A method for controlling a vehicle, comprising: in response to determining that a target vehicle is located in a historical takeover area , obtaining historical control information associated with passing through a historical path in the historical takeover area , the historical takeover area indicating an area through which the vehicle in a manual control state passed in a previous period, in which the historical control information includes decision-making information corresponding to the historical path, and trajectory information of the historical path, wherein the historical path is a path which bypasses an obstacle; determining a planned path for the target vehicle to pass through the historical takeover area based on the historical control information; and controlling the target vehicle to pass through the historical takeover area in an automatic control state based on the planned path; characterized in that , determining the planned path for the target vehicle to pass through the historical takeover area based on the historical control information comprises: determining a path search space for passing through the historical takeover area based on the decision-making information corresponding to the historical path; introducing an offset from the historical path in a loss function based on the trajectory information of the historical path; and determining the planned path in the path search space based on the loss function, wherein the offset from the historical path is less than a predetermined threshold. in response to determining that a target vehicle is located in a historical takeover area , obtaining historical control information associated with passing through a historical path in the historical takeover area , the historical takeover area indicating an area through which the vehicle in a manual control state passed in a previous period, in which the historical control information includes decision-making information corresponding to the historical path, and trajectory information of the historical path, wherein the historical path is a path which bypasses an obstacle; determining a planned path for the target vehicle to pass through the historical takeover area based on the historical control information; and controlling the target vehicle to pass through the historical takeover area in an automatic control state based on the planned path; characterized in that , determining the planned path for the target vehicle to pass through the historical takeover area based on the historical control information comprises: determining a path search space for passing through the historical takeover area based on the decision-making information corresponding to the historical path; introducing an offset from the historical path in a loss function based on the trajectory information of the historical path; and determining the planned path in the path search space based on the loss function, wherein the offset from the historical path is less than a predetermined threshold. determining a path search space for passing through the historical takeover area based on the decision-making information corresponding to the historical path; introducing an offset from the historical path in a loss function based on the trajectory information of the historical path; and determining the planned path in the path search space based on the loss function, wherein the offset from the historical path is less than a predetermined threshold. <EOS>