Automatic driving control angle deviation rectification method and system, vehicle and storage medium

The invention discloses an automatic driving control angle deviation rectification method and system, a vehicle and a storage medium. The method comprises the steps: 1, obtaining a long-term self-learning angle value: enabling the vehicle to activate an automatic driving function with lateral control, judging whether the vehicle is in linear driving or not, and judging whether the vehicle deviatesor not if the vehicle is in linear driving, if the deviation phenomenon exists, calculating a long-term self-learning angle value according to the deviated steering wheel deviation angle, updating the original long-term self-learning angle value and storing the updated value, or otherwise, not updating the long-term self-learning angle value; and 2, correcting the angle control command: subtracting the long-term self-learning angle value on the basis of the original angle control command to obtain a final angle control command. According to the invention, the problem of automatic driving transverse control caused by