Does "will you stop here, please" express a command or exhortation?

Will you stop here, please.

is a command - but is more polite than simply using the imperative "stop here".

The use of "will" is what makes it sound more like a command than a request, compared to:

Polite but firm: Would you stop here, please.

Polite: Could you stop here, please.

More polite: Would you mind stopping here, please.

These are not equivalent sentences because of the "here." "Stop here, please," would be a request of a taxi driver, possibly, while "Stop it!" means stop whatever you're doing right now, with no reference to location. As Steve notes, there's a whole spectrum of politeness to these requests. Rule of thumb: the more syllables in the statement, the more polite.