The invention relates to an automobile and a single wheelset/double wheelset trackless train, and a tracking steering control method for the automobile and the single wheelset/double wheelset trackless train. The method comprises the steps of performing uninterrupted data collection from a set initial state by taking distance or time as a unit, and collecting data information of a guiding front wheel turning angle, a controlled rear wheel turning angle, an automobile body turning angle, an automobile body included angle, automobile traveling time and speed. The interval between sampled data is determined according to the distance between guiding front wheels and controlled rear wheels. When the controlled rear wheels travel to certain point near a front wheel traveling track, the controlled rear wheels are driven to travel in the traveling direction same as that when the front wheels travel to the point. According to a rear wheel tracking steering control method disclosed by the invention, the purpose that the controlled rear wheels operate in a manner of highly approaching the guiding front wheel track can be realized, and the higher the data collection frequency is, and the higher the track fitting degree of the front wheels and the rear wheels is. The rear wheel tracking steering control method disclosed by the invention is suitable for ordinary automobiles and single wheelset/double wheelset trackless trains.