Vehicle control method and device, medium and electronic equipment

The invention relates to the technical field of safety control of a whole vehicle, and discloses a whole vehicle control method and device, a medium and electronic equipment. The method comprises the steps that a target turning angle instruction sent by a vehicle control unit to a steering system is obtained; acquiring a real-time turning angle of the steering system; if the target turning angle corresponding to the target torque instruction is different from the real-time turning angle, it is judged that the steering system fails; if the steering system fails, torque information of the whole vehicle is obtained; determining a steering angle of a steering wheel of the whole vehicle based on the torque information; target torque information of the whole vehicle is determined according to the steering angle; and each hub motor of the whole vehicle is driven based on the target torque information, so that the whole vehicle runs in a straight line. According to the whole vehicle control method, when the steering