A vehicle control method is provided. In the method, a target driving speed and an actual driving speed of the vehicle are obtained. A control mode among candidate control modes is determined by the processing circuitry based on a comparison between the target driving speed and the actual driving speed. The candidate control modes includes a braking control mode, an acceleration control mode, and a stopping control mode. A throttle amount and a braking amount to change the actual driving speed to the target driving speed are determined by the processing circuitry. Further, the determined throttle amount and braking amount are applied to the vehicle based on the determined control mode.