Cloud control method for preventing vehicle rear-end collision and method for controlling vehicle

Abstract

The invention provides a cloud control method for preventing vehicle rear-end collision. The method comprises the following steps: determining a relative position relationship of each vehicle driving on a traffic lane based on driving state parameters received from each vehicle and evaluating a rear-end collision risk of each vehicle (S1); when the rear-end collision risk of the vehicle is higher than a preset risk threshold value, marking a rear-end collision risk level of the vehicle based on the evaluated rear-end collision risk (S2); and in response to a brake signal received from the first vehicle, based on the relative position relationship of each vehicle, sending a first control instruction for preventing vehicle rear-end collision to each marked vehicle running behind the first vehicle on the traffic lane where the first vehicle is located (S3). According to the method and the device, when the brake signal of the vehicle on a certain traffic lane is received, the control instruction is immediately issued to the corresponding marked vehicle, so that longer response time is gained for implementing countermeasures for each marked vehicle, and serial rear-end collision accidents among the vehicles are effectively avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of autonomous driving, in particular to a cloud-controlled method for preventing vehicle rear-end collisions, a cloud server, a method for controlling a vehicle, a vehicle, and a computer program product for at least partially implementing the steps of the method according to the present application. BACKGROUND

[0002] When a vehicle is driving on an urban road or a highway, it often encounters a congestion scenario, in which there are multiple vehicles driving on the same lane with a small following distance. When a certain vehicle on the lane performs a deceleration operation or an emergency braking, although the vehicle will alert the rear vehicles through warning lights, the rear vehicles do not have enough reaction time to perform the correct operation due to the small following distance, which may cause a chain of rear-end collisions of multiple vehicles.

[0003] Therefore, how to effectively prevent the chain of rear-end collisions of vehicles has become a technical problem to be solved. SUMMARY

[0004] The present application aims to provide a cloud-controlled method for preventing vehicle rear-end collisions, a cloud server, a method for controlling a vehicle, a vehicle, and a computer program product to at least partially solve the problems in the prior art.

[0005] According to a first aspect of the present application, a cloud-controlled method for preventing vehicle rear-end collisions is provided, which can comprise: determining relative position relationships of vehicles driving on a lane and evaluating rear-end collision risks of the vehicles based on driving state parameters received from the vehicles; in the case that a rear-end collision risk of a vehicle is higher than a preset risk threshold, marking a rear-end collision risk level of the vehicle based on the evaluated rear-end collision risk; and in response to a braking signal received from a first vehicle, sending a first control instruction for preventing vehicle rear-end collisions to each marked vehicle driving behind the first vehicle on the lane where the first vehicle is located based on the relative position relationships of the vehicles.

[0006] ​The core idea of the present application is that, based on the driving state parameters received from each vehicle, vehicles that are likely to have rear-end collisions on the same lane are marked, so as to make preparations for issuing control instructions to the marked vehicles in advance. When a braking signal of a vehicle on a lane is received, control instructions are immediately issued to each marked vehicle that is driving behind the vehicle on the lane, for controlling the marked vehicles to perform corresponding braking operations, and / or deceleration operations, and / or lane changing operations, etc., so as to win more reaction time for each marked vehicle to take measures, and effectively avoid a chain of rear-end collision accidents among the vehicles.

[0007] According to an optional embodiment of the present application, the first control instruction can include one or more of the following instructions: braking control instruction, deceleration control instruction, and lane changing control instruction, etc.

[0008] According to another optional embodiment of the present application, in response to the braking signal received from the first vehicle, the first control instruction, especially the braking control instruction, can be simultaneously sent to each marked vehicle that is driving behind the first vehicle on the lane where the first vehicle is located, based on the relative position relationship of each vehicle.

[0009] According to another optional embodiment of the present application, in response to the braking signal received from the first vehicle, the first control instruction, especially the braking control instruction, can be sent to each marked vehicle that is driving behind the first vehicle on the lane where the first vehicle is located, in order from high to low rear-end risk level, based on the relative position relationship of each vehicle.

