Vehicle control method and device, equipment, storage medium and program product

The invention provides a vehicle control method and device, equipment, a storage medium and a program product. The method comprises the steps of obtaining an expected position of a vehicle at a target moment; according to a first constraint condition among the expected position, a to-be-optimized target driving variable of the vehicle and a slack variable corresponding to the target driving variable, solving the target driving variable to obtain a value of the target driving variable; the target driving variable comprises at least one of the following items: position, speed and acceleration; and performing driving control on the vehicle by using the value of the target driving variable. The method can guarantee that the target driving variable can be solved successfully. 本申请提供一种车辆控制方法、装置、设备、存储介质及程序产品。该方法包括：获取车辆在目标时刻的期望位置；根据期望位置、车辆待优化的目标驾驶变量与目标驾驶变量对应的松弛变量之间的第一约束条件，求解目标驾驶变量，得到目标驾驶变量的取值；目标驾驶变量包括下述至少一项：位置、速度、加速度；使用目标驾驶变量的取值，对车辆进行驾驶控制。本申请的方法可以保障目标驾驶变量能够求解成功。