A control method of an unmanned vehicle, comprising: detecting, by a vibration sensor, vibration information of the unmanned vehicle, and detecting, by an inertial sensor, running attitude information of the unmanned vehicle; determining a condition of the unmanned vehicle according to the vibration information, the running attitude information and a running status of the unmanned vehicle, wherein the running status of the unmanned vehicle comprises a stop status and a driving status; and controlling the unmanned vehicle according to an abnormal condition coping strategy when the condition of the unmanned vehicle is abnormal, characterized in that, determining the condition of the unmanned vehicle according to the vibration information, the running attitude information and the running status of the unmanned vehicle comprises: determining the running status of the unmanned vehicle according to the running attitude information and a system instruction for indicating a designated running status of the unmanned vehicle; determining that the condition of the unmanned vehicle is abnormal when the unmanned vehicle is in the stop status and the vibration information is detected; and determining the condition of the unmanned vehicle by comparing the vibration information with the running attitude information when the unmanned vehicle is in the driving status. detecting, by a vibration sensor, vibration information of the unmanned vehicle, and detecting, by an inertial sensor, running attitude information of the unmanned vehicle; determining a condition of the unmanned vehicle according to the vibration information, the running attitude information and a running status of the unmanned vehicle, wherein the running status of the unmanned vehicle comprises a stop status and a driving status; and controlling the unmanned vehicle according to an abnormal condition coping strategy when the condition of the unmanned vehicle is abnormal, characterized in that, determining the condition of the unmanned vehicle according to the vibration information, the running attitude information and the running status of the unmanned vehicle comprises: determining the running status of the unmanned vehicle according to the running attitude information and a system instruction for indicating a designated running status of the unmanned vehicle; determining that the condition of the unmanned vehicle is abnormal when the unmanned vehicle is in the stop status and the vibration information is detected; and determining the condition of the unmanned vehicle by comparing the vibration information with the running attitude information when the unmanned vehicle is in the driving status. determining the running status of the unmanned vehicle according to the running attitude information and a system instruction for indicating a designated running status of the unmanned vehicle; determining that the condition of the unmanned vehicle is abnormal when the unmanned vehicle is in the stop status and the vibration information is detected; and determining the condition of the unmanned vehicle by comparing the vibration information with the running attitude information when the unmanned vehicle is in the driving status.