Following control method and device of movable equipment

The invention discloses a following control method of movable equipment and a following control device of the movable equipment. The following control method comprises the following steps that currentrelative position parameters between the movable equipment and a followed reference object are acquired; the relative position parameters are corrected according to the difference between the relative position parameters and expected position parameters to obtain a relative movement correction value; differential operation is carried out on the relative movement correction value and the last expected movement correction value to obtain a current expected movement correction value; and PID control is carried out on operating parameters of a driving motor according to the current expected movement correction value so that the movable equipment can move along with the followed reference object. By adopting the following control method, the movement process of the movable equipment can be adjusted in real time, and w