Vehicle track prediction method, device, equipment and storage medium

The embodiment of the invention provides a vehicle track prediction method, a device, equipment and a storage medium. The method comprises the following steps: acquiring scene information corresponding to at least two target vehicles; the scene information is used for describing the driving state of a target vehicle and/or the driving environment of the target vehicle; determining time information corresponding to the scene information; calculating spatial position information of each target vehicle in combination with the scene information and the time information; constructing mixed environment information based on the spatial position information and the time information; the mixed environment information is used for representing an interaction influence condition between target vehicles; and integrating the mixed environment information and the historical trajectory of each target vehicle to obtain a predicted trajectory corresponding to each target vehicle. According to the method, the driving tracks of