Vehicle steering stability control method and device, ESC and vehicle

The invention discloses a vehicle steering stability control method and device, an ESC and a vehicle. The method comprises the steps that whether the vehicle enters a steering working condition or not is detected; after it is detected that the vehicle enters the steering working condition, current road information and current state information of the environment where the vehicle is located are obtained, and an actual stability boundary corresponding to the steering working condition is calculated; and on the basis of the actual stability boundary, the optimal control action of a braking executing mechanism and/or a steering executing mechanism of the vehicle is generated, the braking executing mechanism and/or the steering executing mechanism are/is controlled to execute the corresponding braking action and/or steering action every first preset duration, and the stability of the vehicle meets the comfort condition. Therefore, the problems that in the related technology, the stability boundary is likely to be