Self-adaptive vehicle curve auxiliary control method and device, computer equipment and storage medium

The invention provides a self-adaptive vehicle curve auxiliary control method and device, computer equipment and a storage medium. The method comprises the steps that S10, the type of a current curveis recognized according to signals of a sensor of a vehicle, and the lateral impact degree of the current vehicle is obtained according to the lateral acceleration corresponding to the type of the curve; S11, calculation is performed according to the lateral impact degree to obtain an expected longitudinal acceleration; S12, according to the expected longitudinal acceleration and the current actual longitudinal acceleration, an activation type of current curve auxiliary control is determined; and S13, according to the activation type, the engine torque or/and the ESC braking strength is/are cooperatively controlled, and expected longitudinal control over the curve of the vehicle is achieved. Certain vehicle longitudinal auxiliary control can be carried out on the premise that a driver doesnot perceive, so that the