基于估算轮速的车辆控制方法和装置、车辆及存储介质

The embodiment of the application provides a vehicle control method and device based on estimated wheel speed, a vehicle and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps of obtaining wheel speed sensing data of a current wheel sensor, screening data validity of the wheel speed sensing data to obtain abnormal wheel speed data and valid wheel speed data, screening abnormal wheel sensors from the current wheel sensor according to the abnormal wheel speed data, detecting types of the abnormal wheel sensors to obtain sensor types of the abnormal wheel sensors, carrying out wheel speed estimation according to the sensor types and the valid wheel speed data to obtain wheel speed estimation data, and carrying out braking control on a preset braking system according to the wheel speed estimation data and the valid wheel speed data. The embodiment of the application can still ensure the normal operation of the anti-lock braking system when the wheel speed sensor is damaged, and improve the stability of the vehicle.