The invention discloses a low-speed automatic driving method, device and equipment and a storage medium. The method comprises the following steps of acquiring an initial planning path, and controlling vehicle driving according to the initial planning path, acquiring road condition information on a road ahead according to first scanning equipment mounted on the vehicle, when an obstacle is determined to exist on the front road according to the road condition information, determining an obstacle type corresponding to the obstacle, determining a corresponding target size requirement according to the obstacle type, when the obstacle is determined not to meet the target size requirement according to the road condition information, adjusting the initial planning path according to the road condition information, and acquiring an adjusted planning path, and controlling the vehicle to run according to the adjusted planned path. When the obstacle on the road does not meet the size requirement of the obstacle type, the planning path is adjusted, the obstacle influencing the normal function and performance of the vehicle on the road is identified, the obstacle is avoided, and the obstacle is prevented from hindering the vehicle running and influencing the vehicle running safety.