The invention provides a vehicle control method, device and equipment and a storage medium, and relates to the field of automatic control. The method comprises the steps that the actual steering torque acting on a steering wheel by a driver and the theoretical steering torque corresponding to steering angle information of the steering wheel are obtained; when the difference value between the actual steering torque and the theoretical steering torque is larger than a preset difference value, a power-assisted coefficient is determined according to the actual steering torque and the theoretical steering torque, and the power-assisted coefficient is used for representing the strength of power-assisted steering provided by a power-assisted steering system of the vehicle for the vehicle; the steering compensation coefficient of the vehicle is determined according to a preset corresponding relation curve of the steering compensation coefficient and the power assisting coefficient and the power assisting coefficient; determining target driving force of the vehicle according to the steering compensation coefficient; controlling vehicle steering according to the target driving force of the vehicle. The vehicle can be steered to the angle expected by a driver in time under the condition that the steering assisting power of the steering system is lost, accidents caused by the fact that the vehicle is not steered in time are reduced, and the driving safety is improved.

本申请提供一种车辆控制方法、装置、设备及存储介质，涉及自动控制领域，该方法包括：获取驾驶员作用于方向盘的实际转向扭矩和方向盘的转角信息对应的理论转向扭矩；在实际转向扭矩和理论转向扭矩的差值大于预设差值时，根据实际转向扭矩和理论转向扭矩确定助力系数，助力系数用于表征车辆的助力转向系统为车辆提供的转向助力的强度；根据预设的转向补偿系数与助力系数的对应关系曲线以及助力系数确定车辆的转向补偿系数；根据转向补偿系数确定车辆的目标驱动力；根据车辆的目标驱动力控制车辆转向。使车辆在转向系统的转向助力丢失的情况下可以及时转向到驾驶员期望的角度，减少因车辆转向不及时导致的意外情况，有助于提高行车安全性。