Axle and frame perpendicularity control method and device and vehicle

The invention discloses a method and device for controlling the perpendicularity of an axle and a frame and a vehicle. The method comprises the steps that a laser emitting device is controlled to rotate around the central axis of the laser emitting device till the laser emitting device receives a first laser signal reflected by a laser reflecting device, the rotating angle of the laser emitting device in the rotating process is determined, the axis of the laser emitting device is perpendicular to the axis of an axle, and the axis of the laser emitting device is perpendicular to the axis of the axle. The frame is connected with the axle through a thrust rod; obtaining thrust rod information, wherein the thrust rod information at least comprises the distance between thrust rods on the left side and the right side; generating a target control instruction based on the rotation angle and the thrust rod information; target parameters of a target component are adjusted based on the target control instruction, the ta