MULTI-VEHICLE COLLABORATIVE TRAJECTORY PLANNING METHOD, APPARATUS AND SYSTEM, AND DEVICE, STORAGE MEDIUM, AND COMPUTER PROGRAM PRODUCT

Provided is a multi-vehicle collaborative trajectory planning method, apparatus () and system, and a device, a storage medium, and a computer program product. The method comprises: determining a specific number of different multi-vehicle priority schemes for multiple vehicles (S); determining, by using a sequential planning policy, a corresponding collaborative planning scheme for each multi-vehicle priority scheme (S); performing quality evaluation on each collaborative planning scheme to obtain a quality evaluation result (S); and according to the quality evaluation result, determining a target collaborative planning scheme from the specific number of collaborative planning schemes (S).