The present disclosure provides a method and a device for controlling a vehicle, a device and a storage medium, and relates to the field of unmanned vehicle technologies. The method includes: acquiring a vehicle environment image by an image acquirer during traveling of the vehicle; extracting a static environment image included in the vehicle environment image; obtaining a planned vehicle traveling trajectory by taking the static environment image as an input of a trajectory planning model; and controlling the vehicle to travel according to the planned vehicle traveling trajectory.