Driving policy determining method and apparatus, device, and vehicle

In a driving policy determining method, for each object, a first target motion trajectory of the object is calculated on a premise that the object does not collide with another object that moves based on an initial motion trajectory. Then, for the ego vehicle, a second target motion trajectory of the ego vehicle is calculated on a premise that the ego vehicle does not collide with another object that moves based on a first target motion trajectory. Then, a driving policy is determined based on the second target motion trajectory of the ego vehicle and a first target motion trajectory of at least one game object. The foregoing operations are repeated until the determined driving policy matches an initial driving policy.