[0010] According to another optional embodiment of the present application, the first control instruction can be sent to each marked vehicle that is driving behind the first vehicle on the lane where the first vehicle is located, in a preset priority order of the first control instruction, based on the relative position relationship of each vehicle.

[0011] According to another optional embodiment of the present application, the driving state parameters include, for example, vehicle speed information and position information of the vehicle, etc., wherein the position information includes, for example, geographical position information of the vehicle and lane information where the vehicle is located. Optionally, the driving state parameters further include component failure state of the vehicle, and / or driving state of the driver, and / or vehicle body structure information, etc., wherein the driving state of the driver includes, for example, fatigue degree and / or attention concentration degree of the driver, and wherein the vehicle body structure information includes, for example, whether the vehicle is a two-door car or a three-door car, and anti-collision component information of the vehicle.

[0012] According to another optional embodiment of the present application, the smaller the following distance of the vehicles on the same lane is, the higher the rear-end risk of the vehicles is evaluated.

[0013] According to another optional embodiment of this application, the higher the speed of vehicles in the same lane, the higher the risk of rear-end collision is assessed.

[0014] According to another optional embodiment of this application, the higher the driver's fatigue level and / or the lower the driver's attention integration level, the higher the risk of a rear-end collision is assessed.

[0015] According to another optional embodiment of this application, the more severe the component failure condition of the vehicle, the higher the risk of rear-end collision is assessed.

[0016] According to another optional embodiment of this application, the rear-end collision risk of a hatchback is assessed as higher than that of a sedan.

[0017] According to another optional embodiment of this application, the method may further include: - When the risk of a vehicle being rear-ended is higher than a preset risk threshold, a second control command to reduce the risk of a rear-end collision can be sent to the marked vehicle based at least on the driving status parameters of each vehicle. The second control command may include, for example, a deceleration control command and / or a lane change control command.

[0018] In this way, each marked vehicle can be controlled to decelerate and / or change lanes before the first vehicle triggers emergency braking, thereby reducing the risk of collision between the marked vehicles and more effectively preventing chain-reaction rear-end collisions.

[0019] According to a second aspect of this application, a cloud server is provided, which may include the following components: - A cloud-based communication unit configured to interact with the vehicle; and - A cloud control unit configured to perform a cloud-based control method for preventing rear-end collisions according to this application.

[0020] According to a third aspect of this application, a method for controlling a vehicle is provided, the method comprising: - During the activation of the vehicle's autonomous driving function, the vehicle's driving status parameters are uploaded to the cloud server; and - In response to a first control command received from the cloud server, the vehicle can be controlled based on the first control command.

[0021] According to another optional embodiment of this application, the method may further include: - When the vehicle applies brakes, the vehicle's braking signal can be uploaded to the cloud server.

[0022] According to another optional embodiment of this application, the method may further include: - In response to a second control command received from the cloud server, the vehicle can be controlled based on the second control command.

[0023] According to a fourth aspect of this application, a vehicle is provided, the vehicle comprising: - An onboard communication unit configured to interact with a cloud server according to this application; and - An onboard control unit configured to perform a cloud-based control method for preventing rear-end collisions according to this application.

[0024] According to a fifth aspect of this application, a computer program product, such as a computer-readable program carrier, is provided, comprising or storing computer program instructions, which, when executed by a processor, at least assist in implementing the steps of the cloud-based control method for preventing rear-end collisions according to this application and / or the steps of the method for controlling a vehicle. Attached Figure Description

[0025] The principles, features, and advantages of this application can be better understood by describing it in more detail below with reference to the accompanying drawings. The drawings show: Figure 1 A schematic diagram of a cloud server and a vehicle according to an exemplary embodiment of this application is shown; Figure 2 A flowchart illustrating a method for controlling a vehicle according to an exemplary embodiment of this application is shown. Figure 3 A schematic diagram of a driving scenario according to an exemplary embodiment of this application is shown; Figure 4 A flowchart illustrating a cloud-based control method for preventing rear-end collisions according to an exemplary embodiment of this application is shown. Figure 5 A flowchart illustrating a method for controlling a vehicle according to another exemplary embodiment of this application is shown; Figure 6 A flowchart illustrating a cloud-based control method for preventing rear-end collisions according to another exemplary embodiment of this application is shown; and Figure 7 A flowchart illustrating a method for controlling a vehicle according to another exemplary embodiment of this application is shown. Detailed Implementation

[0026] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit the scope of protection of this application.

