A policy determining method, comprising: determining, for each of a plurality of objects, a first target sequence that satisfies a first condition, wherein the first target sequence comprises values of a motion parameter at a plurality of first moments after the object starts from a current location of the object, the first condition is that the object does not collide, in a process of moving from the current location of the object based on a current speed and the first target sequence, with other objects that is in the plurality of objects and that moves based on an initial motion trajectory of the other objects, the initial motion trajectory comprises locations of the another object at a plurality of second moments, and the plurality of objects comprise an ego vehicle and at least one game object; calculating a first target motion trajectory generated when each object moves from the current location of the object based on the current speed and the corresponding first target sequence, wherein the first target motion trajectory comprises locations of the object at the plurality of second moments; determining, for the ego vehicle, a second target sequence that satisfies a second condition, wherein the second target sequence comprises values of a motion parameter at the plurality of first moments after the ego vehicle starts from a current location of the ego vehicle, and the second condition is that the ego vehicle does not collide, in a process of moving from the current location of the ego vehicle based on a current speed and the second target sequence, with the at least one game object that moves based on a first target motion trajectory of the at least one game object; calculating a second target motion trajectory generated when the ego vehicle moves from the current location of the ego vehicle based on the current speed and the second target sequence, wherein the second target motion trajectory comprises locations of the ego vehicle at the plurality of second moments; determining a driving policy of the ego vehicle in current iterative calculation based on the second target motion trajectory of the ego vehicle and the first target motion trajectory of the at least one game object; and repeatedly performing the foregoing operations until the driving policy of the ego vehicle in current iterative calculation matches an initial driving policy. determining, for each of a plurality of objects, a first target sequence that satisfies a first condition, wherein the first target sequence comprises values of a motion parameter at a plurality of first moments after the object starts from a current location of the object, the first condition is that the object does not collide, in a process of moving from the current location of the object based on a current speed and the first target sequence, with other objects that is in the plurality of objects and that moves based on an initial motion trajectory of the other objects, the initial motion trajectory comprises locations of the another object at a plurality of second moments, and the plurality of objects comprise an ego vehicle and at least one game object; calculating a first target motion trajectory generated when each object moves from the current location of the object based on the current speed and the corresponding first target sequence, wherein the first target motion trajectory comprises locations of the object at the plurality of second moments; determining, for the ego vehicle, a second target sequence that satisfies a second condition, wherein the second target sequence comprises values of a motion parameter at the plurality of first moments after the ego vehicle starts from a current location of the ego vehicle, and the second condition is that the ego vehicle does not collide, in a process of moving from the current location of the ego vehicle based on a current speed and the second target sequence, with the at least one game object that moves based on a first target motion trajectory of the at least one game object; calculating a second target motion trajectory generated when the ego vehicle moves from the current location of the ego vehicle based on the current speed and the second target sequence, wherein the second target motion trajectory comprises locations of the ego vehicle at the plurality of second moments; determining a driving policy of the ego vehicle in current iterative calculation based on the second target motion trajectory of the ego vehicle and the first target motion trajectory of the at least one game object; and repeatedly performing the foregoing operations until the driving policy of the ego vehicle in current iterative calculation matches an initial driving policy.