The invention relates to a balancing vehicle control method, an apparatus, a balancing vehicle and a storage medium. The method comprises the following steps: obtaining monitoring information of the balancing vehicle during running; When the alarm condition is satisfied according to the running monitoring information, the wheel of the balancing car is controlled to stop running; obtaining the monitoring information of the balancing vehicle after it stops running; when it is determined that the operation condition is satisfied according to the monitoring information after the stopping operation, the wheel of the balancing vehicle is controlled to run. when the balancing vehicle is in a dangerous situation, only the wheel is controlled to stop running, and the power supply is not switched off for the vehicle body. After the vehicle body is stopped running, the wheel of the balancing vehicle is controlled to run if the running condition is satisfied, and the whole vehicle body resumes running without switching on/off operation, thus avoiding the injury to the balancing vehicle caused by the current shock caused by the frequent switching on/off operation.