Method and apparatus for controlling vehicle, device and storage medium

An apparatus for controlling a vehicle, comprising:

• one or more processors;
• and
• a storage device, configured to store one or more programs,
• wherein when the one or more programs are executed by the one or more processors, the one or more processors are configured to:
• in response to determining that a target vehicle is located in a historical takeover area, obtain historical control information associated with passing through a historical path in the historical takeover area, the historical takeover area indicating an area through which a vehicle with the same type as the target vehicle in a manual control state passed in a previous period;
• determine a planned path for the target vehicle to pass through the historical takeover area based on the historical control information, in which the historical control information includes decision-making information corresponding to the historical path, and trajectory information of the historical path;
• and
• control the target vehicle to pass through the historical takeover area in an automatic control state based on the planned path;
• wherein the one or more processors are further configured to:
• determine a path search space for passing through the historical takeover area based on the decision-making information corresponding to the historical path;
• introducing an offset from the historical path in a loss function based on the trajectory information of the historical path;
• and
• determine the planned path in the path search space based on the loss function adjusted, wherein a difference between the planned path and the historical path is less than a predetermined threshold.

A non-transitory computer-readable storage medium having a stored thereon computer program that, when executed by a processor, causes the processor to implement a method for controlling a vehicle, the method comprising:

• in response to determining that a target vehicle is located in a historical takeover area, obtaining historical control information associated with passing through a historical path in the historical takeover area, the historical takeover area indicating an area through which a vehicle with the same type as the target vehicle in a manual control state passed in a previous period;
• determining a planned path for the target vehicle to pass through the historical takeover area based on the historical control information, in which the historical control information includes decision-making information corresponding to the historical path, and trajectory information of the historical path;
• and
• controlling the target vehicle to pass through the historical takeover area in an automatic control state based on the planned path;
• wherein determining the planned path for the target vehicle to pass through the historical takeover area based on the historical control information comprises:
• determining a path search space for passing through the historical takeover area based on the decision-making information corresponding to the historical path;
• introducing an offset from the historical path in a loss function based on the trajectory information of the historical path;
• and
• determining the planned path in the path search space based on the loss function, wherein a difference between the planned path and the historical path is less than a predetermined threshold.