TRAJECTORY PLANNING METHOD AND RELATED DEVICE

A trajectory planning method and a related device are provided. The method may be applied to the autonomous driving field in artificial intelligence. The method includes: obtaining first state information of a vulnerable road user, where the vulnerable road user is within a sensing range of an ego vehicle, and the first state information includes a location of the vulnerable road user; determining, based on the first state information, one or more reachable locations of the vulnerable road user at each of N subsequent moments and a probability of each reachable location; and planning a trajectory of the ego vehicle. Because the probability of each reachable location of the vulnerable user is considered during route planning of the ego vehicle, that is, all reachable locations of the vulnerable road user are not directly avoided, an exploration range of the ego vehicle in a travelling process is expanded, to help obtain a better travelling trajectory of the ego vehicle.