The present disclosure provides a method and an apparatus for controlling vehicle-infrastructure cooperated autonomous driving, an electronic device, a medium, a vehicle, and a cooperative vehicle-infrastructure system, and relates to the technical field of artificial intelligence, and in particular, to the technical field of autonomous driving and intelligent transportation. An implementation is: obtaining first detection information in a detectable range of a first vehicle; determining, based on the first detection information, that the first vehicle is in a jammed state on a current traveling lane; in response to determining that the first vehicle is in the jammed state on the current traveling lane, obtaining second detection information by using an infrastructure, where the second detection information includes information out of the detectable range of the first vehicle; and determining a control decision for the first vehicle at least based on the second detection information.