The invention provides a method and device for evaluating a vehicle control model, equipment and a computer storage medium. The method for evaluating the vehicle control model comprises the following steps: collecting vehicle driving data; obtaining output data of the vehicle control model according to the vehicle driving data, and determining an evaluation parameter value as a model evaluation parameter value according to the output data; according to the vehicle driving data, calculating the evaluation parameter value as a standard evaluation parameter value; and evaluating the vehicle control model by utilizing the mean square error between the model evaluation parameter value and the standard evaluation parameter value corresponding to the same timestamp. According to the technical scheme, the vehicle control model can be evaluated objectively and accurately.