[0027] Figure 1 A schematic diagram of a cloud server and a vehicle according to an exemplary embodiment of this application is shown. Figure 1 As shown, the cloud server 2 may include a cloud communication unit 21, which is configured to communicate with one or more vehicles 1 (in Figure 1 The illustration only shows one vehicle 1 for information interaction and a cloud control unit 22 configured to execute the cloud control method for preventing rear-end collisions according to this application. Vehicle 1 is particularly a vehicle with autonomous driving capabilities, and vehicle 1 may include an onboard communication unit 11 configured to interact with the cloud server 2, and an onboard control unit 12 configured to execute the method for controlling vehicle 1 according to this application. The cloud control method for preventing rear-end collisions executed in the cloud server 2 and the method for controlling vehicle 1 executed in vehicle 1 will be described separately below.

[0028] Figure 2 A flowchart illustrating a method for controlling a vehicle according to an exemplary embodiment of this application is shown. Figure 2 As shown, the method for controlling the vehicle may include steps S1 and S2. In step S1, during the activation of the autonomous driving function of vehicle 1, driving status parameters of vehicle 1 may be uploaded to cloud server 2. Figure 3The illustrated driving scenario depicts multiple vehicles traveling on a road with multiple lanes. Exemplarily shown are a first vehicle 101, a second vehicle 102, a third vehicle 103, and a fourth vehicle 104 traveling at a following distance in the right lane, and a fifth vehicle 105 traveling in the left lane. These vehicles 101 to 105 can collect their driving status parameters using their onboard sensors during driving and upload these parameters to the cloud server 2 via their onboard communication unit 11. In the context of this application, the driving status parameters are physical parameters characterizing the vehicle's kinematic characteristics, dynamic characteristics, vehicle posture, and / or handling and control states during driving. Exemplarily, the driving status parameters may include vehicle speed information and location information. The vehicle speed information can be detected, for example, by wheel speed sensors and / or an onboard positioning unit (e.g., a GPS navigation device). The location information includes, for example, the vehicle's geographical location information—determined by the onboard positioning unit—and the lane information—determined based on the vehicle's geographical location information and a high-precision map.

[0029] Optionally, the driving status parameters may also include the vehicle component failure status. For example, the vehicle may have damaged and unrepaired on-board components, which will send corresponding component status data or corresponding alarm signals to the on-board controller 12. Based on the received component status data or alarm signals, the on-board controller 12 can determine the faulty on-board component and / or the failure type of the on-board component.

[0030] Optionally, the driving state parameters may also include the driver's driving state, which is detected, for example, by image information about the driver collected through an in-vehicle camera. The driver's driving state may include, for example, the driver's fatigue level and / or concentration level, such as determining a high fatigue state when the driver is detected dozing off, or determining a state of inattention when the driver is detected talking or the driver's field of vision deviates from the vehicle's driving direction, and so on.

[0031] Optionally, the driving status parameters may also include vehicle body structure information, such as whether the vehicle is a hatchback or a sedan, and information on the vehicle's anti-collision components—for example, front and / or rear anti-collision beams.

[0032] After receiving the driving status parameters from each vehicle, the cloud server 2 can execute a cloud-based control method for preventing rear-end collisions. Figure 4 A flowchart illustrating a cloud-based control method for preventing rear-end collisions according to an exemplary embodiment of this application is shown. The following exemplary embodiments describe the method according to this application in more detail.

