Vehicle control method and apparatus, electronic apparatus, and computer-readable storage medium

A vehicle control apparatus, comprising:

• a receiver configured to obtain steering wheel torque existing based on a driver performing a steering operation on a steering wheel;
• and
• a processor is configured to:
• determine target torque of a first wheel based on the steering wheel torque;
• and
• perform first steering control, wherein the first steering control comprises controlling the first wheel based on the target torque
• wherein the obtaining the target torque of the first wheel based on the steering wheel torque comprises obtaining braking torque of a first inner-side rear wheel based on the steering wheel torque, wherein the first inner-side rear wheel is a rear wheel located on an inner steering side;
• wherein the controlling the first wheel based on the target torque comprises braking the first inner-side rear wheel based on the braking torque;
• and
• wherein the obtaining the braking torque of the first inner-side rear wheel based on the steering wheel torque comprises:
• obtaining a first yaw moment based on the steering wheel torque;
• obtaining an actual yaw rate error;
• obtaining a second yaw moment based on the steering wheel torque and the actual yaw rate error;
• and
• obtaining the braking torque based on the first yaw moment and the second yaw moment.

A non-transitory computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a computer, the computer is caused to perform a method comprising:

• obtaining steering wheel torque existing based on a driver performing a steering operation on a steering wheel;
• obtaining target torque of a first wheel based on the steering wheel torque;
• and performing first steering control, wherein the first steering control comprises controlling the first wheel based on the target torque;
• wherein the obtaining the target torque of the first wheel based on the steering wheel torque comprises obtaining braking torque of a first inner-side rear wheel based on the steering wheel torque, wherein the first inner-side rear wheel is a rear wheel located on an inner steering side;
• wherein the controlling the first wheel based on the target torque comprises braking the first inner-side rear wheel based on the braking torque;
• and
• wherein the obtaining the braking torque of the first inner-side rear wheel based on the steering wheel torque comprises:
• obtaining a first yaw moment based on the steering wheel torque;
• obtaining an actual yaw rate error;
• obtaining a second yaw moment based on the steering wheel torque and the actual yaw rate error;
• and
• obtaining the braking torque based on the first yaw moment and the second yaw moment.