Headlamp follow-up method and system in vehicle steering out-of-control state and vehicle

The invention discloses a headlamp follow-up method and system in a vehicle steering out-of-control state and a vehicle, and relates to the technical field of vehicle illumination. The method comprises the following steps: acquiring a first signal about a current steering wheel angle and a vehicle speed of a vehicle; obtaining an expected deflection angle of the headlamp according to the first signal; acquiring a second signal about a yaw velocity of the vehicle; according to the second signal, the deflection angle compensation amount of the headlamp is obtained; the expected deflection angle and the deflection angle compensation amount are combined into an expected deflection angle output value, and a control signal used for controlling the headlamp to rotate is generated according to the expected deflection angle output value so as to adjust the irradiation area. Compared with the prior art, the headlamp of the vehicle can be matched with the driving direction in time when the steering of the vehicle is out