[0033] like Figure 4 As shown, the cloud-based control method for preventing rear-end collisions may include steps S1' to S3'. In step S1', the relative positional relationship of each vehicle 1 traveling in the driving lane can be determined and the rear-end collision risk of each vehicle 1 can be assessed based on driving state parameters received from each vehicle 1. Figure 3 In the driving scenario diagram shown, four vehicles 101, 102, 103, and 104 traveling in succession at a certain following distance in the right lane can be determined based on the position information of each vehicle. Among them, the second vehicle 102 is driving closely behind the first vehicle 101, the third vehicle 103 is driving closely behind the second vehicle 102, and the fourth vehicle 104 is driving closely behind the third vehicle 103. Based on the driving status information of the first vehicle 101 and the second vehicle 102, the risk of the second vehicle 102 rear-ending the first vehicle 101 can be assessed. For example, the smaller the following distance between the first vehicle 101 and the second vehicle 102 in the same lane, the higher the risk of the second vehicle 102 being rear-ended; the higher the speed of the first vehicle 101 and the second vehicle 102 in the same lane, the higher the risk of the second vehicle 102 being rear-ended; the higher the driver's fatigue level and / or the lower the driver's attention integration level of the second vehicle 102, the higher the risk of the second vehicle 102 being rear-ended; the more severe the component failure of the second vehicle 102, the higher the risk of the second vehicle 102 being rear-ended; and the rear-end collision risk of a hatchback is assessed as higher than that of a sedan, and so on. Similarly, the rear-end collision risk of the third vehicle 103 can be assessed based on the driving state parameters of the second vehicle 102 and the third vehicle 103, and the rear-end collision risk of the fourth vehicle 104 can be assessed based on the driving state parameters of the third vehicle 103 and the fourth vehicle 104, which will not be elaborated here.

[0034] In step S2', if the rear-end collision risk of a vehicle is higher than a preset risk threshold, the rear-end collision risk level of the vehicle can be marked based on the assessed rear-end collision risk. In the cloud server 2, all vehicles with a rear-end collision risk higher than the preset risk threshold can be marked with the same high rear-end collision risk level. For example, if the rear-end collision risk of the second vehicle 102 rear-ending the first vehicle 101 is higher than the preset risk threshold, the second vehicle 102 is marked with a high rear-end collision risk level; if the rear-end collision risk of the third vehicle 103 rear-ending the second vehicle 102 is higher than the preset risk threshold, the third vehicle 103 is marked with the same high rear-end collision risk level, and so on. Alternatively, multiple rear-end collision risk levels can be set for vehicles with a rear-end collision risk higher than the preset risk threshold based on the assessed rear-end collision risk, for example, setting a first high rear-end collision risk level, a second high rear-end collision risk level, and a third high rear-end collision risk level sequentially from high to low rear-end collision risk. For example, if the rear-end collision risk of the second vehicle 102, the rear-end collision risk of the third vehicle 103, and the rear-end collision risk of the fourth vehicle 104 are all higher than a preset risk threshold, and the rear-end collision risk of the second vehicle 102 is higher than that of the third vehicle 103, and the rear-end collision risk of the third vehicle 103 is higher than that of the fourth vehicle 104, then the second vehicle 102 can be marked with a first high rear-end collision risk level, the third vehicle 103 can be marked with a second high rear-end collision risk level, and the fourth vehicle 104 can be marked with a third high rear-end collision risk level, and so on.

[0035] like Figure 5 The flowchart shown is a process diagram of a method for controlling a vehicle according to another exemplary embodiment of this application. The method for controlling the vehicle may further include step S11. In step S11, when vehicle 1 performs braking, a braking signal of vehicle 1 may be uploaded to the cloud server 2. Figure 3 In the exemplary driving scenario diagram, if a stationary obstacle suddenly appears in front of the first vehicle 101—such as a stationary vehicle, construction roadblock, pedestrian, etc.—or a fifth vehicle 105, which is close to the first vehicle 101, changes lanes from an adjacent lane and enters the lane where the first vehicle 101 is located, the emergency braking system of the first vehicle 101 will be triggered to perform emergency braking and upload the braking signal of the first vehicle 101 to the cloud server 2. After receiving the braking signal, the cloud server 2 executes step S3' of the cloud control method for preventing rear-end collisions.

