehicle, constructing a first coordinate system in a time period, and determining the corresponding position of the position of each object in the first coordinate system; for each object, determining a target risk area of the object in the first coordinate system according to the corresponding position of the object in the first coordinate system and the size information and the average speed of the object in the historical time period; and controlling the vehic