The invention belongs to the technical field of automatic driving testing, and particularly relates to an interpretable automatic driving decision-making method based on causal knowledge. Comprising the following steps: step 1, discovering causals oriented to automatic decision knowledge; 2, constructing an interpretable automatic driving
decision model; 3, evaluating the
interpretability of the automatic driving decision-making
system; and 4, evaluating the performance of the automatic driving decision-making
system. The method comprises four steps of causal discovery for automatic driving decision-making knowledge, construction of an interpretable automatic driving decision-making model, evaluation of the
interpretability of the automatic driving decision-making
system, and evaluation of the performance of the automatic driving decision-making system. Based on a causal discovery model of decision
observation data, key variables of a causal relationship influencing self-
vehicle driving behaviors are found from the data, an
interpretability standard and a decision performance evaluation index are defined, the interpretability and decision performance of an automatic driving
decision system are evaluated, and the automatic driving
decision system is continuously optimized and iterated.