[0036] In step S3', in response to the braking signal received from the first vehicle 101, a first control command for preventing rear-end collisions can be sent to each marked vehicle traveling behind the first vehicle 101 in the same lane as the first vehicle 101, based on the relative positional relationship of the vehicles. The first control command may include one or more of the following commands: braking control command, deceleration control command, and lane change control command. Here, the cloud server 2 can simultaneously send the first control command, particularly the braking control command, to each marked vehicle traveling behind the first vehicle 101 in the same lane as the first vehicle 101—namely, the second vehicle 102, the third vehicle 103, and the fourth vehicle 104—based on the relative positional relationship of the vehicles. This simultaneously triggers the second vehicle 102, the third vehicle 103, and the fourth vehicle 104 to perform corresponding operations, particularly braking operations, based on the received first control command.

[0037] Optionally, the cloud server 2 can also send the first control command, especially the braking control command, sequentially to each marked vehicle traveling behind the first vehicle in the same lane as the first vehicle, according to the relative position of each vehicle, in descending order of rear-end collision risk level. For example, the first control command is first sent to the second vehicle 102 marked with the highest rear-end collision risk level, thereby triggering the second vehicle 102 to perform corresponding operations based on the received first control command; after waiting for a period of time, the first control command is sent to the third vehicle 103 marked with the second highest rear-end collision risk level, thereby triggering the third vehicle 103 to perform corresponding operations based on the received first control command; after waiting for another period of time, the first control command is sent to the fourth vehicle 104 marked with the third highest rear-end collision risk level, thereby triggering the fourth vehicle 104 to perform corresponding operations based on the received first control command.

[0038] Optionally, cloud server 2 can also send corresponding first control commands sequentially to each marked vehicle traveling behind first vehicle 102 in the lane where first vehicle 101 is located, according to the preset priority order of the first control commands, based on the relative position relationship of each vehicle. For example, the priority of braking control commands can be set higher than the priority of deceleration control commands, and the priority of deceleration control commands can be set higher than the priority of lane change control commands. Thus, cloud server 2 can first send braking control commands to second vehicle 102, third vehicle 103, and fourth vehicle 104, thereby triggering second vehicle 102, third vehicle 103, and fourth vehicle 104 to perform braking operations. As the vehicle braking process progresses, when the rear-end collision risk of the marked vehicle decreases to a first preset risk threshold, deceleration control commands can continue to be sent to one or more of second vehicle 102, third vehicle 103, and fourth vehicle 104 based on the driving state parameters of each vehicle, thereby triggering second vehicle 102, third vehicle 103, and / or fourth vehicle 104 to switch from braking operations to deceleration operations. As the vehicle deceleration process progresses, when the rear-end collision risk of the marked vehicle is further reduced to the second preset risk threshold, lane change control commands can be sent to one or more of the second vehicle 102, the third vehicle 103, and the fourth vehicle 104 based on the driving status parameters of each vehicle, thereby triggering the second vehicle 102, the third vehicle 103, and / or the fourth vehicle 104 to switch from deceleration operation to lane change operation.

[0039] After receiving the first control command, each vehicle can continue to execute step S2 of the method for controlling the vehicle. In step S2, in response to the first control command received from the cloud server 2, the vehicles can be controlled based on the first control command. Here, the second vehicle 102, the third vehicle 103, and / or the fourth vehicle 104 can perform corresponding braking operations, and / or deceleration operations, and / or lane changing operations, etc., according to the received first control command, in order to reduce the risk of chain-reaction rear-end collisions among these vehicles. For example, when the first vehicle 101 performs emergency braking, the second vehicle 102, the third vehicle 103, and the fourth vehicle 104 traveling behind the first vehicle 101 will immediately begin braking operations according to the received braking control command. Although the second vehicle 102 may not be able to avoid a rear-end collision with the first vehicle 101 due to its small following distance, the timely braking operation of the second vehicle 102 provides the third vehicle 103 and the fourth vehicle 104 traveling behind the second vehicle 102 with a longer reaction time, thereby effectively avoiding a chain rear-end collision between the third vehicle 103 and the second vehicle 102, and between the fourth vehicle 104 and the third vehicle 103.

