Planned trajectory evaluation method and device based on vehicle collision risk

The embodiment of the invention provides a planned trajectory evaluation method and device based on a vehicle collision risk, and relates to the technical field of vehicle driving assistance. The method comprises the steps of obtaining a vehicle planning track and a target vehicle prediction track; traversing all trajectory points of the planned trajectory, and obtaining own vehicle information corresponding to the current trajectory point and target vehicle information corresponding to the current trajectory point; traversing all target vehicles, and calculating the nearest distance between the vehicle and the current target vehicle under the current track point; evaluating the collision risk of the vehicle and the current target vehicle based on the nearest distance; if all the target vehicles are traversed, the collision risk of the vehicle under the current track point is evaluated; and if all the trajectory points are traversed, evaluating the collision risk of the vehicle corresponding to the planned tr