A vehicle control method, wherein the method comprises: determining a value range of a front wheel steering angle change rate of a vehicle and a value range of a wheel torque of the vehicle based on a dynamic model of the vehicle, a kinematic model of a road on which the vehicle is located, a tire friction model of the vehicle, and status information of the vehicle, wherein the dynamic model of the vehicle represents a change rule of a motion status of the vehicle, the kinematic model of the road on which the vehicle is located represents a change rule of a location of the vehicle relative to a road edge of the road on which the vehicle is located, and the tire friction model of the vehicle represents a change rule of a tire friction force of the vehicle; determining a value of the front wheel steering angle change rate of the vehicle based on the value range of the front wheel steering angle change rate of the vehicle and a lateral motion target function of the vehicle, wherein the lateral motion target function of the vehicle is a function about the front wheel steering angle change rate of the vehicle, and the lateral motion target function of the vehicle represents a deviation between a lateral motion of the vehicle and an ideal lateral motion; determining a value of the wheel torque of the vehicle based on the value range of the wheel torque of the vehicle and a longitudinal motion target function of the vehicle, wherein the longitudinal motion target function of the vehicle is a function about the wheel torque of the vehicle, and the longitudinal motion target function of the vehicle represents a deviation between a longitudinal motion of the vehicle and an ideal longitudinal motion; and controlling a motion of the vehicle based on the value of the front wheel steering angle change rate of the vehicle and the value of the wheel torque of the vehicle. determining a value range of a front wheel steering angle change rate of a vehicle and a value range of a wheel torque of the vehicle based on a dynamic model of the vehicle, a kinematic model of a road on which the vehicle is located, a tire friction model of the vehicle, and status information of the vehicle, wherein the dynamic model of the vehicle represents a change rule of a motion status of the vehicle, the kinematic model of the road on which the vehicle is located represents a change rule of a location of the vehicle relative to a road edge of the road on which the vehicle is located, and the tire friction model of the vehicle represents a change rule of a tire friction force of the vehicle; determining a value of the front wheel steering angle change rate of the vehicle based on the value range of the front wheel steering angle change rate of the vehicle and a lateral motion target function of the vehicle, wherein the lateral motion target function of the vehicle is a function about the front wheel steering angle change rate of the vehicle, and the lateral motion target function of the vehicle represents a deviation between a lateral motion of the vehicle and an ideal lateral motion; determining a value of the wheel torque of the vehicle based on the value range of the wheel torque of the vehicle and a longitudinal motion target function of the vehicle, wherein the longitudinal motion target function of the vehicle is a function about the wheel torque of the vehicle, and the longitudinal motion target function of the vehicle represents a deviation between a longitudinal motion of the vehicle and an ideal longitudinal motion; and controlling a motion of the vehicle based on the value of the front wheel steering angle change rate of the vehicle and the value of the wheel torque of the vehicle.