[0040] According to embodiments of this application, vehicles in the same lane that may be involved in a rear-end collision are marked based on driving status parameters received from each vehicle, in order to prepare in advance for issuing control commands to the marked vehicles. Upon receiving a braking signal from a vehicle in a certain lane, control commands are immediately issued to each marked vehicle traveling behind it in that lane, controlling these marked vehicles to perform corresponding braking operations, and / or deceleration operations, and / or lane-changing operations, thereby gaining more reaction time for each marked vehicle to implement countermeasures and effectively avoiding chain-reaction rear-end collisions between these vehicles.

[0041] Figure 6 A flowchart illustrating a cloud-based control method for preventing rear-end collisions according to another exemplary embodiment of this application is shown. The following only describes the... Figure 4 The differences between the embodiments shown are omitted for brevity, and the same steps will not be repeated.

[0042] like Figure 6 As shown, the method may further include step S21'. In step S21', when the risk of a rear-end collision is higher than a preset risk threshold, a second control command to reduce the risk of a rear-end collision can be sent to the marked vehicle based at least on the driving state parameters of each vehicle. This second control command may include, for example, a deceleration command and / or a lane-changing command. Figure 3 In the exemplary driving scenario diagram, before the first vehicle 101 performs emergency braking, it is determined that the rear-end collision risk of the second vehicle 102, the third vehicle 103, and the fourth vehicle 104 traveling behind the first vehicle 101 is higher than a preset risk threshold. Therefore, deceleration control commands and / or lane change control commands are sent to the marked second vehicle 102, third vehicle 103, and fourth vehicle 104 to reduce the rear-end collision risk between the marked vehicles in advance. For example, if the fifth vehicle 105 in the left lane is traveling to the left front of the first vehicle 101, it can send lane change control commands to the second vehicle 102 and the fourth vehicle 104 to change lanes to the left lane, and send deceleration and lane change control commands to the third vehicle 103.

[0043] Figure 7 A flowchart illustrating a method for controlling a vehicle according to another exemplary embodiment of this application is shown. The following only describes the... Figure 5 The differences between the embodiments shown are omitted for brevity, and the same steps will not be repeated.

[0044] like Figure 7As shown, the method for controlling the vehicle may include step S10. In step S10, in response to a second control command received from the cloud server 2, vehicle 1 can be controlled based on the second control command. For example, second vehicle 102 and fourth vehicle 104 can change lanes to the left lane based on the received lane change control command, and third vehicle 103 can perform a deceleration operation based on a deceleration lane change control command. In this way, the deceleration and / or lane change operations of each marked vehicle can be controlled in advance before the first vehicle 101 triggers emergency braking, thereby reducing the collision risk between the marked vehicles in advance and more effectively preventing the occurrence of chain-reaction rear-end collisions.

[0045] In addition, it should be noted that the step numbers described herein do not necessarily represent the order of steps, but are merely a reference numeral. The order may be changed depending on the specific circumstances, as long as the technical objective of this application can be achieved.

[0046] It should be understood that the terms “first,” “second,” “third,” etc., used in this document are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated.

[0047] If an embodiment includes an "and / or" association between a first feature and a second feature, it should be interpreted as follows: according to one embodiment, the embodiment has not only the first feature but also the second feature; according to another embodiment, the embodiment has either only the first feature or only the second feature.

[0048] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of this application, even when only a single embodiment is described with respect to a particular feature. The feature examples provided in this application are intended for illustrative purposes and not for limitation, unless otherwise stated. In practice, multiple features may be combined with each other as needed and where technically feasible. Various substitutions, modifications, and alterations are also conceived without departing from the spirit and scope of this application.

