The present invention provides a method, a device, a facility, and a storage medium for generating a defensive driving skills, wherein the method includes the steps of: detecting a type of each obstacle within a detection range of an autonomous vehicle; determining whether a collision risk exists between the autonomous vehicle and the obstacle by using a collision risk detection method corresponding to the type; and determining defensive driving skills of the autonomous vehicle when it is determined that there is the obstacle in which a collision risk exists within the detection range.
METHOD DEVICE EQUIPMENT AND STORAGE MEDIUM FOR GENERATING DEFENSIVE DRIVING POLICY