METHOD FOR PREDICTING VEHICLE TRAJECTORY, CONTROL DEVICE, READABLE STORAGE MEDIUM, AND VEHICLE

The disclosure relates to the technical field of autonomous driving, and specifically provides a method for predicting a vehicle trajectory, a control device, a readable storage medium, and a vehicle, with a view to solve the problem of effectively predicting a multimodal trajectory of a vehicle. According to the disclosure, perceived information of an autonomous vehicle is converted into vectorized features of target vehicles, where the target vehicles include the autonomous vehicle and a plurality of first surrounding vehicles; and trajectory prediction results of the target vehicles are obtained based on the vectorized features. The vectorized features in the disclosure are obtained based on the perceived information of the autonomous vehicle, which enables the vectorized features to include rich vehicle trajectory information and environment information of the target vehicle; and interaction and fusion are performed on the vectorized features of the target vehicle, so that a plurality of vehicle trajectories of each target vehicle can be effectively predicted.