CONTROL METHOD AND APPARATUS AND TERMINAL DEVICE

1 . A control method, comprising:

obtaining first status information of a first terminal, wherein the first status information comprises at least one first dynamic parameter and/or at least one first static parameter;

obtaining second status information of a second terminal, wherein the second status information comprises at least one second dynamic parameter and/or at least one second static parameter;

determining that the second terminal performs lateral movement; and

determining, based on the first status information and/or the second status information, whether to control the first terminal to perform lateral movement.

2 . The method according to claim 1 , wherein the first dynamic parameter comprises speed information of the first terminal,

wherein the determining whether to control the first terminal to perform lateral movement comprises:

determining that a speed of the first terminal is less than or equal to a first threshold, and controlling the first terminal to perform lateral movement; or

determining that the speed of the first terminal is greater than the first threshold, and preventing the first terminal from performing lateral movement.

3 . The method according to claim 1 , wherein the second dynamic parameter comprises heading angle information of the second terminal; and

wherein the determining whether to control the first terminal to perform lateral movement comprises:

determining that a heading angle of the second terminal is less than or equal to a preset angle threshold, and controlling the first terminal to perform lateral movement; or

determining that the heading angle of the second terminal is greater than the preset angle threshold, and preventing the first terminal from performing lateral movement.

4 . The method according to claim 1 , wherein the second dynamic parameter comprises duration in which the second terminal is located in front of the first terminal in a same lane; and

wherein the determining whether to control the first terminal to perform lateral movement comprises:

determining that the duration is greater than or equal to a preset duration threshold, and controlling the first terminal to perform lateral movement; or

determining that the duration is less than the preset duration threshold, and preventing the first terminal from performing lateral movement.

5 . The method according to claim 4 , wherein before controlling the first terminal to perform lateral movement, the method comprises:

determining a probability that a collision occurs after the first terminal performs lateral movement, and determining that the collision probability is less than a preset probability threshold.

6 . The method according to claim 4 , the further comprising:

controlling the first terminal to perform longitudinal movement in a longitudinal movement direction of the second terminal.

7 . The method according to claim 6 , the further comprising:

after the first terminal is prevented from performing lateral movement and the first terminal is controlled to perform longitudinal movement in the longitudinal movement direction of the second terminal, determining that the second terminal deviates from a current lane, and controlling the first terminal to travel along a lane line of the current lane, or re-determining a follow-up target of the first terminal.

8 . The method according to claim 4 , the further comprising:

determining that clarity of a lane line in which the first terminal is located is less than a preset clarity threshold, and

controlling the first terminal to travel along a predicted lane line obtained through prediction in a movement direction of the first terminal based on historical data of the lane line.

9 . The method according to claim 4 , the further comprising:

before the second terminal and the first terminal are located in a same lane and the second terminal is located in front of the first terminal, controlling the first terminal to move by following a third terminal.

10 . A control apparatus, comprising:

a processor, and

a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform to perform operations, the operations comprising:

obtaining first status information of a first terminal, wherein the first status information comprises at least one first dynamic parameter and/or at least one first static parameter;

obtaining second status information of a second terminal, wherein the second status information comprises at least one second dynamic parameter and/or at least one second static parameter; and

if it is determined that the second terminal performs lateral movement, determining, based on the first status information and/or the second status information, whether to control the first terminal to perform lateral movement.

11 . The apparatus according to claim 10 , wherein the first dynamic parameter comprises speed information of the first terminal; and

determining that a speed of the first terminal is less than or equal to a first threshold, and control the first terminal to perform lateral movement; or determining that the speed of the first terminal is greater than the first threshold, and prevent the first terminal from performing lateral movement.

12 . The apparatus according to claim 10 , wherein the second dynamic parameter comprises heading angle information of the second terminal; and

determining that a heading angle of the second terminal is less than or equal to a preset angle threshold, and control the first terminal to perform lateral movement; or determining that the heading angle of the second terminal is greater than the preset angle threshold, and prevent the first terminal from performing lateral movement.

13 . The apparatus according to claim 10 , wherein the second dynamic parameter comprises duration in which the second terminal is located in front of the first terminal in a same lane; and

determining that the duration is greater than or equal to a preset duration threshold, and control the first terminal to perform lateral movement; or determining that the duration is less than the preset duration threshold, and prevent the first terminal from performing lateral movement.

14 . The apparatus according claim 13 , wherein the operations further comprise:

before controlling first terminal to perform lateral movement, determining a probability that a collision occurs after the first terminal performs lateral movement, and

determining that the collision probability is less than a preset probability threshold.

15 . The apparatus according to claim 13 , wherein the operations further comprise:

controlling the first terminal to perform longitudinal movement in a longitudinal movement direction of the second terminal.

16 . The apparatus according to claim 15 , wherein the operations further comprise:

after the first terminal is prevented from performing lateral movement and the first terminal is controlled to perform longitudinal movement in the longitudinal movement direction of the second terminal, determining that the second terminal deviates from a current lane, and controlling the first terminal to travel along a lane line of the current lane, or re-determining a follow-up target of the first terminal.

17 . The apparatus according to claim 13 , wherein the operations further comprise:

determining that clarity of a lane line of a lane in which the first terminal is located is less than a preset clarity threshold, and

controlling the first terminal to travel along a predicted lane line obtained through prediction in a movement direction of the first terminal based on historical data of the lane line.

18 . The apparatus according to claim 13 , wherein the operations further comprise:

before the second terminal and the first terminal are located in a same lane and the second terminal is located in front of the first terminal, controlling the first terminal to move by following a third terminal.

19 . A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

obtaining first status information of a first terminal, wherein the first status information comprises at least one first dynamic parameter and/or at least one first static parameter;

obtaining second status information of a second terminal, wherein the second status information comprises at least one second dynamic parameter and/or at least one second static parameter;

determining that the second terminal performs lateral movement; and

determining, based on the first status information and/or the second status information, whether to control the first terminal to perform lateral movement.

20 . The machine-readable medium according to claim 19 , wherein the first dynamic parameter comprises speed information of the first terminal,

wherein the determining whether to control the first terminal to perform lateral movement comprises:

determining that a speed of the first terminal is less than or equal to a first threshold, and controlling the first terminal to perform lateral movement; or

determining that the speed of the first terminal is greater than the first threshold, and preventing the first terminal from performing lateral movement.