A vehicle control method, wherein the method comprises: determining (S1101) 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 (S1102) 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 (S1103) 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 (S1104) 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 (S1101) 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 (S1102) 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 (S1103) 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 (S1104) 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. <EOS>