Claims

1. A cloud-based control method for preventing rear-end collisions, the method comprising: The relative positional relationship of each vehicle traveling in the driving lane is determined based on the driving state parameters received from each vehicle, and the rear-end collision risk of each vehicle is assessed. If the risk of a vehicle being rear-ended is higher than a preset risk threshold, the rear-end collision risk level of the vehicle is marked based on the assessed rear-end collision risk. as well as In response to a braking signal received from the first vehicle, and based on the relative positions of the vehicles, a first control command for preventing rear-end collisions is sent to each marked vehicle traveling behind the first vehicle in the same lane as the first vehicle.

2. The method according to claim 1, wherein, The first control command includes one or more of the following commands: braking control command, deceleration control command, and lane change control command.

3. The method according to claim 1 or 2, wherein, In response to a braking signal received from the first vehicle, the first control command, particularly a braking control command, is simultaneously transmitted to each marked vehicle traveling behind the first vehicle in the same lane as the first vehicle, based on the relative positions of the vehicles; and / or In response to a braking signal received from the first vehicle, the first control command, particularly a braking control command, is sequentially sent to each marked vehicle traveling behind the first vehicle in the same lane as the first vehicle, based on the relative positions of the vehicles, in descending order of rear-end collision risk level; and / or Based on the relative positions of each vehicle, the corresponding first control commands are sent sequentially to each marked vehicle traveling behind the first vehicle in the same lane as the first vehicle, according to the preset priority order of the first control commands.

4. The method according to any one of claims 1 to 3, wherein, The driving status parameters include vehicle speed information and location information, and optionally also include vehicle component failure status, and / or driver's driving status, and / or vehicle body structure information. The location information includes, for example, the vehicle's geographical location information and the lane information it is in. The driver's driving status includes, for example, the driver's fatigue level and / or concentration level. The vehicle body structure information includes, for example, whether the vehicle is a hatchback or a sedan, and information about the vehicle's anti-collision components; and / or The closer the following distance between vehicles in the same lane, the higher the risk of a rear-end collision is assessed; and / or The higher the speed of vehicles in the same lane, the higher the risk of a rear-end collision is assessed; and / or The higher the driver's level of fatigue and / or the lower the driver's level of attention integration, the higher the risk of a rear-end collision is assessed; and / or The more severe the component failure condition of a vehicle, the higher the risk of a rear-end collision is assessed; and / or The rear-end collision risk of hatchbacks is assessed as higher than that of sedans.

5. The method according to any one of claims 1 to 4, wherein, The method further includes: If the risk of a vehicle being rear-ended is higher than a preset risk threshold, a second control command is sent to the marked vehicle based at least on the driving status parameters of each vehicle to reduce the risk of a rear-end collision. The second control command may include, for example, a deceleration control command and / or a lane change control command.

6. A cloud server (2), the cloud server (2) comprising the following components: Cloud communication unit (21), which is configured to interact with vehicle (1) for information exchange; and A cloud control unit (22) is configured to perform the method according to any one of claims 1 to 5.

7. A method for controlling a vehicle, the method comprising: During the activation of the autonomous driving function of the vehicle (1), the driving status parameters of the vehicle (1) are uploaded to the cloud server (2) according to claim 6; and In response to a first control command received from the cloud server (2), the vehicle (1) is controlled based on the first control command.

8. The method according to claim 7, wherein, The method further includes: When the vehicle (1) applies brakes, the braking signal of the vehicle (1) is uploaded to the cloud server (2); and / or In response to a second control command received from the cloud server (2), the vehicle (1) is controlled based on the second control command.

9. A vehicle (1), said vehicle (1) comprising: The vehicle communication unit (11) is configured to interact with the cloud server (2) according to claim 6; and The vehicle control unit (12) is configured to perform the method according to claim 7 or 8.

10. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions that, when executed by a processor, at least auxiliaryly implement the steps of the method according to any one of claims 1 to 5 and 7 to 8.

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