Abstract: The present disclosure relates to methods and apparatuses for decision making. An example method includes obtaining a predicted moving track of an ego vehicle and predicted moving tracks of obstacles around the ego vehicle. The method further includes determining a game object. The game object is an obstacle that is in the obstacles around the ego vehicle and whose predicted moving track intersects the predicted moving track of the ego vehicle or whose distance from the ego vehicle is less than a specified threshold. The method further includes constructing one sampling game space for each game object based on vehicle information of the ego vehicle, obstacle information of the game object, and road condition information that are collected by a sensor system. Each sampling game space includes one or more game policies. The method further includes calculating a policy cost of each game policy.