Vehicle control method and device, vehicle and storage medium

The invention provides a vehicle control method and device, a vehicle and a storage medium, and relates to the technical field of vehicle control. The scheme comprises the steps of obtaining a current road condition of vehicle driving and a driving mode of a vehicle; if the current road condition is the target road condition or the driving mode is the target driving mode, the current vehicle speed, the current steering wheel turning angle and the current yaw velocity of the vehicle are obtained; according to the current vehicle speed and the current steering wheel turning angle, the target yaw velocity and the target rack position, corresponding to the target yaw velocity, of the steering gear are determined; and if it is detected that the target yaw velocity is not consistent with the current yaw velocity, the rack position of the steering gear is adjusted to the target rack position so as to control steering of the vehicle. The risk that steering is out of control can be reduced, and the safety and stabilit