The invention relates to the technical field of car braking, and provides a fault-tolerant control method and device. The method comprises the following steps: acquiring a braking force detection value output by a braking force sensor, a current detection value output by a current sensor, and a rotation speed detection value output by a motor rotation speed sensor; calculating a first braking force estimation value according to the current detection value; calculating a second braking force estimation value according to the rotation speed detection value; and when a fault occurs in the brakingforce sensor, the current sensor or the motor rotation speed sensor, determining an actual braking force according to the braking force detection value corresponding to the non-faulted braking forcesensor, the first braking force estimation value corresponding to the non-faulted current sensor, or the second braking force estimation value corresponding to the non-faulted motor rotation speed sensor. The method and device provided by the invention has the advantages that a parking braking function of an EPB system can still be fulfilled when the fault occurs, so that car braking can be achieved, and high traveling safety and reliability of a car are ensured.