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.

Abstract: A trajectory planning method for an autonomous vehicle includes a lateral displacement planner that plans a preliminary traveling trajectory for an autonomous driving vehicle based on perceptual data, positioning data, and map information, where the preliminary traveling trajectory includes N road points, and each road point includes coordinate information of the road point and allowable lateral error information of the road point. A longitudinal speed planner inherits all or some of the N road points output by the lateral displacement planner and determines speed information of n road points based on traffic road condition information and the perception data to obtain a target traveling trajectory. The speed information is a drivable speed of the autonomous driving vehicle at each of the n road points. The target traveling trajectory includes the n road points, each of the n road points including the drivable speed of the autonomous driving vehicle at the road point.

Abstract: Methods, apparatus, and computer programs stored on a computer-readable storage medium for obstacle avoidance are provided. One example method includes obtaining vehicle information, obstacle information, and a drivable area of a vehicle at a moment t, and processing the drivable area based on the vehicle information and the obstacle information to obtain a potential energy grid map. The method can include obtaining information about a center line of a lane in which the vehicle is currently located, and obtaining a parallel-line track cluster based on the information about the lane center line. The method can include calculating a cost value of each parallel-line track, and performing time-domain filtering on a parallel-line track with a minimum cost value in the parallel-line track cluster to obtain a target track at the moment t specifying a parallel line track that is used by the vehicle to avoid an obstacle.

Abstract: A method and system for performing a criticality analysis of a water distribution network is provided. The method and system provides for segmentation of the system which allows a user to determine the set of elements that comprise segments, which in turn are the smallest portion of a water distribution system that can be isolated by valving. Isolating valves are included as elements in the set of elements that are used by an associated hydraulic solver engine to segment the water distribution network. Once the network has been segmented, a criticality analysis is performed whereby a hydraulic simulation is run for an outage of one or more segments, and the shortfall in demand supplied to other segments is calculated. The system provides for a linking of the ability to automatically identify segments with a hydraulic analysis model to enable a user not only to identify segments, but to rank their importance based on a variety of user defined metrics.