Vehicle, control method and control device thereof and storage medium

The invention discloses a vehicle, a control method and device thereof and a storage medium. The method comprises the following steps: acquiring an environment image in front of a vehicle; recognizing the boundary of the environment in front of the vehicle according to the acquired environment image; comparing the size of the vehicle with the identified environment boundary to confirm whether the vehicle meets the passing condition in the front environment; and outputting a comparison result. By applying the scheme, the driving safety of the vehicle can be improved. 一种车辆及其控制方法、控制装置、存储介质。所述方法包括：获取车辆前方的环境图像；根据所获取的环境图像，识别车辆前方环境的边界；将所述车辆的尺寸，与识别出的环境边界进行比对，以确认所述车辆是否满足前方环境下的通行条件；输出比对结果。应用上述方案，可以提高车辆的驾驶安全性。