Vehicle steering control method and device, equipment and medium

The invention provides a vehicle steering control method, device and equipment and a medium, and relates to the technical field of vehicle transverse control. The method comprises the steps that when a vehicle steers, the front-axle driving torque and the rear-axle driving torque are adjusted according to vehicle driving information, and the front-axle driving torque is larger than the rear-axle driving torque; monitoring the actual yaw velocity of the vehicle; brake torque applied to the wheels is determined according to the actual yaw velocity; and braking wheels according to the braking torque so as to enable the vehicle to generate yawing motion during steering. The steering radius of the vehicle can be reduced, and steering flexibility and maneuverability are improved. 本发明提供了一种车辆转向的控制方法、装置、设备及介质，涉及车辆横向控制技术领域。该方法包括当车辆转向时，根据车辆行驶信息调整前轴驱动力矩和后轴驱动力矩，所述前轴驱动力矩大于所述后轴驱动力矩；监控车辆的实际横摆角速度；根据实际横摆角速度确定施加到车轮上的制动力矩；根据所述制动力矩对车轮进行制动，以使所述车辆在转向时产生横摆运动。本发明可以减少车辆转向半径，提高转向的灵活性与机动性。