Decision planning method driven by data and intelligent terminal

The invention provides a data-driven decision planning method, which comprises the following steps that: the position, orientation and speed information of a vehicle and the sensing information of other vehicles are obtained in real time, and the sensing information comprises the position, orientation and speed information of other vehicles and road characteristics; acquiring map information, position information and navigation information of the position of the vehicle and trajectory prediction information of other vehicles; according to the perception information, the map information, the position information, the navigation information and other vehicle trajectory prediction information, planning the trajectory of the vehicle through a planning model to obtain a planned trajectory; the planned track is verified; when the planned track passes the verification, enabling the vehicle to run according to the planned track; and when the planned trajectory verification is not passed, planning the trajectory of th