The embodiment of the invention provides a speed control method and device and a storage medium, and relates to the field of
automatic control. The speed control method comprises the following steps: determining a target planning path of the mobile equipment driving into a target area from a current position; wherein the target planning path comprises a plurality of path points; determining a
target type dynamic obstacle corresponding to each path point of the target planning path according to dynamic obstacle information detected by the
mobile device; determining a first maximum speed of the movable device at each path point according to the
target type dynamic obstacle; and controlling the
moving speed of the movable equipment at the path point to be less than or equal to the first maximum speed. Wherein the
target type of dynamic obstacle can comprise at least one of a first type of dynamic obstacle and a second type of dynamic obstacle, the
risk level of the first type of dynamic obstacle is different from that of the second type of dynamic obstacle, and the
risk level is used for representing the collision
hazard degree determined according to the inherent attribute of the dynamic obstacle.