A method for controlling a vehicle to output an assisting power, comprising: obtaining (S201) a friction force between the vehicle and ground by a friction sensor placed on a wheel of the vehicle; determining (S202) a target assisting power of the vehicle according to the friction force; and controlling (S203) a motor of the vehicle to output the target assisting power; characterized in that , the method further comprises: when the motor of the vehicle outputs the target assisting power, detecting (S801) the friction force and a human driving force received by the vehicle at a preset time interval; when detecting that a difference value between the human driving force and the friction force decreases with time, increasing (S802) the target assisting power of the vehicle to enable a driving speed of the vehicle to match with a preset speed or a driving acceleration of the vehicle to match with a preset acceleration; and when detecting that the difference value between the human driving force and the friction force increases with time, decreasing (S803) the target assisting power of the vehicle to enable the driving speed of the vehicle to match with the preset speed or the driving acceleration of the vehicle to match with the preset acceleration. obtaining (S201) a friction force between the vehicle and ground by a friction sensor placed on a wheel of the vehicle; determining (S202) a target assisting power of the vehicle according to the friction force; and controlling (S203) a motor of the vehicle to output the target assisting power; characterized in that , the method further comprises: when the motor of the vehicle outputs the target assisting power, detecting (S801) the friction force and a human driving force received by the vehicle at a preset time interval; when detecting that a difference value between the human driving force and the friction force decreases with time, increasing (S802) the target assisting power of the vehicle to enable a driving speed of the vehicle to match with a preset speed or a driving acceleration of the vehicle to match with a preset acceleration; and when detecting that the difference value between the human driving force and the friction force increases with time, decreasing (S803) the target assisting power of the vehicle to enable the driving speed of the vehicle to match with the preset speed or the driving acceleration of the vehicle to match with the preset acceleration. when the motor of the vehicle outputs the target assisting power, detecting (S801) the friction force and a human driving force received by the vehicle at a preset time interval; when detecting that a difference value between the human driving force and the friction force decreases with time, increasing (S802) the target assisting power of the vehicle to enable a driving speed of the vehicle to match with a preset speed or a driving acceleration of the vehicle to match with a preset acceleration; and when detecting that the difference value between the human driving force and the friction force increases with time, decreasing (S803) the target assisting power of the vehicle to enable the driving speed of the vehicle to match with the preset speed or the driving acceleration of the vehicle to match with the preset acceleration. <EOS>