The embodiment of the invention relates to a vehicle control method and device and a vehicle. The vehicle control method comprises the steps of determining a wheel steering mode according to a targetworking mode; determining the rotation direction of a rear wheel according to the rotation direction of a front wheel and the wheel steering mode; determining a target rotation angle of the rear wheelaccording to the rotation angle of the front wheel, a threshold condition and an execution rotation angle of the rear wheel, wherein the threshold condition is used for limiting the relationship between the execution rotation angle of the rear wheel and the target rotation angle; and generating a first control signal according to target steering information, wherein the first control signal is used for controlling the rear wheel to perform steering operation according to the target steering information, and the target steering information includes the target rotation angle and the rotation direction of the rear wheel. According to the technical scheme in the embodiment, the diversity of the driving function and the diversity of the driving posture are realized, the vehicle control methodand device are widely applied to various scenarios, and high reliability and stability are achieved.