Failure control method and device of hydraulic steering gear, vehicle and storage medium

The invention relates to the technical field of automobiles, in particular to a failure control method and device of a hydraulic steering gear, a vehicle and a storage medium. Acquiring the current speed of the vehicle and the actual torque of the steering wheel; when the current vehicle speed is greater than the first preset vehicle speed and the actual torque of the steering wheel is greater than the preset torque, accumulating the duration that the actual torque of the steering wheel is greater than the preset torque; and calculating the turning angle variation of the steering wheel when the duration is greater than the preset duration, and when the turning angle variation is smaller than the preset variation, judging that the hydraulic steering gear fails, and controlling the vehicle to execute failure protection action. According to the method, whether the hydraulic steering gear fails can be accurately judged without additionally arranging a sensor, low-cost failure control of the hydraulic steering gea