Vehicle control method and device, computer equipment and storage medium

The invention provides a vehicle control method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining environment information collected in the driving process of a target vehicle; a pre-decision result corresponding to the target vehicle is determined based on the environment information, and the pre-decision result comprises multiple pre-decision driving behaviors; generating to-be-screened driving tracks respectively corresponding to the various pre-decision driving behaviors; and based on the current environment information of the target vehicle, determining a target driving track from a plurality of to-be-screened driving tracks, and based on the target driving track, controlling the target vehicle. 本公开提供了一种车辆控制方法、装置、计算机设备及存储介质，其中，该方法包括：获取所述目标车辆行驶过程中采集的环境信息；基于所述环境信息确定所述目标车辆对应的预决策结果，其中，所述预决策结果包括多种预决策驾驶行为；生成与各种预决策驾驶行为分别对应的待筛选行驶轨迹；基于所述目标车辆当前的环境信息，从多个待筛选行驶轨迹中确定目标行驶轨迹，并基于所述目标行驶轨迹对所述目标车辆进行控制。