A method, an apparatus, a device and a computer storage medium for vehicle control are disclosed. The method includes: obtaining information about an obstacle to be recognized around an autonomous vehicle scanned with a LiDAR; performing obstacle recognition using the information about the obstacle to be recognized; determining a roadside blind region of the autonomous vehicle based on a result of the obstacle recognition; judging a risk of collision between the autonomous vehicle and a traffic participant appearing from the roadside blind region; and controlling the travel of the autonomous vehicle according to a result of the judgment.