Vehicle trajectory prediction method, control device, readable storage medium and vehicle

The invention relates to the technical field of automatic driving, particularly provides a vehicle trajectory prediction method, a control device, a readable storage medium and a vehicle, and aims to solve the problem of how to effectively predict a multi-modal trajectory of the vehicle. In order to achieve the purpose, perception information of the automatic driving vehicle is converted into vectorized features of target vehicles, the target vehicles comprise the automatic driving vehicle and a plurality of first surrounding vehicles, and track prediction results of the target vehicles are obtained according to the vectorized features. According to the method, the vectorized features are obtained based on the sensing information of the automatic driving vehicle, so that the vectorized features can contain rich vehicle track information and environment information of the target vehicle, interactive fusion is performed on the vectorized features of the target vehicle, and multiple vehicle tracks of each target