{
  "$type": "site.standard.document",
  "description": "The disclosure relates to the technical field of autonomous driving, and provides a method for determining a vehicle driving trajectory, a computer device, a storage medium, and a vehicle, to solve the problem of improving the reliability and safety in planning vehicle driving trajectories. The…",
  "path": "/patents/1386766",
  "publishedAt": "2025-12-03T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/0956",
    "ANHUI NIO AUTONOMOUS DRIVING TECH CO LTD [CN]"
  ],
  "textContent": "The disclosure relates to the technical field of autonomous driving, and provides a method for determining a vehicle driving trajectory, a computer device, a storage medium, and a vehicle, to solve the problem of improving the reliability and safety in planning vehicle driving trajectories. The method includes: sequentially simulating, based on an interaction scenario of a vehicle at a current moment by using forward driving of the vehicle as a constraint condition, an interaction scenario of the vehicle at each of a plurality of future moments, to form a scenario tree consisting of the interaction scenarios at the current moment and the future moments; obtaining a scenario value of each interaction intention in the interaction scenario at each moment in the scenario tree; obtaining an optimal interaction intention of the vehicle in the interaction scenario at each moment based on the scenario value; and determining a driving trajectory of the vehicle based on the optimal interaction intention. According to the disclosure, the optimal interaction intention of the vehicle can be made more consistent with correct driving habits of humans, thereby ensuring the autonomous driving safety and reliability of the vehicle.",
  "title": "METHOD FOR DETERMINING VEHICLE DRIVING TRAJECTORY, COMPUTER DEVICE, STORAGE MEDIUM, AND VEHICLE"
}