Abstract: The disclosure relates to the technical field of autonomous driving, and provides a method for determining a vehicle driving trajectory, a computer device, and a vehicle, to solve the problem of improving the reliability and safety in planning vehicle driving trajectories. The method includes: sequentially simulating, based on an interaction scenario of a vehicle at a current moment by using forward driving of the vehicle as a constraint condition, an interaction scenario of the vehicle at each of a plurality of future moments, to form a scenario tree consisting of the interaction scenarios at the current moment and the future moments; obtaining a scenario value of each interaction intention in the interaction scenario at each moment in the scenario tree; obtaining an optimal interaction intention of the vehicle in the interaction scenario at each moment based on the scenario value; and determining a driving trajectory of the vehicle based on the optimal interaction intention.

Abstract: The disclosure relates to the technical field of autonomous driving, and provides a method for predicting a vehicle trajectory, a control apparatus, and a vehicle, to solve the problem of how to effectively deal with existing highly complex traffic scenario interactions and difficulties in iterative planning and control processes. In the method, scenario interaction results of a traffic agent are obtained based on a static environment perception result and a traffic agent perception result of a vehicle at a current moment, an initial interaction scenario is obtained based on the scenario interaction results, interaction scenario simulation is performed based on the initial interaction scenario and an ego vehicle driving decision to determine an optimal interaction scenario evolution feature of the traffic agent, and an optimal driving trajectory of the vehicle is obtained based on the optimal interaction scenario evolution feature and a state of the vehicle.