Vehicle steering control method and device, vehicle and storage medium

The invention discloses a vehicle steering control method and device, a vehicle and a storage medium. The method comprises the steps that under the condition that it is detected that a vehicle is in a preset state, a steering factor is determined according to the target control yaw velocity and the yaw velocity; determining a first wheel torque according to the steering factor, the driver demand torque and the additional yaw demand torque; determining a second wheel torque according to the target wheel speed and the actual wheel speed of the wheels of the vehicle; and according to the first wheel torque, the second wheel torque and a preset inter-wheel torque difference threshold value, target torque is determined. According to the technical scheme, the longitudinal driving traction performance and the lateral control stability are both considered, and the stable steering running capacity and the track following capacity of the vehicle are improved. 本发明公开了一种车辆转向控制方法、装置、车辆及存储介质。该方法包括：检测到车辆处于预设状态的情况下，根据目标操纵横摆角速