A method for planning a vehicle trajectory, wherein the method is applied to intelligent driving domain controller of a first vehicle, the first vehicle is an intelligent vehicle, and the method comprises: obtaining, by the intelligent driving domain controller, a first trajectory of the first vehicle; obtaining, by the intelligent driving domain controller, a second trajectory of at least one second vehicle based on a first communication technology; and determining, by the intelligent driving domain controller, trajectory planning of the first vehicle based on the first trajectory and the second trajectory of the at least one second vehicle; wherein the obtaining, by the intelligent driving domain controller, a first trajectory of the first vehicle comprises: determining, by the intelligent driving domain controller, a current driving mode of the first vehicle, wherein the driving mode comprises an autonomous driving mode and a manual driving mode; and obtaining, by the intelligent driving domain controller, the first trajectory of the first vehicle based on the driving mode of the first vehicle; and when the intelligent driving domain controller determines that the current driving mode of the first vehicle is the manual driving mode, predicting, by the intelligent driving domain controller, a manual driving trajectory of the first vehicle, and using the predicted manual driving trajectory as the first trajectory. obtaining, by the intelligent driving domain controller, a first trajectory of the first vehicle; obtaining, by the intelligent driving domain controller, a second trajectory of at least one second vehicle based on a first communication technology; and determining, by the intelligent driving domain controller, trajectory planning of the first vehicle based on the first trajectory and the second trajectory of the at least one second vehicle; wherein the obtaining, by the intelligent driving domain controller, a first trajectory of the first vehicle comprises: determining, by the intelligent driving domain controller, a current driving mode of the first vehicle, wherein the driving mode comprises an autonomous driving mode and a manual driving mode; and obtaining, by the intelligent driving domain controller, the first trajectory of the first vehicle based on the driving mode of the first vehicle; and when the intelligent driving domain controller determines that the current driving mode of the first vehicle is the manual driving mode, predicting, by the intelligent driving domain controller, a manual driving trajectory of the first vehicle, and using the predicted manual driving trajectory as the first trajectory. determining, by the intelligent driving domain controller, a current driving mode of the first vehicle, wherein the driving mode comprises an autonomous driving mode and a manual driving mode; and obtaining, by the intelligent driving domain controller, the first trajectory of the first vehicle based on the driving mode of the first vehicle; and when the intelligent driving domain controller determines that the current driving mode of the first vehicle is the manual driving mode, predicting, by the intelligent driving domain controller, a manual driving trajectory of the first vehicle, and using the predicted manual driving trajectory as the first trajectory.