Vehicle control method, device and equipment and storage medium

The invention discloses a vehicle control method and device, equipment and a storage medium. And obtaining time-space partitions corresponding to at least two preset driving decisions. And for each driving decision, when the decision period corresponding to the driving decision is reached, determining decision driving data corresponding to the decision space range of the driving decision from the acquired driving data determined in the decision data acquisition period corresponding to the driving decision. And finally, according to the decision-making driving data, planning and executing a driving instruction corresponding to the driving decision. According to the embodiment of the invention, the vehicle is controlled to run according to the determined driving instruction. The driving instruction is obtained by planning the decision-making driving data corresponding to the space-time partition of the driving decision and collected in the decision-making data collection period corresponding to the driving deci