公开(公告)号：US20250010870A1

公开(公告)日：2025-01-09

申请号：US18887857

申请日：2024-09-17

Applicant: Beijing Baidu Netcom Science Technology Co., Ltd.

Inventor： Haowei ZHAO ,  Pengfei ZHANG ,  Yuchen SUN ,  Yuqing GUO ,  Kuan ZHANG ,  Lin MA ,  Changchun LIU

IPC: B60W50/06 ,  B60W50/00 ,  B60W60/00

Abstract: A method for controlling a vehicle, including: simulating and deducing, based on current state information between a target vehicle and a traffic participant, an interaction process between the target vehicle and the traffic participant to obtain an initial part of a cooperative game tree; updating, in response to there being a target leaf node that is capable of being expanded to obtain a target child node in the initial part, respective nodes on a deduction path from the root node to the target child node based on a path parameter of an updated predicted trajectory, to obtain a complete cooperative game tree composed of the initial part and the target child node; and determining a first control instruction of the target vehicle using the complete cooperative game tree, to control the target vehicle using the first control instruction.