A vehicle control method, comprising: when a self-driving vehicle is in a self-driving status, obtaining driving status information of the self-driving vehicle and first driving environment information of the self-driving vehicle; calculating a coarse-grained control instruction of the self-driving vehicle based on the driving status information, the first driving environment information, and a control instruction decision model, wherein the coarse-grained control instruction is used to control a driving manner of the self-driving vehicle, and the control instruction decision model is obtained through training based on training driving status information of the self-driving vehicle in a training status and training driving environment information of the self-driving vehicle in the training status; determining, based on second driving environment information, whether the coarse-grained control instruction is to be executed, wherein the second driving environment information comprises driving environment information corresponding to the coarse-grained control instruction when the self-driving vehicle is in the self-driving status; when it is determined that the coarse-grained control instruction is to be executed, determining, based on lane information and the driving status information of the self-driving vehicle, a fine-grained control instruction corresponding to the coarse-grained control instruction, wherein the fine-grained control instruction is used to control a driving parameter of the self-driving vehicle, and the lane information comprises information about a lane that is corresponding to the coarse-grained control instruction and that is on a road on which the self-driving vehicle drives; and outputting the fine-grained control instruction, wherein the coarse-grained control instruction comprises straight driving; the lane information comprises a preset expected speed of a lane in which the self-driving vehicle drives straight, and the driving status information of the self-driving vehicle comprises a current speed of the self-driving vehicle; and the determining, based on lane information and the driving status information of the self-driving vehicle, a fine-grained control instruction corresponding to the coarse-grained control instruction comprises: determining the fine-grained control instruction based on the preset expected speed and the current speed. when a self-driving vehicle is in a self-driving status, obtaining driving status information of the self-driving vehicle and first driving environment information of the self-driving vehicle; calculating a coarse-grained control instruction of the self-driving vehicle based on the driving status information, the first driving environment information, and a control instruction decision model, wherein the coarse-grained control instruction is used to control a driving manner of the self-driving vehicle, and the control instruction decision model is obtained through training based on training driving status information of the self-driving vehicle in a training status and training driving environment information of the self-driving vehicle in the training status; determining, based on second driving environment information, whether the coarse-grained control instruction is to be executed, wherein the second driving environment information comprises driving environment information corresponding to the coarse-grained control instruction when the self-driving vehicle is in the self-driving status; when it is determined that the coarse-grained control instruction is to be executed, determining, based on lane information and the driving status information of the self-driving vehicle, a fine-grained control instruction corresponding to the coarse-grained control instruction, wherein the fine-grained control instruction is used to control a driving parameter of the self-driving vehicle, and the lane information comprises information about a lane that is corresponding to the coarse-grained control instruction and that is on a road on which the self-driving vehicle drives; and outputting the fine-grained control instruction, wherein the coarse-grained control instruction comprises straight driving; the lane information comprises a preset expected speed of a lane in which the self-driving vehicle drives straight, and the driving status information of the self-driving vehicle comprises a current speed of the self-driving vehicle; and the determining, based on lane information and the driving status information of the self-driving vehicle, a fine-grained control instruction corresponding to the coarse-grained control instruction comprises: determining the fine-grained control instruction based on the preset expected speed and the current speed.