This application discloses a pedal control method, device, equipment, and vehicle. The method involves acquiring the pedal state and, when the pedal state is a preset pedal state, acquiring the target pedal position change rate. When the target pedal position change rate does not meet the preset change rate, the method acquires the target pedal torque and, based on the target pedal torque, acquires a first change rate of the target pedal torque. Then, the first change rate is converted into a second change rate within a change rate threshold, where the second change rate is less than the first change rate, and the target pedal torque is output based on the second change rate. After a preset time has elapsed since the second change rate was used to output the target pedal torque, the target pedal torque continues to be output based on the first change rate. This application controls the first change rate of the target pedal torque within a certain range for a certain period, thereby avoiding rapid torque changes that could endanger the driver or passengers and providing the driver with sufficient reaction time to respond to potential hazards.