METHOD, APPARATUS, STORAGE MEDIUM, AND DEVICE FOR PLANNING VEHICLE TRAJECTORY

A method for planning a vehicle trajectory includes: acquiring an initial reference trajectory of a target vehicle within a target planning duration, the initial reference trajectory including an initial state variable and an initial control variable of the target vehicle at at least one position point within the target planning duration; acquiring a reference lane trajectory; determining a trajectory cost of the target vehicle according to a geometric constraint and a dynamics constraint by using the reference lane trajectory and the initial state variable and the initial control variable of the target vehicle at the at least one position point, the dynamics constraint including at least one of an energy loss, an acceleration constraint, or an angular speed constraint; and adjusting the initial reference trajectory of the target vehicle to a target travelling trajectory according to the trajectory cost of the target vehicle.