Speed planning method and device, computer readable storage medium and vehicle

The invention relates to a speed planning method and device, a computer readable storage medium and a vehicle, and the method comprises the steps: obtaining an initial planning curve which comprises speeds corresponding to a motor lead screw at different moments, and the initial planning curve comprises a uniform acceleration segment; according to a preset planning function and time information and speed information in the initial planning curve, the uniform acceleration section is adjusted, and a target planning curve corresponding to the motor lead screw is generated; the target planning curve comprises a variable acceleration section. By adjusting the uniform acceleration section of the speed planning curve into the variable acceleration section, the continuity of the acceleration in the speed planning curve is improved, impact, overshoot or oscillation of the motor caused by sudden acceleration change is avoided, and the service life of the motor is prolonged.