Vehicle control method and device based on front vehicle side parking, vehicle and medium

The invention discloses a vehicle control method and device based on front vehicle side parking, a vehicle and a medium. The method comprises the steps that when a vehicle runs on a road with an illegal parking queue and runs on a lane beside the illegal parking queue, whether a vacant parking space exists in the illegal parking queue or not is judged; if the vacant parking space exists in the illegal parking queue, whether the front vehicle has the side parking intention of parking in the parking space or not is judged; and if the front vehicle has the side parking intention, predicting a side parking track of the front vehicle, and controlling the self vehicle to avoid driving according to the side parking track. By judging whether the front vehicle has the side parking intention or not, it can be known that the front vehicle is ready for side parking in advance, then avoiding driving is conducted in time according to the side parking track of the front vehicle, response does not need to be made until the f