Trajectory prediction method and device, vehicle-mounted terminal, vehicle and storage medium

The embodiment of the invention discloses a trajectory prediction method and device, a vehicle-mounted terminal, a vehicle and a storage medium. The method comprises the steps of obtaining environment information and vehicle driving information of a target vehicle; determining various track points of the target vehicle based on the vehicle driving information and the environment information; and performing trajectory fitting based on the trajectory points to obtain a target prediction trajectory of the target vehicle. Therefore, various track points of the target vehicle can be determined according to the environment information of the target vehicle and the vehicle driving information, so that the predicted track of the target vehicle can be obtained through track fitting of the various track points, the driving track of the vehicle can be predicted stably and accurately, and the track prediction efficiency is improved.