{
  "$type": "site.standard.document",
  "description": "A vehicle control apparatus and method includes, when a self-driving vehicle is in a self-driving status, obtaining driving status information of the self-driving vehicle and first driving environment information of the self-driving vehicle; calculating a coarse-grained control instruction of the…",
  "path": "/patents/1261115",
  "publishedAt": "2020-05-07T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/001",
    "Huawei Technologies Co., Ltd."
  ],
  "textContent": "A vehicle control apparatus and method includes, when a self-driving vehicle is in a self-driving status, obtaining driving status information of the self-driving vehicle and first driving environment information of the self-driving vehicle; calculating a coarse-grained control instruction of the self-driving vehicle based on the driving status information, the first driving environment information, and a control instruction decision model; determining, based on second driving environment information, whether the coarse-grained control instruction is to be executed; and when the coarse-grained control instruction is to be executed, determining, based on lane information and the driving status information of the self-driving vehicle, a fine-grained control instruction corresponding to the coarse-grained control instruction.",
  "title": "Vehicle Control Method, Apparatus, and Device"
}