Emergency steering control method, device and equipment and readable storage medium

The invention provides an emergency steering control method, device and equipment and a readable storage medium, and the emergency steering control method comprises the steps: when the track of a vehicle is detected to coincide with the track of a front obstacle, judging whether a collision avoidance space exists on the side or not; according to the collision time of the vehicle and the front obstacle, the earliest intervention time and the latest intervention time of the emergency steering auxiliary system, the steering intention of the driver and the emergency braking distance, whether the emergency steering auxiliary system is started or not is controlled; the output torque of the emergency steering auxiliary system is adjusted according to the input torque of the driver; and the target yaw velocity is adjusted according to the monitored real-time yaw velocity of the vehicle, so that the real-time yaw velocity of the vehicle does not trigger a vehicle body electronic stability control system. By means of t