Trajectory prediction model training method, target trajectory prediction method, computing device and computer readable storage medium

The embodiment of the invention provides a trajectory prediction model training method, a target trajectory prediction method, computing equipment and a computer readable storage medium. The trajectory prediction model training method comprises the steps of determining sample driving data and label driving data of a plurality of sample objects; inputting the sample driving data of each sample object into a data enhancement model to obtain sample enhanced driving data of each sample object; inputting the sample enhanced driving data of each sample object into a trajectory prediction model to obtain sample predicted driving data of each sample object; updating a training track prediction model according to the sample prediction driving data and the label driving data, and updating a training data enhancement model according to the sample prediction driving data and the sample driving data; and continuing to execute the step of inputting the sample driving data of each sample object into the data enhancement mod