Automatic driving vehicle control method and device and storage medium

The invention discloses an automatic driving vehicle control method which comprises the steps that external torque information and target torque information of a target vehicle are obtained, and the external torque information is used for representing torque applied by a driver for a steering system of the target vehicle; the target torque information is used for indicating the transverse torque required to be output by the target vehicle for the current road information; based on the external torque information and the target torque information, transverse torque analysis is conducted on the automatic driving system, system request torque information is obtained, and the system request torque information is used for indicating the torque needing to be applied to the steering system by the automatic driving system when the torque requirement corresponding to the target torque information is met; lateral control is performed on the target vehicle with system request torque information based on the autonomous d