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.