Vehicle Control Method, Apparatus, and Device

A vehicle control apparatus, comprising:

• a memory storing instructions;
• and
• a processor coupled to the memory and configured to execute the instructions that cause the vehicle control apparatus to be configured to:
• obtain driving status information of a self-driving vehicle and first driving environment information of the self-driving vehicle when the self-driving vehicle is in a self-driving status;
• obtain a control instruction decision model through training based on training driving status information of the self-driving vehicle in a training status and training driving environment information of the self-driving vehicle in the training status;
• calculate a coarse-grained control instruction of the self-driving vehicle based on the driving status information, the first driving environment information, and the control instruction decision model, wherein the coarse-grained control instruction is used to controls a driving manner of the self-driving vehicle;
• determine, based on second driving environment information, whether to execute the coarse-grained control instruction, wherein the second driving environment information comprises driving environment information that corresponds to the coarse-grained control instruction when the self-driving vehicle is in the self-driving status;
• determine, based on lane information of the self-driving vehicle and the driving status information of the self-driving vehicle, a fine-grained control instruction that corresponds to the coarse-grained control instruction, wherein the fine-grained control instruction controls a driving parameter of the self-driving vehicle, and wherein the lane information comprises first information about a lane of the self-driving vehicle that corresponds to the coarse-grained control instruction that is on a road the self-driving vehicle drives;
• and
• output the fine-grained control instruction.

A vehicle control device, comprising:

• a memory configured to store program code that corresponds to executable program code;
• a bus coupled to the memory;
• and
• a processor coupled to the memory and configured for mutual communication using the bus, wherein the processor is configured to execute the program code that causes the vehicle control device to be configured to:
• obtain driving status information of a self-driving vehicle and first driving environment information of the self-driving vehicle when the self-driving vehicle is in a self-driving status;
• obtain a control instruction decision model through training based on training driving status information of the self-driving vehicle in a training status and training driving environment information of the self-driving vehicle in the training status;
• calculate a coarse-grained control instruction of the self-driving vehicle based on the driving status information, the first driving environment information, and the control instruction decision model, wherein the coarse-grained control instruction controls a driving manner of the self-driving vehicle;
• determine, based on second driving environment information, whether to execute the coarse-grained control instruction, wherein the second driving environment information comprises driving environment information that corresponds to the coarse-grained control instruction when the self-driving vehicle is in the self-driving status;
• determine, based on lane information of the self-driving vehicle and the driving status information of the self-driving vehicle, a fine-grained control instruction that corresponds to the coarse-grained control instruction, wherein the fine-grained control instruction controls a driving parameter of the self-driving vehicle, and wherein the lane information comprises first information about a lane that corresponds to the coarse-grained control instruction that is on a road the self-driving vehicle drives;
• and
• output the fine-grained control instruction.

A computer program product comprising computer-executable instructions stored on a non-transitory computer-readable storage medium that when executed by a processor, causes an apparatus to:

• obtain driving status information of a self-driving vehicle and first driving environment information of the self-driving vehicle when the self-driving vehicle is in a self-driving status;
• obtain a control instruction decision model through training based on training driving status information of the self-driving vehicle in a training status and training driving environment information of the self-driving vehicle in the training status;
• calculate a coarse-grained control instruction of the self-driving vehicle based on the driving status information, the first driving environment information, and the control instruction decision model, wherein the coarse-grained control instruction controls a driving manner of the self-driving vehicle;
• determine, based on second driving environment information, whether to execute the coarse-grained control instruction, wherein the second driving environment information comprises driving environment information that corresponds to the coarse-grained control instruction when the self-driving vehicle is in the self-driving status;
• determine, based on lane information of the self-driving vehicle and the driving status information of the self-driving vehicle, a fine-grained control instruction that corresponds to the coarse-grained control instruction, wherein the fine-grained control instruction controls a driving parameter of the self-driving vehicle, and wherein the lane information comprises first information about a lane that is corresponding to the coarse-grained control instruction that is on a road the self-driving vehicle drives;
• and
• output the fine-grained control instruction.