METHOD FOR CONTROLLING VEHICLE, RELATED APPARATUS AND UNMANNED VEHICLE

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.