Vehicle control method, device and equipment on transverse ramp and medium

The invention discloses a vehicle control method and device on a transverse ramp, equipment and a medium, and relates to the field of advanced driving assistance, and the method comprises the steps that the vehicle speed, the yaw velocity and the first transverse acceleration of a vehicle are obtained, and the second transverse acceleration is determined based on the vehicle speed and the yaw velocity; performing high-order filtering on the first transverse acceleration and the second transverse acceleration; determining a target acceleration based on the filtered first transverse acceleration and the filtered second transverse acceleration, and performing high-order filtering on the target acceleration; and determining the cross slope compensation torque through the filtered target acceleration and the torque compensation coefficient so as to control the vehicle. According to the method, the vehicle speed, the yaw velocity, the first transverse acceleration and other information can be ...