A vehicle control method applied to an automatic driving system, comprising: a primary monitoring equipment, a secondary monitoring equipment, at least one equipment to be detected, and a standby equipment corresponding to each equipment to be detected; the primary monitoring equipment and the secondary monitoring equipment are connected to each equipment to be detected respectively, the primary monitoring equipment and the secondary monitoring equipment are connected to the standby equipment corresponding to each equipment to be detected respectively; the primary monitoring equipment is connected to the secondary monitoring equipment, the primary monitoring equipment and the secondary monitoring equipment are configured to perform a fault detection on each equipment to be detected and each standby equipment, and control the vehicle to switch between the equipment to be detected and the standby equipment corresponding to the equipment to be detected, the vehicle control method comprises: determining, by the primary monitoring equipment, a detection result of a first equipment to be detected; if the detection result indicates that the first equipment to be detected is abnormal, controlling, by the primary monitoring equipment, the vehicle to switch to the standby equipment corresponding to the first equipment to be detected to operate; the vehicle control method characterised by comprising: if the detection result indicates that the first equipment to be detected is abnormal, sending, by the primary monitoring equipment, a fault detection instruction to the first equipment to be detected, wherein the fault detection instruction is used to instruct the first equipment to be detected to perform a self-test; and receiving, by the primary monitoring equipment, a self-test result fed back by the first equipment to be detected, and updating the detection result according to the self-test result. the primary monitoring equipment and the secondary monitoring equipment are connected to each equipment to be detected respectively, the primary monitoring equipment and the secondary monitoring equipment are connected to the standby equipment corresponding to each equipment to be detected respectively; the primary monitoring equipment is connected to the secondary monitoring equipment, the primary monitoring equipment and the secondary monitoring equipment are configured to perform a fault detection on each equipment to be detected and each standby equipment, and control the vehicle to switch between the equipment to be detected and the standby equipment corresponding to the equipment to be detected, the vehicle control method comprises: determining, by the primary monitoring equipment, a detection result of a first equipment to be detected; if the detection result indicates that the first equipment to be detected is abnormal, controlling, by the primary monitoring equipment, the vehicle to switch to the standby equipment corresponding to the first equipment to be detected to operate; the vehicle control method characterised by comprising: if the detection result indicates that the first equipment to be detected is abnormal, sending, by the primary monitoring equipment, a fault detection instruction to the first equipment to be detected, wherein the fault detection instruction is used to instruct the first equipment to be detected to perform a self-test; and receiving, by the primary monitoring equipment, a self-test result fed back by the first equipment to be detected, and updating the detection result according to the self-test result. determining, by the primary monitoring equipment, a detection result of a first equipment to be detected; if the detection result indicates that the first equipment to be detected is abnormal, controlling, by the primary monitoring equipment, the vehicle to switch to the standby equipment corresponding to the first equipment to be detected to operate; the vehicle control method characterised by comprising: if the detection result indicates that the first equipment to be detected is abnormal, sending, by the primary monitoring equipment, a fault detection instruction to the first equipment to be detected, wherein the fault detection instruction is used to instruct the first equipment to be detected to perform a self-test; and receiving, by the primary monitoring equipment, a self-test result fed back by the first equipment to be detected, and updating the detection result according to the self-test result.