Abstract: 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.

Abstract: Embodiments of this application disclose a vehicle-based data processing method performed by a computer device. The method includes: determining at least two predicted offsets of a first vehicle, a first traveling state of the first vehicle, and a second traveling state of a second vehicle; determining, according to the first traveling state and the second traveling state, first lane change payoffs of the predicted offsets when the second vehicle is in a yielding prediction state, and determining second lane change payoffs when the second vehicle is in a non-yielding prediction state; and determining a predicted yielding probability of the second vehicle, generating target lane change payoffs of the predicted offsets according to the predicted yielding probability and the first lane change payoffs and the second lane change payoffs of the predicted offsets, and determining a predicted offset having a maximum target lane change payoff as a target predicted offset.

Abstract: This application provides a data processing method performed a computer device. The method includes: generating an initial predicted lane change acceleration corresponding to a target vehicle in a current lane; generating target predicted position information corresponding to the target vehicle according to a predicted lane change time duration taken for the target vehicle to change from the current lane to a target lane, the target lane being a lane to which the target vehicle is expected to change to; determining a target obstacle vehicle in the target lane and adjacent to the target vehicle according to the target predicted position information; determining, according to a predicted position relationship between the target obstacle vehicle and the target vehicle, a target predicted lane change acceleration; and controlling, according to the target predicted lane change acceleration, the target vehicle to change from the current lane to the target lane.