Vehicle control method, device and equipment and storage medium

The invention belongs to the technical field of vehicle control, and discloses a vehicle control method and device, equipment and a storage medium. The method comprises the following steps: if at least one of a vehicle and a front vehicle is in a ramp, acquiring front road information; determining a view shielding area of the vehicle according to the front road information; when it is detected that the front vehicle is lost, whether the front vehicle is in the view shielding area or not is detected; if the target is in the view shielding area, estimating the interval duration of detecting the front vehicle for the first time after the target is lost; and when the timing does not exceed the interval duration and the preceding vehicle is not detected again, controlling the vehicle to follow the vehicle to run by estimating the position of the preceding vehicle. When it is determined that the target is lost due to the view shielding area, the vehicle is controlled to run along with the vehicle by estimating the