A vehicle control method, applied to a first vehicle, wherein the first vehicle is configured with at least one driver assistance system, the at least one driver assistance system is applied to at least one vehicle speed range when being in an active state, and the method comprises: obtaining (S310a, S310b), first information of a moving object near the first vehicle; determining (S320a, S320b), a first parameter based on the first information, wherein the first parameter is a due driving speed range that the first vehicle is supposed to have when there is no hazard of collision between the first vehicle and the moving object; terminating (S330a, S330b), based on the first parameter, an active state of a driver assistance system that is currently in the active state and that is in the at least one driver assistance system and setting (S340a, S340b), based on the first parameter, the first vehicle to run at a first vehicle speed outside of the at least one vehicle speed range, obtaining (S350a, S350b), updated first information; updating (S360a, S360b), the first parameter based on the updated first information; setting (S370a, S370b), based on the updated first parameter, the first vehicle to run at a second vehicle speed within the at least one vehicle speed range; and activating (S380a, S380b), one of the at least one driver assistance system based on the updated first parameter, wherein the setting, based on the updated first parameter, the first vehicle to run at the second vehicle speed within the at least one vehicle speed range includes: determining that the due driving speed range has an intersection with the at least one vehicle speed range; and setting, based on the updated first parameter, the first vehicle to run at the second vehicle speed in the intersection between the due driving speed range and the at least one vehicle speed range. obtaining (S310a, S310b), first information of a moving object near the first vehicle; determining (S320a, S320b), a first parameter based on the first information, wherein the first parameter is a due driving speed range that the first vehicle is supposed to have when there is no hazard of collision between the first vehicle and the moving object; terminating (S330a, S330b), based on the first parameter, an active state of a driver assistance system that is currently in the active state and that is in the at least one driver assistance system and setting (S340a, S340b), based on the first parameter, the first vehicle to run at a first vehicle speed outside of the at least one vehicle speed range, obtaining (S350a, S350b), updated first information; updating (S360a, S360b), the first parameter based on the updated first information; setting (S370a, S370b), based on the updated first parameter, the first vehicle to run at a second vehicle speed within the at least one vehicle speed range; and activating (S380a, S380b), one of the at least one driver assistance system based on the updated first parameter, wherein the setting, based on the updated first parameter, the first vehicle to run at the second vehicle speed within the at least one vehicle speed range includes: determining that the due driving speed range has an intersection with the at least one vehicle speed range; and setting, based on the updated first parameter, the first vehicle to run at the second vehicle speed in the intersection between the due driving speed range and the at least one vehicle speed range. <EOS>