METHOD FOR OBTAINING VEHICLE TRAJECTORY, CONTROL APPARATUS, READABLE STORAGE MEDIUM, AND VEHICLE

The disclosure relates to the technical field of autonomous driving, and provides a method for predicting a vehicle trajectory, a control apparatus, a readable storage medium, and a vehicle, to solve the problem of how to effectively deal with existing highly complex traffic scenario interactions and difficulties in iterative planning and control processes. In the method, scenario interaction results of a traffic agent are obtained based on a static environment perception result and a traffic agent perception result of a vehicle at a current moment, an initial interaction scenario is obtained based on the scenario interaction results, interaction scenario simulation is performed based on the initial interaction scenario and an ego vehicle driving decision to determine an optimal interaction scenario evolution feature of the traffic agent, and an optimal driving trajectory of the vehicle is obtained based on the optimal interaction scenario evolution feature and a state of the vehicle. An optimal interaction scenario evolution process is selected from numerous interaction scenarios by comprehensively considering impact of the ego vehicle driving decision on an environment of the vehicle, thereby obtaining a more accurate optimal driving trajectory.