The invention provides a path
planning method and device, and the method comprises the steps: firstly determining a target driving region comprising a plurality of sub-regions, determining candidate sub-regions according to the predicted congestion values of all sub-regions at a preset time point, then determining a
navigation path of the target region according to the travel starting point, travel
terminal point and candidate sub-regions of a to-be-planned vehicle, and when the to-be-planned vehicle enters the current sub-region along the target region
navigation path, determining a target lane
navigation path according to the target region navigation path, the current position of the to-be-planned vehicle and the
traffic flow load of each road section in the current sub-region. Accordingto the invention, a vehicle planning problem in a
large range is divided into a plurality of vehicle planning problems in a
small range, a large number of vehicle planning scenes can be satisfied, the
traffic flow loads of each sub-region and each road section are integrated during vehicle planning, the effects of avoiding congestion sub-regions and realizing load balancing of the whole
traffic network can be achieved at the same time. and therefore, the applicability is high.