Vehicle control method and device, storage medium, processor and vehicle

The invention discloses a vehicle control method and device, a storage medium, a processor and a vehicle. The method comprises the steps that road condition information in front of a vehicle is obtained, and the road condition information at least comprises the motion state of at least one road object in front of the vehicle and the distance between the at least one road object and the vehicle; based on the road condition information, the speed of the vehicle and the yaw velocity of the vehicle, a target road object in the at least one road object is determined, and the probability that the target road object collides with the vehicle is larger than a probability threshold value; obtaining an expected yaw velocity of the vehicle in response to a rotation operation of a steering wheel of the vehicle; and if the probability of collision between the vehicle and the target road object is determined to be greater than a probability threshold value based on the expected yaw velocity, controlling the vehicle to ente