acquiring information used for trajectory planning, comprising: acquiring road region width information, coordinates of obstacles and coordinates of each vehicle in a plane coordinate system, acquiring a traffic action type of each vehicle, and acquiring motion state parameters of each vehicle;

inputting the information used for trajectory planning into a model for planning a vehicle traveling trajectory to obtain planned trajectory information, wherein the model for planning a vehicle traveling trajectory determines constraint conditions for avoiding collisions on the basis of the road region width information, the coordinates of the obstacles, and the coordinates of each vehicle in the plane coordinate system and the traffic action type, and determines a loss function on the basis of the motion state parameters of each vehicle and the coordinates of each vehicle; and

driving each vehicle to travel, on the basis of the planned trajectory information,

wherein the acquiring coordinates of obstacles in a plane coordinate system, comprises:

mapping an obstacle to the plane coordinate system in a form of a square, based on size information of the obstacle and position information of the obstacle on a road; and

replacing the square with a plurality of inscribed circles of the square, wherein each inscribed circle is tangent to two sides of the square adjacent to an inner corner of the square near an origin of the plane coordinate system.