VEHICLE DECISION-MAKING PLANNING METHOD AND DEVICE AND MEDIUM

A vehicle decision-making planning method and apparatus, a device and a medium. The method comprises: generating a base coordinate system; generating a guide line in the base coordinate system to determine an approximate travel trajectory of a vehicle in the future; performing obstacle decision-making under the constraint of the guide line; and generating a drivable area based on the obstacle decision-making. The method can implement unified decision-making of grid type and convex hull type obstacles, simplify an obstacle decision-making process of mixed type obstacles, accelerate the obstacle decision-making process, and enable a decision-making planning module to perform obstacle decision-making conveniently and quickly.