METHOD AND DEVICE FOR CONTROLLING VEHICLE AND VEHICLE

Provided are a method and device for controlling a vehicle and a vehicle, and relates to the technical field of automatic driving. The method for controlling a vehicle includes: obtaining current state information of the vehicle, wherein the state information includes a position information and an attitude information; determining a preview tracking point from a plurality of path points of a target path to be tracked by the vehicle based on a reference information, wherein the reference information includes a preview time; determining a first turning angle and a second turning angle of a front wheel of the vehicle based on the position information and the attitude information, wherein the first turning angle is used for eliminating a distance error between the vehicle and the preview tracking point, and the second turning angle is used for eliminating a heading error between the vehicle and the preview tracking point; and performing a weighting calculation on the first turning angle and the second turning angle to determine a target turning angle for controlling the front wheel, wherein a minimum distance among a plurality of distances between the vehicle and the plurality of path points is a first distance, and at least one parameter of the preview time or a weight corresponding to the first turning angle is positively correlated with the first distance in a case where the first distance is within a preset distance range.