TRAJECTORY PREDICTION METHOD

A method is provided. An implementation solution includes: obtaining first information and a plurality of waypoint sequences of a target vehicle; performing, for each waypoint sequence of the plurality of waypoint sequences, trajectory prediction based on the first information under the guidance of the waypoint sequence to obtain a predicted trajectory corresponding to the waypoint sequence and a score for the predicted trajectory; and determining, based on respective scores for a plurality of predicted trajectories corresponding to the plurality of waypoint sequences, a target predicted trajectory among the plurality of predicted trajectories.