A method for vehicle control comprising: determining vehicles in a preset geo-fencing region including N lanes, the included lanes having a length of l threshold , where N is an integer greater than 1; determining a vehicle weight of each said vehicles according to a vehicle type and a waiting duration of each said vehicles, the vehicle weight reflecting a priority of passage of a vehicle, and the waiting duration being a duration that has been waited from the time when a vehicle entered a lane; estimating , according to the vehicle weights of the vehicles in each of lanes in the geo-fencing region and positions of the vehicles in each said lanes, a duration to be waited in each said lanes, comprising: f!t determining a weight of each said lanes according to the vehicle weights of the vehicles in lanes in the geo-fencing region; and determining, for the lane with the highest weight, the duration to be waited in the lane as zero; and for other lanes, determining queuing weights of the vehicles in the lanes according to the vehicle weights of the vehicles in the lanes, a queueing weight of a vehicle being an average value of weights of said vehicle and of vehicles after said vehicle in a lane; determining a number of vehicles to be waited by first vehicles in the lanes according to the queuing weights of the vehicles in the lanes; and determining durations to be waited in the lanes according to the number of vehicles to be waited by the first vehicles in the lanes and a predetermined unit time for a vehicle to pass; and generating a control instruction for each said vehicles according to the respective durations to be waited in each said lanes and the respective positions of the vehicles in each said lanes, the control instruction comprising a state instruction and/or a target speed instruction, wherein the state instruction indicates what state the vehicle is in, comprising start, keep, slow and stop, and the target speed instruction indicates what speed the vehicle has achieved. determining vehicles in a preset geo-fencing region including N lanes, the included lanes having a length of l threshold , where N is an integer greater than 1; determining a vehicle weight of each said vehicles according to a vehicle type and a waiting duration of each said vehicles, the vehicle weight reflecting a priority of passage of a vehicle, and the waiting duration being a duration that has been waited from the time when a vehicle entered a lane; estimating , according to the vehicle weights of the vehicles in each of lanes in the geo-fencing region and positions of the vehicles in each said lanes, a duration to be waited in each said lanes, comprising: f!t determining a weight of each said lanes according to the vehicle weights of the vehicles in lanes in the geo-fencing region; and determining, for the lane with the highest weight, the duration to be waited in the lane as zero; and for other lanes, determining queuing weights of the vehicles in the lanes according to the vehicle weights of the vehicles in the lanes, a queueing weight of a vehicle being an average value of weights of said vehicle and of vehicles after said vehicle in a lane; determining a number of vehicles to be waited by first vehicles in the lanes according to the queuing weights of the vehicles in the lanes; and determining durations to be waited in the lanes according to the number of vehicles to be waited by the first vehicles in the lanes and a predetermined unit time for a vehicle to pass; and generating a control instruction for each said vehicles according to the respective durations to be waited in each said lanes and the respective positions of the vehicles in each said lanes, the control instruction comprising a state instruction and/or a target speed instruction, wherein the state instruction indicates what state the vehicle is in, comprising start, keep, slow and stop, and the target speed instruction indicates what speed the vehicle has achieved. <EOS>