The invention discloses a multi-axle steering vehicle large curvature automatic driving and steering control method. The multi-axle steering vehicle large curvature automatic driving and steering control method comprises the steps that S1, a transverse deviation Ye(t) and a first course angle deviation Phi(t) of a vehicle at a current position are obtained, and a transverse deviation Y(t) and asecond course angle deviation e(1, t) of the vehicle at a preset preview point position are calculated; S2, an estimator Xi of a front wheel turning angle of the vehicle is calculated; S3, the estimator Xi of the front wheel turning angle is treated as feedback of the second course angle deviation e(1,t), and a course input deviation e' of the vehicle is calculated; and S4, an expected front wheel turning angle u of the vehicle is calculated according to the input deviation e', and vehicle steering is controlled. The multi-axle steering vehicle large curvature automatic driving and steering control method has the advantage that the front wheel turning angle is treated as the feedback course of a decision controller, a ''wheel returning'' measure adopted by a driver when the driver drives the vehicle to pass through a sharp curving route is simulated accordingly, the control performance of the controlled vehicle is better than a conventional control method when the controlled vehicle turns a corner with a large curvature radius, in addition, with increasing of the deviation, the superiority is more obvious.