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

The invention relates to a vehicle control method and device, a storage medium, a controller and a vehicle. The method comprises the following steps: determining obstacle information around a vehicle; determining whether the vehicle has a collision risk according to the obstacle information; if it is determined that the collision risk exists, the driving track of the vehicle is controlled so that the driving track of the vehicle can be a curve. The running track of the vehicle is adjusted to be a curve, the running distance of the vehicle is increased, the vehicle is subjected to wind resistance, rolling resistance and other factors in the process of approaching an obstacle with the collision risk through curve running, the motion energy of the vehicle is consumed as much as possible, collision is avoided, and even though the vehicle is finally collided, the collision safety of the vehicle is improved. And the impact force during collision can also be reduced through consumption of vehicle motion energy. Curv