In-situ turning control method, device and system and vehicle

The invention provides an in-situ turning-around control method, device and system and a vehicle. According to the in-situ turning-around control method, after an in-situ turning-around function is started, a brake locking wheel, a first target steering direction of a front axle power source and a second target steering direction of a rear axle power source are determined based on vehicle steering and vehicle gears, and the brake locking wheel is controlled to be braked and locked; determining a first target output torque of a front axle power source, a second target output torque of a rear axle power source and a target braking torque of each rotating wheel based on the current position of the accelerator pedal and the current rotating speed of each rotating wheel of the vehicle; and controlling a front axle power source to perform torque output based on the first target steering direction and the first target output torque, controlling a rear axle power source to perform torque output based on the second ta